US 11,832,907 B2
Medical robotics systems implementing axis constraints during actuation of one or more motorized joints
David Stephen Mintz, Los Altos Hills, CA (US); Bruce R. Woodley, Palo Alto, CA (US); Travis Michael Schuh, Los Altos, CA (US); Yanan Huang, Sunnyvale, CA (US); and Matthew Reagan Williams, Walnut Creek, CA (US)
Assigned to Auris Health, Inc., Redwood City, CA (US)
Filed by Auris Health, Inc., Redwood City, CA (US)
Filed on Jun. 4, 2021, as Appl. No. 17/339,637.
Application 17/339,637 is a continuation of application No. 16/011,521, filed on Jun. 18, 2018, granted, now 11,026,758.
Claims priority of provisional application 62/525,963, filed on Jun. 28, 2017.
Prior Publication US 2021/0290324 A1, Sep. 23, 2021
Int. Cl. A61B 34/30 (2016.01); B25J 9/16 (2006.01); A61B 34/35 (2016.01); A61B 34/20 (2016.01); A61B 34/00 (2016.01); A61B 90/50 (2016.01); A61B 90/57 (2016.01); A61G 13/04 (2006.01); A61G 13/02 (2006.01); A61G 13/10 (2006.01); A61B 34/10 (2016.01); A61B 17/00 (2006.01); A61B 10/02 (2006.01); A61B 90/30 (2016.01); A61B 90/00 (2016.01)
CPC A61B 34/35 (2016.02) [A61B 34/20 (2016.02); A61B 34/25 (2016.02); A61B 34/30 (2016.02); A61B 34/70 (2016.02); A61B 34/76 (2016.02); A61B 90/50 (2016.02); A61B 90/57 (2016.02); A61G 13/02 (2013.01); A61G 13/04 (2013.01); A61G 13/10 (2013.01); B25J 9/1676 (2013.01); A61B 10/0233 (2013.01); A61B 2017/00115 (2013.01); A61B 2017/00809 (2013.01); A61B 2034/105 (2016.02); A61B 2034/2048 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/2059 (2016.02); A61B 2034/2065 (2016.02); A61B 2034/305 (2016.02); A61B 2090/306 (2016.02); A61B 2090/3614 (2016.02); A61B 2090/376 (2016.02); A61B 2090/508 (2016.02); A61B 2090/571 (2016.02)] 23 Claims
OG exemplary drawing
 
1. A system for robotic manipulation of a medical instrument, comprising:
at least one robotic arm comprising a plurality of motors configured to cooperate to move a medical instrument, a first motor of the plurality of motors configured to rotate the medical instrument about a first axis, and a second motor of the plurality of motors configured to translate the medical instrument along a second axis, wherein the robotic arm is coupled to an elongated shaft coaxial with the second axis and adapted to deploy through a body opening of a patient; and
a control unit configured to:
cause the at least one robotic arm to align the elongated shaft such that the elongated shaft passes through the body opening;
determine a remote center location that corresponds to an intersection between the elongated shaft and the body opening;
constrain the at least one robotic arm so that the second axis is fixed through the remote center location while the at least one robotic arm manipulates the medical instrument;
cause the at least one robotic arm to align the first axis to pass through the remote center location while being constrained with the second axis fixed through the remote center location; and
relax the constraint on the at least one robotic arm to facilitate docking of the at least one robotic arm to a cannula and, subsequent to the docking, reinstate the constraint on the at least one robotic arm.