Granted Patent B2

US 12,527,637 · App. 18/254,841 · Granted Jan 20, 2026

Inventors: Giada Gerboni (San Francisco, CA); Sang Gyum Kim (San Jose, CA); Benjamin G. Cohn (Oakhurst, CA)

Assignee: INTUITIVE SURGICAL OPERATIONS, INC.

A61B34/30A61B18/00A61B34/20A61B2018/00577A61B2034/2057A61B2034/301

Abstract

Claims (33)

1 . A system for performing a medical procedure, the system comprising:

an elongate flexible device including a proximal portion, a distal portion, and a lumen extending therebetween, wherein the lumen is configured to receive a medical instrument;

a sensor system configured to provide sensor data indicative of a pose of the distal portion of the elongate flexible device;

a control system configured to actuate at least a portion of the elongate flexible device;

a processor operably coupled to the elongate flexible device, the sensor system, and the control system; and

a memory operably coupled to the processor, the memory storing instructions that, when executed by the processor, cause the system to perform operations comprising:

determining the pose of the distal portion of the elongate flexible device based on the sensor data from the sensor system;

retracting, via the control system, the elongate flexible device relative to the medical instrument and away from a target; and

adjusting, via the control system, the pose of the distal portion of the elongate flexible device so the distal portion remains substantially oriented toward the target after the retracting.

2 . The system of claim 1 , further comprising the medical instrument, wherein the medical instrument is an energy delivery instrument having an antenna positioned at a distal tip section of the energy delivery instrument, and wherein the antenna is configured to radiate energy.

3 . The system of claim 2 wherein the retracting of the elongate flexible device includes retracting the elongate flexible device by a defined distance, wherein the defined distance is based on positioning the medical instrument so the antenna is partially or fully extended beyond the distal portion of the elongate flexible device.

4 . The system of claim 3 wherein the operations further comprise repeating the retracting and the adjusting of the elongate flexible device until the elongate flexible device has been retracted by the defined distance.

5 . The system of claim 1 wherein the operations further comprise altering, via the control system, the pose of the distal portion of the elongate flexible device a defined angle, wherein the defined angle provides for the distal portion to remain substantially oriented toward the target.

6 . The system of claim 5 wherein the altering of the pose of the distal portion of the elongate flexible device is executed before the retracting of the elongate flexible device.

7 . The system of claim 1 wherein the retracting and the adjusting of the elongate flexible device comprise constraining the distal portion of the elongate flexible device to a movement range.

8 . The system of claim 7 wherein the movement range includes a plane aligned with the target or a range of bend angles.

9 . The system of claim 1 wherein the retracting includes transitioning the elongate flexible device from a stiff state to a passive state in a first retraction mode or a second retraction mode.

10 . The system of claim 9 wherein:

the first retraction mode includes a first velocity threshold;

the second retraction mode includes a second velocity threshold; and

the second velocity threshold is higher than the first velocity threshold.

11 . The system of claim 10 wherein the first retraction mode is based on a type of elongate flexible device.

12 . The system of claim 9 wherein the operations further comprise:

determining a type of the medical instrument positioned within the lumen of the flexible elongate device; and

switching the elongate flexible device from the first retraction mode to the second retraction mode based on the type of the medical instrument.

13 . The system of claim 12 , further comprising at least one second sensor for determining the type of medical instrument.

14 . The system of claim 13 wherein the determining of the type of the medical instrument is based on an input received from a user input device.

15 . The system of claim 1 wherein retracting the elongate flexible device or the adjusting the pose of the distal portion of the elongate flexible device result from an input received from a user input device.

16 . The system of claim 1 wherein the retracting the elongate flexible device or the adjusting the pose of the distal portion of the elongate flexible device result from a signal generated automatically by the system.

17 . The system of claim 1 wherein the operations further comprise predicting a change in the pose of the distal portion of the elongate flexible device during the retracting of the elongate flexible device, and wherein the pose of the distal portion is adjusted based, at least in part, on the predicted change.

18 . The system of claim 1 wherein the control system comprises or is operably coupled to an actuator at the proximal portion of the elongate flexible device, and the actuator is configured to effectuate the retracting and the adjusting of the distal portion of the elongate flexible device.

19 . The system of claim 1 wherein the adjusting of the pose of the distal portion is based at least in part on the sensor data from the sensor system.

20 . The system of claim 1 wherein the sensor system includes at least one first sensor coupled to the elongate flexible device.

Assignments (1)

Continuity (2)

References Cited (26)