US 12,089,912 B2
User input devices for controlling manipulation of guidewires and catheters
Jason Joseph Hsu, Mountain View, CA (US); June Park, San Jose, CA (US); and Ruchi Choksi Bhatt, San Jose, CA (US)
Assigned to Auris Health, Inc., Redwood City, CA (US)
Filed by Auris Health, Inc., Redwood City, CA (US)
Filed on Oct. 23, 2020, as Appl. No. 17/078,785.
Application 17/078,785 is a division of application No. 13/835,978, filed on Mar. 15, 2013, granted, now 10,849,702, issued on Dec. 1, 2020.
Prior Publication US 2021/0038334 A1, Feb. 11, 2021
Int. Cl. A61B 34/00 (2016.01); A61B 34/30 (2016.01)
CPC A61B 34/76 (2016.02) [A61B 34/30 (2016.02); A61B 2034/301 (2016.02); A61B 2034/742 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A robotic surgical system, comprising:
(a) at least one instrument driver configured to couple to an elongate instrument defining a longitudinal axis, the at least one instrument driver being further configured to impart axial movement along the longitudinal axis, axial rotation about the longitudinal axis, and articulation to the elongate instrument;
(b) at least one control computer electrically coupled to the instrument driver to actuate the instrument driver in response to electronic signals; and
(c) at least one input device having an input shaft configured for movement in at least three dimensions and electrically coupled to the control computer to provide electronic signals to the control computer that corresponds to movement of the input device;
wherein the input device is configured to operate in at least two operation modes, with one operation mode that permits movement of the input shaft in at least three dimensions and at least a second operation mode that limits the movement of the input shaft to two dimensions of movement within a plane.