US 11,950,868 B2
Systems and methods for self-alignment and adjustment of robotic endoscope
Carol Kayee Hung, Palo Alto, CA (US); Piotr Robert Slawinski, Sunnyvale, CA (US); Hendrik Thompson, San Francisco, CA (US); and Maziyar Keshtgar, San Bruno, CA (US)
Assigned to Noah Medical Corporation, San Carlos, CA (US)
Filed by Noah Medical Corporation, San Carlos, CA (US)
Filed on Sep. 13, 2023, as Appl. No. 18/466,010.
Application 18/466,010 is a continuation of application No. PCT/US2023/023139, filed on May 22, 2023.
Claims priority of provisional application 63/347,179, filed on May 31, 2022.
Claims priority of provisional application 63/345,287, filed on May 24, 2022.
Prior Publication US 2024/0016557 A1, Jan. 18, 2024
Int. Cl. A61B 34/32 (2016.01); A61B 34/10 (2016.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01)
CPC A61B 34/32 (2016.02) [A61B 34/10 (2016.02); A61B 34/20 (2016.02); A61B 2034/107 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/301 (2016.02)] 26 Claims
OG exemplary drawing
 
1. A method for controlling a robotic endoscope system, the method comprising:
generating a 3D depth map of an environment surrounding the robotic endoscope system;
autonomously actuating a self-propelled base of a robotic support system to a desired location relative to a patient bed based on the 3D depth map, wherein the robotic support system comprises a robotic arm coupled to the self-propelled base at a proximal end and an instrument driving mechanism (IDM) at a distal end; and
actuating the robotic arm to autonomously align the IDM to a component coupled to or as a part of the patient bed.