US 12,075,974 B2
Instrument calibration
Varun Agrawal, San Carlos, CA (US); Atiyeh Ghoreyshi, Richmond, CA (US); and David S. Mintz, Mountain View, CA (US)
Assigned to Auris Health, Inc., Redwood City, CA (US)
Filed by Auris Health, Inc., Redwood City, CA (US)
Filed on Oct. 7, 2021, as Appl. No. 17/496,175.
Application 17/496,175 is a division of application No. 16/435,090, filed on Jun. 7, 2019, granted, now 11,141,048.
Application 16/435,090 is a division of application No. 15/191,391, filed on Jun. 23, 2016, granted, now 10,314,463, issued on Jun. 11, 2019.
Claims priority of provisional application 62/185,135, filed on Jun. 26, 2015.
Prior Publication US 2022/0022735 A1, Jan. 27, 2022
Int. Cl. A61B 1/00 (2006.01); A61B 1/005 (2006.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01)
CPC A61B 1/00149 (2013.01) [A61B 1/00006 (2013.01); A61B 1/000094 (2022.02); A61B 1/00057 (2013.01); A61B 1/0016 (2013.01); A61B 1/0052 (2013.01); A61B 34/30 (2016.02); A61B 2034/301 (2016.02); A61B 2090/064 (2016.02)] 19 Claims
OG exemplary drawing
 
1. A surgical robotic system, comprising:
an endoscope including:
a sheath; and
a leader configured to be disposed at least partially within a lumen of the sheath;
a robotic manipulator including a drive mechanism, configured to couple to the endoscope; and
a controller configured to:
receive a command to move the endoscope using the robotic manipulator;
access calibration parameters including a first set of calibration parameters associated with the sheath and a second set of calibration parameters associated with the leader;
generate an adjusted command based on the command and the first and second sets of calibration parameters; and
provide the adjusted command to the robotic manipulator to move the endoscope.