US 11,771,521 B2
Instrument device manipulator with roll mechanism
Travis Schuh, Los Altos, CA (US); Joseph Bogusky, San Jose, CA (US); Matthew Williams, Walnut Creek, CA (US); David S. Mintz, Los Altos Hills, CA (US); Alan Yu, Union City, CA (US); Gregory Kintz, Santa Cruz, CA (US); and Yoichiro Dan, Los Altos, CA (US)
Assigned to Auris Health, Inc., Redwood City, CA (US)
Filed by Auris Health, Inc., Redwood City, CA (US)
Filed on Sep. 15, 2020, as Appl. No. 17/21,689.
Application 17/021,689 is a continuation of application No. 15/991,859, filed on May 29, 2018, granted, now 10,786,329.
Application 15/991,859 is a continuation of application No. 15/261,754, filed on Sep. 9, 2016, granted, now 9,993,313, issued on Jun. 12, 2018.
Claims priority of provisional application 62/216,239, filed on Sep. 9, 2015.
Prior Publication US 2020/0405434 A1, Dec. 31, 2020
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/30 (2016.01); A61B 90/50 (2016.01); A61B 46/10 (2016.01); A61B 1/00 (2006.01); A61B 34/37 (2016.01); A61B 34/00 (2016.01); A61B 46/00 (2016.01); A61B 17/00 (2006.01); A61B 1/313 (2006.01)
CPC A61B 90/50 (2016.02) [A61B 1/0016 (2013.01); A61B 1/00149 (2013.01); A61B 34/00 (2016.02); A61B 34/30 (2016.02); A61B 34/37 (2016.02); A61B 34/70 (2016.02); A61B 46/00 (2016.02); A61B 46/10 (2016.02); H05K 999/99 (2013.01); A61B 1/3132 (2013.01); A61B 2017/00477 (2013.01); A61B 2034/301 (2016.02); A61B 2034/305 (2016.02)] 32 Claims
OG exemplary drawing
 
1. A surgical tool holder assembly, comprising:
an outer housing;
a surgical tool holder positioned at least partially within the outer housing, the surgical tool holder having an attachment interface configured for attachment to a surgical tool;
a first actuator configured to drive rotation of the surgical tool holder with respect to the outer housing about a rotational axis that extends perpendicular to the attachment interface of the surgical tool holder;
a plurality of torque couplers on the attachment interface arranged about the rotational axis of the surgical tool holder; and
a plurality of second actuators configured to drive rotation of the plurality of torque couplers about axes parallel to the rotational axis of the surgical tool holder.