US 12,226,176 B2
Automatic instrument position adjustment
Ryan Jeffrey Connolly, San Carlos, CA (US); Casey Teal Landey, San Francisco, CA (US); and Chauncey F. Graetzel, Palo Alto, CA (US)
Assigned to Auris Health, Inc., Santa Clara, CA (US)
Filed by Auris Health, Inc., Santa Clara, CA (US)
Filed on Dec. 6, 2022, as Appl. No. 18/076,224.
Application 18/076,224 is a division of application No. 16/408,329, filed on May 9, 2019, granted, now 11,534,247.
Application 16/408,329 is a continuation of application No. 16/018,644, filed on Jun. 26, 2018, granted, now 10,299,870, issued on May 28, 2019.
Claims priority of provisional application 62/526,008, filed on Jun. 28, 2017.
Prior Publication US 2023/0094003 A1, Mar. 30, 2023
Int. Cl. A61B 34/30 (2016.01); A61B 1/00 (2006.01); A61B 1/005 (2006.01); A61B 1/018 (2006.01); A61B 1/267 (2006.01); A61B 5/06 (2006.01); A61B 34/00 (2016.01); A61B 34/20 (2016.01); A61B 90/00 (2016.01); A61B 90/90 (2016.01); A61B 5/08 (2006.01); A61B 17/00 (2006.01); A61B 90/30 (2016.01); A61B 90/96 (2016.01); A61B 90/98 (2016.01)
CPC A61B 34/30 (2016.02) [A61B 1/00147 (2013.01); A61B 1/00149 (2013.01); A61B 1/0016 (2013.01); A61B 1/0051 (2013.01); A61B 1/018 (2013.01); A61B 1/2676 (2013.01); A61B 5/062 (2013.01); A61B 5/067 (2013.01); A61B 34/20 (2016.02); A61B 34/71 (2016.02); A61B 90/361 (2016.02); A61B 90/90 (2016.02); A61B 5/0803 (2013.01); A61B 2017/00809 (2013.01); A61B 2034/2048 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/2059 (2016.02); A61B 2034/2065 (2016.02); A61B 34/25 (2016.02); A61B 2090/309 (2016.02); A61B 2090/3614 (2016.02); A61B 2090/376 (2016.02); A61B 90/39 (2016.02); A61B 2090/3966 (2016.02); A61B 90/96 (2016.02); A61B 90/98 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A method of controlling an instrument, the method comprising:
determining a position of a second instrument within a working channel of a shaft of a first instrument;
in response to determining the position of the second instrument, predict a position change of a distal end of the shaft that would be caused by further advancement of the second instrument within the working channel of the first instrument; and
generating at least one control signal based on the predicted position change of the distal end of the shaft to control articulation of the first instrument to compensate for the further advancement of the second instrument within the working channel of the first instrument.