US 12,318,102 B2
Advanced basket drive mode
Jiayi Lin, San Mateo, CA (US); Chauncey F. Graetzel, Palo Alto, CA (US); Sarah Plewe, Redwood City, CA (US); and Rachel Leigh Chok, Sunnyvale, CA (US)
Assigned to Auris Health, Inc., Santa Clara, CA (US)
Filed by AURIS HEALTH, INC., Santa Clara, CA (US)
Filed on Sep. 12, 2022, as Appl. No. 17/943,120.
Application 17/943,120 is a continuation of application No. 17/121,167, filed on Dec. 14, 2020, granted, now 11,439,419.
Claims priority of provisional application 62/956,071, filed on Dec. 31, 2019.
Prior Publication US 2023/0000509 A1, Jan. 5, 2023
Int. Cl. A61B 17/221 (2006.01); A61B 1/00 (2006.01); A61B 1/307 (2006.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01)
CPC A61B 17/221 (2013.01) [A61B 1/00006 (2013.01); A61B 1/00149 (2013.01); A61B 1/307 (2013.01); A61B 34/30 (2016.02); A61B 34/74 (2016.02); A61B 2034/301 (2016.02); A61B 2034/742 (2016.02); A61B 2034/743 (2016.02); A61B 2034/744 (2016.02); A61B 2090/066 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A robotic system for performing a medical procedure, the robotic system comprising:
a robotic manipulator configured to:
manipulate a medical instrument comprising a basket, the medical instrument configured to access a human anatomy through an orifice or a lumen; an input device configured to receive one or more user interactions and initiate one
or more actions by the robotic manipulator, the one or more actions comprising at least one of directly controlled movement and pre-programmed motions; and
control circuitry communicatively coupled to the input device and the robotic manipulator and configured to:
in response to receiving a first user interaction via the input device, initiate a first pre-programmed motion of the robotic manipulator, the first pre-programmed motion comprising repeated insertion and retraction of the basket within the orifice or the lumen,
wherein the repeated insertion and retraction of the first pre-programmed motion of the robotic manipulator is performed at a faster speed compared to insertion and retraction of the directly controlled movement.