The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Nov. 18, 2025
Filed:
Sep. 25, 2020
Intuitive Surgical Operations, Inc., Sunnyvale, CA (US);
Samuel B. Schorr, East Palo Alto, CA (US);
Nicola Diolaiti, Menlo Park, CA (US);
Wanxi Liu, Foster City, CA (US);
Intuitive Surgical Operations, Inc., Sunnyvale, CA (US);
Abstract
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.