US 12,364,557 B2
Alignment and attachment systems for medical instruments
Travis R. Marsot, Mountain View, CA (US); Aren Calder Hill, Mountain View, CA (US); Travis Michael Schuh, Los Altos, CA (US); and Spencer James Witte, San Francisco, CA (US)
Assigned to AURIS HEALTH, INC., Redwood City, CA (US)
Filed by Auris Health, Inc., Redwood City, CA (US)
Filed on Oct. 26, 2020, as Appl. No. 17/080,555.
Application 17/080,555 is a continuation of application No. 16/357,763, filed on Mar. 19, 2019, granted, now 10,820,954.
Claims priority of provisional application 62/690,744, filed on Jun. 27, 2018.
Prior Publication US 2021/0068912 A1, Mar. 11, 2021
Int. Cl. A61B 34/30 (2016.01); A61B 1/00 (2006.01); A61B 34/00 (2016.01); A61B 34/37 (2016.01); A61B 90/50 (2016.01); B25J 9/00 (2006.01); B25J 15/00 (2006.01); B25J 13/06 (2006.01)
CPC A61B 34/70 (2016.02) [A61B 1/0016 (2013.01); A61B 34/37 (2016.02); A61B 90/50 (2016.02); B25J 9/0084 (2013.01); B25J 15/0019 (2013.01); A61B 2034/301 (2016.02); A61B 2034/303 (2016.02); A61B 2034/305 (2016.02); B25J 13/06 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A robotic system comprising:
a medical instrument comprising an instrument handle and an elongate body, wherein the instrument handle is configured to attach to an adapter on an instrument drive mechanism; and
an attachment mechanism configured to secure the instrument handle to the adapter, wherein, when the instrument handle is secured to the adapter, the elongate body of the medical instrument extends through an opening in the adapter,
wherein the attachment mechanism comprises at least one locking element positioned on the adapter that is configured to extend into a pocket on the instrument handle,
wherein the at least one locking element comprises a protruding member,
wherein the protruding member is configured to engage at least one spring-loaded surface in the pocket,
the at least one spring-loaded surface being biased in a first direction, and
the protruding member being further configured to urge the at least one spring-loaded surface in a second direction opposite the first direction,
wherein, in response to the protruding member being aligned with a cup feature in the pocket, the protruding member is configured to move into the cup feature and the at least one spring-loaded surface is configured to move in the first direction to secure the protruding member within the cup feature.