US 11,883,121 B2
Robotic catheter system
Daniel T. Wallace, Santa Cruz, CA (US); Frederic H. Moll, San Francisco, CA (US); Robert G Younge, Portola Valley, CA (US); Kenneth M. Martin, Los Gatos, CA (US); Gregory J. Stahler, San Jose, CA (US); David F. Moore, San Carlos, CA (US); Daniel T. Adams, Palo Alto, CA (US); Michael R. Zinn, Pleasanton, CA (US); and Gunter D. Niemeyer, Mountain View, CA (US)
Assigned to Auris Health, Inc., Redwood City, CA (US)
Filed by Auris Health, Inc., Redwood City, CA (US)
Filed on Nov. 20, 2020, as Appl. No. 17/100,068.
Application 17/100,068 is a continuation of application No. 15/469,382, filed on Mar. 24, 2017, granted, now 10,874,468.
Application 15/469,382 is a continuation of application No. 14/579,530, filed on Dec. 22, 2014, granted, now 9,629,682, issued on Apr. 25, 2017.
Application 14/579,530 is a continuation of application No. 13/782,262, filed on Mar. 1, 2013, granted, now 8,974,408, issued on Mar. 10, 2015.
Application 13/782,262 is a continuation of application No. 13/118,309, filed on May 27, 2011, granted, now 8,394,054, issued on Mar. 12, 2013.
Application 13/118,309 is a continuation of application No. 11/073,363, filed on Mar. 4, 2005, granted, now 7,972,298, issued on Jul. 5, 2011.
Claims priority of provisional application 60/550,961, filed on Mar. 5, 2004.
Claims priority of provisional application 60/553,029, filed on Mar. 12, 2004.
Claims priority of provisional application 60/600,869, filed on Aug. 12, 2004.
Claims priority of provisional application 60/644,505, filed on Jan. 13, 2005.
Prior Publication US 2021/0137620 A1, May 13, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/37 (2016.01); A61B 6/00 (2006.01); A61B 8/12 (2006.01); A61B 8/00 (2006.01); A61B 34/20 (2016.01); A61B 90/50 (2016.01); A61B 34/30 (2016.01); A61B 34/00 (2016.01); A61B 5/283 (2021.01); A61B 5/06 (2006.01); A61B 5/00 (2006.01); A61M 25/01 (2006.01); A61M 25/09 (2006.01); A61B 34/35 (2016.01); A61B 46/10 (2016.01); A61B 8/08 (2006.01); A61B 10/06 (2006.01); A61B 17/00 (2006.01); A61B 18/00 (2006.01); A61B 34/10 (2016.01); A61B 90/00 (2016.01)
CPC A61B 34/37 (2016.02) [A61B 5/066 (2013.01); A61B 5/283 (2021.01); A61B 5/6852 (2013.01); A61B 5/6885 (2013.01); A61B 5/746 (2013.01); A61B 6/503 (2013.01); A61B 8/12 (2013.01); A61B 8/4254 (2013.01); A61B 8/4461 (2013.01); A61B 8/4466 (2013.01); A61B 34/20 (2016.02); A61B 34/30 (2016.02); A61B 34/35 (2016.02); A61B 34/71 (2016.02); A61B 34/76 (2016.02); A61B 34/77 (2016.02); A61B 46/10 (2016.02); A61B 90/50 (2016.02); A61M 25/0113 (2013.01); A61M 25/09041 (2013.01); A61B 5/7285 (2013.01); A61B 6/4423 (2013.01); A61B 6/504 (2013.01); A61B 6/541 (2013.01); A61B 8/0891 (2013.01); A61B 8/543 (2013.01); A61B 10/06 (2013.01); A61B 34/25 (2016.02); A61B 2017/003 (2013.01); A61B 2017/00247 (2013.01); A61B 2017/00309 (2013.01); A61B 2017/00327 (2013.01); A61B 2018/00392 (2013.01); A61B 2034/102 (2016.02); A61B 2034/105 (2016.02); A61B 2034/107 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/301 (2016.02); A61B 2034/715 (2016.02); A61B 2090/035 (2016.02); A61B 2090/367 (2016.02); A61B 2090/374 (2016.02); A61B 2090/378 (2016.02); A61B 2090/397 (2016.02); A61B 2090/3925 (2016.02)] 19 Claims
OG exemplary drawing
 
1. A medical instrument system, comprising:
an elongate sheath having a lumen;
a working instrument positioned inside the sheath lumen, having a distal end configured to advance out of a distal end opening of the sheath lumen;
at least one sensor coupled to at least one of the elongate sheath or the working instrument, the at least one sensor configured to determine a contact of at least one of the elongate sheath or the working instrument with an object;
a processor in communication with the at least one sensor, the processor being configured to generate a contour map of the object based on the contact and a position determined by the at least one sensor; and
a display in communication with the processor and configured to provide a graphical representation of the generated contour map and a graphical representation of the working instrument relative to the graphical representation of the generated contour map.