US 12,440,978 B2
Robotic instrument drive control
Jiayi Lin, San Mateo, CA (US); Chauncey F. Graetzel, Palo Alto, CA (US); Vivian Aralis, Palo Alto, CA (US); Aadel Al Jadda, San Carlos, CA (US); and Mingyen Ho, Santa Clara, CA (US)
Assigned to Auris Health, Inc., Santa Clara, CA (US)
Filed by Auris Health, Inc., Santa Clara, CA (US)
Filed on Nov. 15, 2022, as Appl. No. 17/987,673.
Application 17/987,673 is a continuation of application No. PCT/US2021/065220, filed on Dec. 27, 2021.
Prior Publication US 2023/0202040 A1, Jun. 29, 2023
Int. Cl. B25J 9/16 (2006.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01)
CPC B25J 9/1664 (2013.01) [A61B 34/30 (2016.02); A61B 34/70 (2016.02); A61B 2034/301 (2016.02); A61B 2034/303 (2016.02)] 15 Claims
OG exemplary drawing
 
1. A robotic system comprising:
a medical instrument comprising an elongate shaft dimensioned to be disposed at least partially within an access sheath; and
control circuitry configured to:
cause the elongate shaft to be retracted at least partially within the access sheath, wherein the control circuitry is configured to cause the elongate shaft to be retracted at least in part by:
causing an actuator configured to axially move the elongate shaft to retract the elongate shaft; and
causing a robotic manipulator to which the medical instrument is attached to move away from the access sheath;
determine that a distal end of the elongate shaft is retracted past a distal opening of the access sheath so that the distal end of the elongate shaft is disposed within the access sheath; and
increase a speed of retraction of the elongate shaft based at least in part on a position of the distal end of the elongate shaft within the access sheath, wherein, when the position of the distal end of the elongate shaft is within a fast retract buffer portion of the access sheath, said increasing the speed of retraction of the elongate shaft includes:
causing the actuator to retract the elongate shaft at a first speed; and
causing the robotic manipulator to move at the first speed.