US 11,730,927 B2
Base station, charging station, and/or server for robotic catheter systems and other uses, and improved articulated devices and systems
Keith Phillip Laby, Oakland, CA (US); and Mark D. Barrish, Belmont, CA (US)
Assigned to Project Moray, Inc., Belmont, CA (US)
Filed by Project Moray, Inc., Belmont, CA (US)
Filed on Sep. 9, 2020, as Appl. No. 17/15,552.
Application 17/015,552 is a continuation of application No. 15/719,191, filed on Sep. 28, 2017, granted, now 10,814,102.
Claims priority of provisional application 62/400,988, filed on Sep. 28, 2016.
Claims priority of provisional application 62/401,005, filed on Sep. 28, 2016.
Prior Publication US 2021/0100982 A1, Apr. 8, 2021
Int. Cl. A61M 25/01 (2006.01); A61B 34/20 (2016.01); A61F 2/24 (2006.01); A61B 17/122 (2006.01); A61B 17/128 (2006.01); A61M 25/00 (2006.01); A61B 90/00 (2016.01); A61B 17/00 (2006.01); A61B 17/22 (2006.01)
CPC A61M 25/0155 (2013.01) [A61B 17/122 (2013.01); A61B 17/1285 (2013.01); A61B 34/20 (2016.02); A61F 2/2427 (2013.01); A61F 2/2442 (2013.01); A61F 2/2466 (2013.01); A61M 25/005 (2013.01); A61B 2017/00115 (2013.01); A61B 2017/00243 (2013.01); A61B 2017/00305 (2013.01); A61B 2017/00314 (2013.01); A61B 2017/00318 (2013.01); A61B 2017/00535 (2013.01); A61B 2017/00734 (2013.01); A61B 2017/22098 (2013.01); A61B 2034/2051 (2016.02); A61B 2034/2061 (2016.02); A61B 2034/2063 (2016.02); A61B 2090/064 (2016.02); A61M 25/0136 (2013.01); A61M 2025/0161 (2013.01); A61M 2205/3331 (2013.01); A61M 2205/3584 (2013.01); A61M 2205/50 (2013.01); A61M 2205/8206 (2013.01); A61M 2205/8243 (2013.01); A61M 2209/086 (2013.01)] 4 Claims
OG exemplary drawing
 
1. An articulated system comprising:
an elongate helical frame having a proximal end and a distal end with an axis therebetween, the helical frame including a first axial region having a first plurality of loops and a second axial region having a second plurality of loops; and
a plurality of actuators coupled to the helical frame so as to alter associated separations between adjacent loops;
the first loops having a first helical wind orientation such that when the actuators increase the separations between the first loops, the frame along the first region twists about the axis in a first twist orientation;
the second loops having a second helical wind orientation opposite the first wind orientation such that when the actuators increase the separations between the second loops, the frame along the second region twists about the axis in a second twist orientation opposite the first twist orientation;
wherein a first plurality of the actuators are coupled with the first plurality of loops so as to alter the associated separations and a length of the first region, wherein a second plurality of the actuators are coupled with the second plurality of loops so as to alter the associated separations and a length of the second region.