US 11,712,154 B2
Automated calibration of surgical instruments with pull wires
Chauncey F. Graetzel, Palo Alto, CA (US); and Ritwik Ummalaneni, San Mateo, CA (US)
Assigned to Auris Health, Inc., Redwood City, CA (US)
Filed by Auris Health, Inc., Redwood City, CA (US)
Filed on Oct. 26, 2020, as Appl. No. 17/80,170.
Application 17/080,170 is a continuation of application No. 15/940,444, filed on Mar. 29, 2018, granted, now 10,813,539.
Application 15/940,444 is a continuation of application No. 15/282,079, filed on Sep. 30, 2016, granted, now 9,931,025, issued on Apr. 3, 2018.
Prior Publication US 2021/0121052 A1, Apr. 29, 2021
Int. Cl. A61B 1/01 (2006.01); A61B 1/005 (2006.01); A61B 34/30 (2016.01); A61B 34/00 (2016.01); A61B 1/00 (2006.01); A61B 90/00 (2016.01); A61B 1/018 (2006.01); G01B 21/16 (2006.01); A61B 34/20 (2016.01); A61B 17/00 (2006.01)
CPC A61B 1/01 (2013.01) [A61B 1/00006 (2013.01); A61B 1/0016 (2013.01); A61B 1/0051 (2013.01); A61B 1/0052 (2013.01); A61B 1/0057 (2013.01); A61B 1/00149 (2013.01); A61B 1/018 (2013.01); A61B 34/30 (2016.02); A61B 90/06 (2016.02); G01B 21/16 (2013.01); A61B 1/00057 (2013.01); A61B 34/71 (2016.02); A61B 2017/00477 (2013.01); A61B 2034/2048 (2016.02); A61B 2034/2061 (2016.02); A61B 2034/301 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
retrieving, from computer readable media storing calibration data, a plurality of gain values each associated with a different pull wire of a plurality of pull wires of a surgical instrument, the surgical instrument comprising a sheath tubular component and a leader tubular component at least partially nested within the sheath tubular component, each pull wire of the plurality of pull wires provided on or in one of the sheath tubular component or the leader tubular component;
receiving information indicating a roll angle of the leader tubular component relative to the sheath tubular component or an axial position of the leader tubular component radially relative to the sheath tubular component;
providing a command, derived at least partly from one or more of the plurality of gain values, to move the surgical instrument by translating at least one of the plurality of pull wires using a surgical robotic system;
receiving spatial data indicating an actual position of the surgical instrument having been moved in response to the command;
determining, for at least one of the plurality of pull wires, a new gain value based on the spatial data and at least one of the roll angle and the axial position; and
storing the new gain value in the computer readable media.