Intuitive Surgical Operations, Inc.

Samuel B Schorr

Nicola Diolaiti

Wanxi Liu

Vincent Duindam

Federico Barbagli

Randall L Schlesinger

Lucas S Gordon

Joseph A Kemp

Worth B Walters

Joseph R Callol

A computer-assisted medical system includes a flexible catheter configured to articulate along a degree of freedom, an actuator disposed at a proximal portion of the flexible catheter, an actuator sensor, and an articulation sensor. The actuator is configured to actuate the flexible catheter along the degree of freedom, the actuator sensor is configured to provide actuator sensor signals representing movement of the actuator, and the articulation sensor is configured to provide articulation sensor signals representing articulation of the flexible catheter. The computer-assisted medical system further includes a controller coupled to the actuator and configured to, based on detecting an abnormality in a first articulation sensor signal, determine an articulation estimate of the flexible catheter based on a model of the flexible catheter applied to a first actuator sensor signal, and control the actuator based on the articulation estimate.

Method and system for controlling flexible devices in presence of abnormal sensor signals

Systems and methods for verification and calibration of robotic instruments are provided. A robotic system may include an instrument carriage to receive an elongate device, and the instrument carriage may comprise a set of drive sensors. The system may also include a tracking system configured to receive an indication that the elongate device is installed on the instrument carriage, operate a set of actuators to articulate a distal portion of the elongate device, and generate a set of drive sensor data from the set of drive sensors. The tracking system may also be configured to generate a set of articulation sensor data from a shape sensor of the elongate device, compare the set of drive sensor data to the set of articulation sensor data to generate a test profile, and determine whether the test profile corresponds to a reference profile. Corrective action may be determined.

Systems and methods for device verification and sensor calibration

A method for controlling fluid delivery to a medical instrument comprises releasing, from a reservoir of a known size and having fluid at a volume and a first fluid pressure, a released fluid volume of the fluid to the medical instrument. The method also comprises measuring a vented fluid volume and determining a discharged fluid volume through the medical instrument based on the released fluid volume and the vented fluid volume.

Systems and methods for cleaning endoscopic instruments

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East Palo Alto, CA, United States of America

Samuel B Schorr