US 12,376,918 B2
Systems and techniques for providing multiple perspectives during medical procedures
Joshua F. DeFonzo, San Carlos, CA (US); Andrew F. O'Rourke, Los Angeles, CA (US); Travis Michael Schuh, Los Altos, CA (US); Yanan Huang, Sunnyvale, CA (US); and Jason Tomas Wilson, Redwood City, CA (US)
Assigned to Auris Health, Inc., Redwood City, CA (US)
Filed by Auris Health, Inc., Redwood City, CA (US)
Filed on Apr. 14, 2020, as Appl. No. 16/848,721.
Application 16/848,721 is a continuation of application No. 16/386,098, filed on Apr. 16, 2019, granted, now 10,667,875.
Claims priority of provisional application 62/690,868, filed on Jun. 27, 2018.
Prior Publication US 2020/0237458 A1, Jul. 30, 2020
Int. Cl. A61B 34/00 (2016.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01)
CPC A61B 34/30 (2016.02) [A61B 34/25 (2016.02); A61B 34/70 (2016.02); A61B 90/361 (2016.02); A61B 2034/302 (2016.02); A61B 90/37 (2016.02)] 19 Claims
OG exemplary drawing
 
1. A system, comprising:
a first robotic arm configured to be coupled to a first cannula positioned in a first anatomical location of a patient and drive an articulatable camera, the articulatable camera configured to be driven in a first number of degrees-of-freedom (DoFs);
a second robotic arm configured to be coupled to a second cannula positioned in a second anatomical location of the patient and drive a first tool;
a user input device configured to be manipulated by a user in a second number of DoFs;
one or more processors; and
memory storing computer-executable instructions to cause the one or more processors to:
receive an image from the articulatable camera including a view of a target site in the patient,
receive, via the user input device, a user command to drive the articulatable camera, and
determine instructions to robotically drive the articulatable camera via the first robotic arm based on the user command, wherein at least one of the DoFs of the user input device is constrained so as to maintain orientation alignment between the first tool and the user input device,
wherein, upon the user command to drive the articulatable camera, movement of a first handle of the user input device is mapped to translation and orientation of the articulatable camera, and the movement of the first handle is aligned with orientation of the first tool while being clutched off translation of the first tool.