US 12,290,239 B2
Automated calibration of surgical instruments with pull wires
Chauncey F. Graetzel, Palo Alto, CA (US); and Ritwik Ummalaneni, San Mateo, CA (US)
Assigned to Auris Health, Inc., Santa Clara, CA (US)
Filed by Auris Health, Inc., Santa Clara, CA (US)
Filed on Jun. 26, 2023, as Appl. No. 18/214,415.
Application 18/214,415 is a continuation of application No. 17/080,170, filed on Oct. 26, 2020, granted, now 11,712,154.
Application 17/080,170 is a continuation of application No. 15/940,444, filed on Mar. 29, 2018, granted, now 10,813,539, issued on Oct. 27, 2020.
Application 15/940,444 is a continuation of application No. 15/282,079, filed on Sep. 30, 2016, granted, now 9,931,025, issued on Apr. 3, 2018.
Prior Publication US 2023/0414081 A1, Dec. 28, 2023
Int. Cl. A61B 1/01 (2006.01); A61B 1/00 (2006.01); A61B 1/005 (2006.01); A61B 1/018 (2006.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01); G01B 21/16 (2006.01); A61B 17/00 (2006.01); A61B 34/00 (2016.01); A61B 34/20 (2016.01)
CPC A61B 1/01 (2013.01) [A61B 1/00006 (2013.01); A61B 1/00149 (2013.01); A61B 1/0016 (2013.01); A61B 1/0051 (2013.01); A61B 1/0052 (2013.01); A61B 1/0057 (2013.01); A61B 1/018 (2013.01); A61B 34/30 (2016.02); A61B 90/06 (2016.02); G01B 21/16 (2013.01); A61B 1/00057 (2013.01); A61B 2017/00477 (2013.01); A61B 2034/2048 (2016.02); A61B 2034/2061 (2016.02); A61B 2034/301 (2016.02); A61B 34/71 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
translating a first pull wire of a surgical instrument by a first gain value associated with a first command for moving the surgical instrument from a resting position to a first direction using a surgical robotic system;
receiving first spatial data indicating a first actual position of the surgical instrument having been moved in response to translating the first pull wire by the first gain value;
providing a second command to relax the surgical instrument to the resting position;
translating a second pull wire of the surgical instrument in response to a third command for moving the surgical instrument from the resting position to a second direction using the surgical robotic system;
receiving second spatial data indicating a second actual position of the surgical instrument having been moved in response to translating the second pull wire;
determining, for the first pull wire, a second gain value based on the first spatial data, the second spatial data, and the first gain value; and
storing the second gain value in association with the first pull wire.