US 12,420,063 B2
Torque-based catheter articulation
J. Scot Hart, Menlo Park, CA (US); and Francis Macnamara, Mountain View, CA (US)
Assigned to Auris Health, Inc., Santa Clara, CA (US)
Filed by Auris Health, Inc., Redwood City, CA (US)
Filed on Aug. 11, 2022, as Appl. No. 17/885,612.
Application 17/885,612 is a division of application No. 16/691,457, filed on Nov. 21, 2019, granted, now 11,452,844.
Application 16/691,457 is a division of application No. 15/467,451, filed on Mar. 23, 2017, granted, now 10,493,239, issued on Dec. 3, 2019.
Application 15/467,451 is a continuation of application No. 14/867,980, filed on Sep. 28, 2015, granted, now 9,636,483, issued on May 2, 2017.
Application 14/867,980 is a continuation of application No. 13/828,342, filed on Mar. 14, 2013, granted, now 9,173,713, issued on Nov. 3, 2015.
Prior Publication US 2023/0043963 A1, Feb. 9, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. A61M 25/01 (2006.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01); A61B 34/37 (2016.01); A61B 90/00 (2016.01)
CPC A61M 25/0147 (2013.01) [A61B 34/30 (2016.02); A61B 34/37 (2016.02); A61B 34/71 (2016.02); A61B 90/03 (2016.02); A61B 2034/301 (2016.02); A61B 2090/031 (2016.02); A61B 2090/066 (2016.02); A61M 2205/332 (2013.01); A61M 2205/52 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
generating positioning information for a desired position for a distal portion of a catheter which is steerable;
communicating the positioning information to a control system;
converting the positioning information into an output motor torque;
communicating the output motor torque to an instrument driver thereby causing the instrument driver to articulate the distal portion of the catheter;
measuring a current motor torque; and
adjusting an electrical current of at least one motor in response to an error signal that the current motor torque is different from the output motor torque.