US 12,453,612 B2
Controllers for robotically enabled teleoperated systems
Yanan Huang, Sunnyvale, CA (US); Colin Allen Wilson, Burlingame, CA (US); David Stephen Mintz, Los Altos Hills, CA (US); and Jason Tomas Wilson, Redwood City, CA (US)
Assigned to AURIS HEALTH, INC., Redwood City, CA (US)
Filed by Auris Health, Inc., Redwood City, CA (US)
Filed on Jan. 25, 2024, as Appl. No. 18/422,203.
Application 18/422,203 is a continuation of application No. 17/506,613, filed on Oct. 20, 2021, granted, now 11,918,316.
Application 17/506,613 is a continuation of application No. 16/413,955, filed on May 16, 2019, granted, now 11,179,213, issued on Nov. 23, 2021.
Claims priority of provisional application 62/673,531, filed on May 18, 2018.
Prior Publication US 2024/0156558 A1, May 16, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/00 (2016.01); A61B 34/30 (2016.01); A61B 34/35 (2016.01)
CPC A61B 34/74 (2016.02) [A61B 34/35 (2016.02); A61B 2034/301 (2016.02); A61B 2034/742 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A robotically enabled teleoperated system, comprising:
a controller and a robotic tool capable of manipulation by the controller, wherein the controller comprises:
a handle configured for actuation by an operator to cause a corresponding manipulation of the robotic tool;
a gimbal physically coupled to the handle, the gimbal including a motor positioned within the gimbal for controlling a joint of the gimbal, wherein the motor is located proximal to the joint and is connected to the joint by a cable drive, wherein the joint is configured to be manipulated such that manipulation of the gimbal causes a corresponding manipulation of the robotic tool; and
a positioning platform physically coupled to the gimbal, wherein at least a portion of the positioning platform is configured to be manipulated such that manipulation of the positioning platform causes a corresponding manipulation of the robotic tool.