US 12,251,176 B2
Robotic catheter system and methods
Frederic H. Moll, San Francisco, CA (US); Daniel T. Wallace, Santa Cruz, CA (US); Gregory J. Stahler, San Jose, CA (US); David F. Moore, San Carlos, CA (US); Daniel T. Adams, Palo Alto, CA (US); Kenneth M. Martin, Los Gatos, CA (US); Robert G. Younge, Portola Valley, CA (US); Michael R. Zinn, Pleasonton, CA (US); Gunter D. Niemeyer, Mountain View, CA (US); and David Lundmark, Los Altos, CA (US)
Assigned to Auris Health, Inc., Redwood City, CA (US)
Filed by Auris Health, Inc., Redwood City, CA (US)
Filed on Jul. 31, 2019, as Appl. No. 16/528,420.
Application 16/528,420 is a continuation of application No. 15/283,793, filed on Oct. 3, 2016, granted, now 10,368,951.
Application 15/283,793 is a continuation of application No. 14/308,969, filed on Jun. 19, 2014, granted, now 9,457,168.
Application 14/308,969 is a continuation of application No. 14/074,544, filed on Nov. 7, 2013, granted, now 8,801,661.
Application 14/074,544 is a continuation of application No. 13/358,468, filed on Jan. 25, 2012, granted, now 8,617,102.
Application 13/358,468 is a continuation of application No. 13/225,324, filed on Sep. 2, 2011, granted, now 8,257,303.
Application 13/225,324 is a continuation of application No. 11/481,433, filed on Jul. 3, 2006, granted, now 8,052,636.
Claims priority of provisional application 60/698,171, filed on Jul. 11, 2005.
Claims priority of provisional application 60/695,947, filed on Jul. 1, 2005.
Prior Publication US 2019/0350660 A1, Nov. 21, 2019
Int. Cl. A61B 34/30 (2016.01); A61B 1/267 (2006.01); A61B 1/273 (2006.01); A61B 8/12 (2006.01); A61B 17/062 (2006.01); A61B 34/00 (2016.01); A61B 34/20 (2016.01); A61B 34/37 (2016.01); A61B 90/50 (2016.01); A61M 25/01 (2006.01); A61B 1/018 (2006.01); A61B 5/00 (2006.01); A61B 5/053 (2021.01); A61B 6/00 (2006.01); A61B 8/08 (2006.01); A61B 17/00 (2006.01); A61B 17/04 (2006.01); A61B 18/08 (2006.01); A61B 34/10 (2016.01); A61B 46/10 (2016.01); A61B 90/00 (2016.01); A61M 25/00 (2006.01); B33Y 80/00 (2015.01)
CPC A61B 34/30 (2016.02) [A61B 1/2676 (2013.01); A61B 1/273 (2013.01); A61B 8/12 (2013.01); A61B 17/062 (2013.01); A61B 34/20 (2016.02); A61B 34/25 (2016.02); A61B 34/37 (2016.02); A61B 34/71 (2016.02); A61B 34/74 (2016.02); A61B 34/76 (2016.02); A61B 90/50 (2016.02); A61M 25/0113 (2013.01); A61M 25/0147 (2013.01); A61B 1/018 (2013.01); A61B 5/0006 (2013.01); A61B 5/053 (2013.01); A61B 5/7285 (2013.01); A61B 6/541 (2013.01); A61B 8/0808 (2013.01); A61B 2017/00238 (2013.01); A61B 2017/00243 (2013.01); A61B 2017/00296 (2013.01); A61B 2017/003 (2013.01); A61B 2017/00336 (2013.01); A61B 2017/00743 (2013.01); A61B 2017/00805 (2013.01); A61B 17/0482 (2013.01); A61B 18/08 (2013.01); A61B 2034/102 (2016.02); A61B 2034/105 (2016.02); A61B 2034/107 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/2063 (2016.02); A61B 2034/256 (2016.02); A61B 2034/301 (2016.02); A61B 2034/303 (2016.02); A61B 2034/715 (2016.02); A61B 46/10 (2016.02); A61B 2090/035 (2016.02); A61B 2090/062 (2016.02); A61B 2090/065 (2016.02); A61B 90/361 (2016.02); A61B 2090/364 (2016.02); A61B 2090/376 (2016.02); A61B 2090/378 (2016.02); A61B 2090/3784 (2016.02); A61B 90/39 (2016.02); A61M 2025/0004 (2013.01); A61M 25/0105 (2013.01); B33Y 80/00 (2014.12)] 20 Claims
OG exemplary drawing
 
1. A robotic medical system, comprising:
an endoscope comprising an instrument base and an elongate member extending from the instrument base, the elongate member defining a first working lumen, the endoscope including at least one image capture device at a distal end of the elongate member;
a first robotic instrument driver configured to removably couple to the instrument base of the endoscope, the first robotic instrument driver being configured to steer the elongate member;
a first tool configured to be positioned in the first working lumen, the first tool being configured to manipulate a structure in a lung or kidney in a patient; and
a second robotic instrument driver configured to drive movement of the first tool relative to the endoscope.