US 9,808,140 B2
Steerable segmented endoscope and method of insertion
Amir Belson, Los Altos, CA (US); Paul DeWitt Frey, Redwood City, CA (US); Christine Wei Hsien McElhaney, San Carlos, CA (US); James Craig Milroy, Palo Alto, CA (US); Robert Matthew Ohline, Redwood City, CA (US); and Joseph M. Tartaglia, Morgan Hill, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Sep. 15, 2014, as Appl. No. 14/486,708.
Application 14/486,708 is a division of application No. 12/950,921, filed on Nov. 19, 2010, granted, now 8,845,524.
Application 12/950,921 is a continuation of application No. 11/796,220, filed on Apr. 27, 2007, abandoned.
Application 11/796,220 is a continuation of application No. 10/622,801, filed on Jul. 18, 2003, abandoned.
Application 10/622,801 is a continuation of application No. 09/969,927, filed on Oct. 2, 2001, granted, now 6,610,007, issued on Aug. 26, 2003.
Application 09/969,927 is a continuation in part of application No. 09/790,204, filed on Feb. 20, 2001, granted, now 6,468,203, issued on Oct. 22, 2002.
Claims priority of provisional application 60/194,140, filed on Apr. 3, 2000.
Prior Publication US 2015/0005576 A1, Jan. 1, 2015
Int. Cl. A61B 1/005 (2006.01); A61B 5/06 (2006.01); A61B 1/00 (2006.01); A61B 1/008 (2006.01); A61B 1/31 (2006.01); A61B 1/015 (2006.01); A61B 1/018 (2006.01); A61B 1/05 (2006.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01)
CPC A61B 1/00004 (2013.01) [A61B 1/008 (2013.01); A61B 1/0016 (2013.01); A61B 1/0053 (2013.01); A61B 1/0055 (2013.01); A61B 1/00055 (2013.01); A61B 1/015 (2013.01); A61B 1/018 (2013.01); A61B 1/05 (2013.01); A61B 1/31 (2013.01); A61B 5/065 (2013.01); A61B 2034/301 (2016.02); A61B 2034/741 (2016.02); A61B 2034/742 (2016.02)] 22 Claims
OG exemplary drawing
 
1. A method for determining the three dimensional shape of an instrument during or after insertion of said instrument into a body cavity, wherein said instrument comprises an elongate body comprising a selectively steerable distal tip, and a plurality of pivotably coupled and automatically controlled segments proximal to said selectively steerable distal tip, wherein adjacent segments of the plurality of segments are pivotable about two intersecting, independent axes, said method comprising:
advancing said instrument into said body cavity;
providing axial position data to a controller, wherein said axial position data is relative to a datum;
providing angular position data to said controller from a respective segment controller associated with each of said plurality of automatically controlled segments, the angular position data comprising relative angular positions of the adjacent segments of the plurality of segments; and
generating in electronic memory of said controller a three-dimensional model of a shape of said instrument using the provided axial position data and the angular position data.