Instrument shaft tensioning
Systems, devices, and methods for evaluating and/or removing slack in an elongate shaft of a medical instrument are discussed herein. For example, an instrument feeder device can be configured to engage with the elongate shaft to facilitate axial motion of the elongate shaft. An amount of slack between the instrument feeder device and an instrument handle of the medical instrument can be determined. Further, slack in the elongate shaft can be removed by moving the instrument handle in a direction away from the instrument feeder device and/or controlling the instrument feeder device to insert the elongate shaft.
1 . A system comprising:
a first robotic arm configured to couple to an elongate shaft of a medical instrument, the first robotic arm including a drive output configured to control axial motion of the elongate shaft;
an instrument feeder device coupled to the first robotic arm and configured to implement an engaged state in which the instrument feeder device is engaged with the elongate shaft and a disengaged state in which the instrument feeder device is disengaged from the elongate shaft;
a second robotic arm configured to couple to an instrument base of the medical instrument; and
control circuitry configured to:
actuate at least one of the drive output or the second robotic arm; and
determine an amount of slack in the elongate shaft between the first robotic arm and the second robotic arm based at least in part on the actuation of at least one of the drive output or the second robotic arm.
2 . The system of claim 1 , wherein the control circuitry is further configured to:
determine at least one of a first force associated with the drive output or a second force associated with the second robotic arm; and
determine that at least one of the first force or the second force is greater than a threshold wherein the amount of slack in the elongate shaft is determined based at least in part on the determination that at least one of the first force or the second force is greater than the threshold, the amount of slack in the elongate shaft being less than a predetermined amount.
3 . The system of claim 1 , wherein the control circuitry is configured to cause the second robotic arm to actuate, the actuation of the second robotic arm causing the second robotic arm to actuate in a direction away from the first robotic arm.
4 . The system of claim 1 , wherein the control circuitry is configured to cause the drive output to actuate while enabling the second robotic arm to actuate less than a threshold amount.
5 . The system of claim 4 , wherein the control circuitry is further configured to:
receive an input signal indicating to insert the elongate shaft, wherein the control circuitry is configured to cause the drive output to actuate in response to receiving the input signal, the actuation of the drive output causing insertion of the elongate shaft.
6 . The system of claim 1 , wherein the control circuitry is further configured to:
determine to transition the instrument feeder device from the engaged state to the disengaged state; and
actuate the second robotic arm in response to the determination to transition the instrument feeder device from the engaged state to the disengaged state, the actuation of the second robotic arm causing the second robotic arm to actuate in a direction away from the first robotic arm.
7 . The system of claim 1 , wherein the control circuitry is further configured to:
determine that the amount of slack in the elongate shaft is less than a predetermined amount; and
based at least in part on the determination that the amount of slack in the elongate shaft is less than the predetermined amount, actuate the drive output and the second robotic arm in a cooperative manner to axially move the elongate shaft.
8 . A method comprising:
actuating, by control circuitry, at least one of a drive output of a first robotic arm or a second robotic arm, the first robotic arm coupled to an instrument feeder device and an elongate shaft of a medical instrument, the second robotic arm coupled to an instrument base of the medical instrument, the drive output configured to control axial motion of the elongate shaft, and the instrument feeder device configured to implement an engaged state in which the instrument feeder device is engaged with the elongate shaft and a disengaged state in which the instrument feeder device is disengaged from the elongate shaft; and
determining, by the control circuitry, an amount of slack in the elongate shaft between the first robotic arm and the second robotic arm based at least in part on the actuation.
9 . The method of claim 8 , wherein the actuation includes actuating the drive output while preventing the second robotic arm from actuating more than a threshold amount.
10 . The method of claim 8 , further comprising:
determining to transition the instrument feeder device from the engaged state to the disengaged state, wherein the actuating of at least one of the drive output or the second robotic arm includes actuating the second robotic arm in a direction away from the first robotic arm in response to determining to transition the instrument feeder device from the engaged state to the disengaged state.
11 . The method of claim 8 , further comprising:
determining that the amount of slack in the elongate shaft is less than a predetermined amount; and
based at least in part on determining that the amount of slack in the elongate shaft is less than the predetermined amount, actuating the drive output and the second robotic arm in a cooperative manner to axially move the elongate shaft.
12 . The method of claim 8 , further comprising:
applying a force to the elongate shaft to prevent retraction of the elongate shaft from a patient, wherein the actuating of at least one of the drive output or the second robotic arm includes actuating the second robotic arm in a direction away from the first robotic arm.
13 . A system comprising:
an instrument feeder device configured to axially move an elongate shaft of a medical instrument that includes an instrument handle, the instrument feeder device configured to implement an engaged state in which the instrument feeder device is engaged with the elongate shaft and a disengaged state in which the instrument feeder device is disengaged from the elongate shaft; and
control circuitry configured to:
determine an amount of slack in the elongate shaft between the instrument handle and the instrument feeder device; and
control the instrument feeder device based at least in part on the amount of slack in the elongate shaft.
14 . The system of claim 13 , wherein controlling the instrument feeder device includes causing the instrument feeder device to at least one of axially move the elongate shaft, transition from the engaged state to the disengaged state, or maintain engagement with the elongate shaft.
15 . The system of claim 13 , wherein determining the amount of slack in the elongate shaft is based on at least one of a first force applied to the instrument feeder device, a second force applied by a robotic arm coupled to the instrument handle, shape sensing data indicating a shape of the elongate shaft, or position sensor data indicating a position of at least a portion of the elongate shaft.
16 . The system of claim 13 , wherein the control circuitry is further configured to:
actuate a second robotic arm in a direction away from a first robotic arm, the second robotic arm coupled to the instrument handle and the first robotic arm coupled to the instrument feeder device, wherein the amount of slack is determined based at least in part on the actuation of the second robotic arm.
17 . The system of claim 16 , wherein the control circuitry is further configured to:
actuate the second robotic arm without controlling the instrument feeder device.
18 . The system of claim 16 , wherein the control circuitry is further configured to:
determine that the second robotic arm has at least one of actuated more than a threshold amount or actuated to a workspace boundary; and
generate a signal indicating that the second robotic arm has at least one of actuated more than the threshold amount or actuated to the workspace boundary.
19 . The system of claim 13 , wherein the control circuitry is further configured to:
determine that the amount of slack in the elongate shaft is less than a predetermined amount; and
based at least in part on the determination that the amount of slack in the elongate shaft is less than the predetermined amount, cause the instrument feeder device to transition from the engaged state to the disengaged state.
20 . The system of claim 13 , wherein the control circuitry is further configured to:
cause at least one of the instrument feeder device to axially move the elongate shaft in an insertion direction or the instrument handle to move in a direction away from the instrument feeder device;
determine that the amount of slack in the elongate shaft is less than a predetermined amount; and
based at least in part on the determination that the amount of slack in the elongate shaft is less than the predetermined amount, cause at least one of the instrument feeder device to axially move the elongate shaft in a retraction direction or the instrument handle to move in a direction towards the instrument feeder device.