SYSTEMS AND METHODS FOR RESPONSIVE INSERTION AND RETRACTION OF ROBOTIC ENDOSCOPE
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United States of America
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Issued Date -
Mar 6, 2025
app pub date -
May 7, 2024
filing date -
May 7, 2024
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Abstract
A method is provided for controlling a tip velocity of an articulating flexible endoscope. The method comprises: generating a command to move a tip of an elongated member of the articulating flexible endoscope at an expected velocity; receiving sensor data acquired by a sensor disposed at a distal tip portion of the elongated member to calculate a tip velocity; calculate a disparity between the expected velocity and the tip velocity; and controlling the tip velocity based on the disparity.
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