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1. (WO2018125917) APPARATUS FOR FLEXIBLE INSTRUMENT INSERTION

Pub. No.:    WO/2018/125917    International Application No.:    PCT/US2017/068535
Publication Date: Fri Jul 06 01:59:59 CEST 2018 International Filing Date: Thu Dec 28 00:59:59 CET 2017
IPC: A61B 34/30
B25J 9/10
A61B 34/00
A61M 25/01
Applicants: AURIS HEALTH, INC.
Inventors: NOONAN, David, P.
TANAKA, Don, A.
Title: APPARATUS FOR FLEXIBLE INSTRUMENT INSERTION
Abstract:
A robotic system is described for determining whether a flexible instrument has buckled. The robotic system comprises a medical instrument comprising an elongate body with a sensor thereon and a controller. The controller compares a measured status, derived from sensor data generated by the sensor, and an expected status, based on a command to direct the elongate body. Responsive to the comparison being more or less than threshold, the system determines that the elongate body has buckled. A robotic system is also described for determining an insertion force threshold to avoid applying excessive force. A controller is receives instrument data based on a location of the flexible instrument, accesses patient data, determines a force threshold, receives a force detected by a sensor, compares the force with the force threshold, and when the force exceeds the threshold, generates a recommendation signal for the robotic system.