US 12,433,696 B2
Tool positioning for medical instruments with working channels
David P. Noonan, San Francisco, CA (US); Joseph A. Urban, Jr., San Carlos, CA (US); and Varun Agrawal, San Carlos, CA (US)
Assigned to Auris Health, Inc., Santa Clara, CA (US)
Filed by Auris Health, Inc., Santa Clara, CA (US)
Filed on Jul. 4, 2022, as Appl. No. 17/857,129.
Application 17/857,129 is a continuation of application No. 15/948,351, filed on Apr. 9, 2018, granted, now 11,382,650.
Application 15/948,351 is a continuation of application No. 15/339,476, filed on Oct. 31, 2016, granted, now 9,949,749, issued on Apr. 24, 2018.
Claims priority of provisional application 62/248,737, filed on Oct. 30, 2015.
Prior Publication US 2023/0030708 A1, Feb. 2, 2023
Int. Cl. A61B 34/30 (2016.01); A61B 17/221 (2006.01)
CPC A61B 34/30 (2016.02) [A61B 17/221 (2013.01); A61B 2017/2212 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
controlling a first robotic component to advance a medical instrument into a cavity of a patient, the first robotic component being coupled to the medical instrument, the medical instrument including a working channel;
controlling a second robotic component to advance a tool through the working channel and position a distal end of the tool at a position within the cavity, the second robotic component being coupled to a proximal end of the tool; and
while maintaining the distal end of the tool at the position, controlling the first robotic component to translate the medical instrument along a longitudinal axis of the medical instrument.