US 12,029,390 B2
System and method for driving medical instrument
Chauncey F. Graetzel, Palo Alto, CA (US); and Alexander James Sheehy, Redwood City, CA (US)
Assigned to Auris Health, Inc., Redwood City, CA (US)
Filed by Auris Health, Inc., Redwood City, CA (US)
Filed on Jul. 30, 2020, as Appl. No. 16/943,180.
Application 16/943,180 is a continuation of application No. 16/273,985, filed on Feb. 12, 2019, granted, now 10,765,303.
Claims priority of provisional application 62/630,112, filed on Feb. 13, 2018.
Prior Publication US 2020/0352420 A1, Nov. 12, 2020
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/00 (2016.01); A61B 1/00 (2006.01); A61B 1/005 (2006.01); A61B 1/267 (2006.01); A61B 1/273 (2006.01); A61B 1/307 (2006.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01)
CPC A61B 1/00149 (2013.01) [A61B 1/00006 (2013.01); A61B 1/0002 (2013.01); A61B 1/0016 (2013.01); A61B 1/0057 (2013.01); A61B 1/2676 (2013.01); A61B 1/2736 (2013.01); A61B 1/307 (2013.01); A61B 34/71 (2016.02); A61B 34/74 (2016.02); A61B 2034/301 (2016.02); A61B 2034/303 (2016.02); A61B 2090/064 (2016.02)] 30 Claims
OG exemplary drawing
 
1. A robotic surgical system, comprising:
a medical instrument comprising an outer body and an inner body configured to be driven through a lumen in the outer body;
a set of one or more instrument manipulators configured to control movement of the outer and inner bodies;
a set of one or more user input devices;
a set of one or more processors; and
at least one computer-readable memory in communication with the set of one or more processors and having stored thereon computer-executable instructions to cause the set of one or more processors to:
receive, via the set of one or more user input devices, an articulation command to articulate the medical instrument;
select one of the outer and inner bodies as a primary body and another of the outer and inner bodies as a secondary body;
determine a distance between a distal end of the inner body and a distal end of the outer body;
determine a co-articulation factor based on the distance;
articulate, via the set of one or more instrument manipulators, the primary body based on the articulation command; and
articulate, via the set of one or more instrument manipulators, the secondary body based on the articulation command and the co-articulation factor.
 
15. A method of navigating a medical instrument comprising an outer body and an inner body configured to be driven through a lumen in the outer body, the method comprising:
receiving, via a set of one or more user input devices, an articulation command to articulate the medical instrument;
selecting one of the outer and inner bodies as a primary body and another of the outer and inner bodies as a secondary body;
determining a distance between a distal end of the inner body and a distal end of the outer body;
determining a co-articulation factor based on the distance;
articulating, via a set of one or more instrument manipulators, the primary body based on the articulation command; and
articulating, via the set of one or more instrument manipulators, the secondary body based on the articulation command and the co-articulation factor.
 
26. A non-transitory computer readable storage medium having stored thereon instructions that, when executed, cause at least one computing device to:
receive, via a set of one or more user input devices, an articulation command to articulate a medical instrument, the medical instrument comprising an outer body and an inner body configured to be driven through a lumen in the outer body;
select one of the outer and inner bodies as a primary body and another of the outer and inner bodies as a secondary body;
determine a distance between a distal end of the inner body and a distal end of the outer body;
determine a co-articulation factor based on the distance;
articulate, via a set of one or more instrument manipulators, the primary body based on the articulation command; and
articulate, via the set of one or more instrument manipulators, the secondary body based on the articulation command and the co-articulation factor.