System for controlling the movement of a multi-linked device

Abstract

A system for controlling the movement of a steerable multi-linked device may include a steerable multi-linked device, a feeder mechanism releasably connected to the steerable multi-linked device and a controller device. The steerable multi-linked device may include a first link, a plurality of intermediate links, and a second link movably coupled to a second one of the intermediate links. A first one of the intermediate links may be movably coupled to the first link. The controller device may be configured to control movement of the multi-linked device via the feeder mechanism.

1 .- 17 . (canceled) 
     
     
         18 . A method of controlling the movement of a steerable multi-linked device, the method comprising:
 in response to movement of a handle of a controller device relative to a base of the controller device, advancing or retracting, by a feeder mechanism, one or more of a first multi-linked mechanism or a second multi-linked mechanism of a steerable multi-linked device relative to the feeder mechanism, wherein the second multi-linked mechanism surrounds at least a portion of the first multi-linked mechanism;   measuring, by one or more force sensors of the steerable multi-linked device, a force associated with a contact between the steerable multi-linked device and a surrounding area;   receiving, by the feeder mechanism from the steerable multi-linked device:
 deformation information associated with a deformation of the surrounding area, and 
 the force; 
   estimating a compliance associated with the surrounding area based on the deformation information and the force; and   providing, by the controller device, one or more output forces that resist a user's motion, wherein a magnitude of the one or more output forces is based on the estimated compliance associated with the surrounding area.   
     
     
         19 . The method of  claim 18 , further comprising selecting, by the controller device, a mode of movement associated with the steerable multi-linked device. 
     
     
         20 . The method of  claim 18 , further comprising, by the controller device, discontinuing providing the one or more output forces in response to determining that communication between the controller device and the steerable multi-linked device has been lost. 
     
     
         21 . The method of  claim 18 , wherein a speed of the movement of the handle is different than a speed of motion of the first multi-linked mechanism or the second multi-linked mechanism. 
     
     
         22 . The method of  claim 21 , wherein the magnitude of the one or more output forces is based on a difference between the speed of motion of the controller device and the speed of motion of the steerable multi-linked device. 
     
     
         23 . The method of  claim 18 , further comprising providing, by the controller device, output forces having increased magnitudes as the steerable multi-linked device moves closer to the surrounding area. 
     
     
         24 . The method of  claim 18 , wherein advancing or retracting one or more of a first multi-linked mechanism or a second multi-linked mechanism relative to the feeder mechanism comprises fully retracting the first multi-linked mechanism. 
     
     
         25 . The method of  claim 18 , wherein advancing or retracting one or more of a first multi-linked mechanism or a second multi-linked mechanism relative to the feeder mechanism comprises fully retracting the second multi-linked mechanism. 
     
     
         26 . The method of  claim 18 , further comprising causing, by the controller device, the handle to pull toward a home position. 
     
     
         27 . The method of  claim 18 , wherein providing one or more output forces comprises providing one or more of the following:
 a constant output force;   a pulsating output force; or   a vibrating output force.   
     
     
         28 . The method of  claim 18 , further comprising invoking, by the controller device, pause functionality, wherein while pause functionality is invoked, the feeder mechanism does not advance or retreat the first multi-linked device or the second multi-linked device in response to movement of the handle of the controller device relative to the base of the controller device.