US 12,145,278 B2
Robotic system with indication of boundary for robotic arm
Mingyen Ho, Santa Clara, CA (US); David Paul Noonan, San Francisco, CA (US); Shu-Yun Chung, San Jose, CA (US); and Allen Jiang, Fremont, CA (US)
Assigned to Auris Health, Inc., Santa Clara, CA (US)
Filed by Auris Health, Inc., Santa Clara, CA (US)
Filed on Oct. 10, 2022, as Appl. No. 18/045,465.
Application 18/045,465 is a continuation of application No. 16/670,349, filed on Oct. 31, 2019, granted, now 11,472,030.
Application 16/670,349 is a continuation of application No. 16/141,755, filed on Sep. 25, 2018, granted, now 10,464,209, issued on Nov. 5, 2019.
Claims priority of provisional application 62/568,733, filed on Oct. 5, 2017.
Prior Publication US 2023/0117715 A1, Apr. 20, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/30 (2016.01); A61B 34/00 (2016.01); A61B 34/37 (2016.01); A61B 90/00 (2016.01); B25J 9/16 (2006.01); A61B 17/00 (2006.01); A61B 34/20 (2016.01); A61B 46/10 (2016.01); A61B 90/90 (2016.01); A61B 90/98 (2016.01)
CPC B25J 9/1666 (2013.01) [A61B 34/30 (2016.02); A61B 34/37 (2016.02); A61B 34/70 (2016.02); A61B 90/03 (2016.02); B25J 9/1697 (2013.01); A61B 2017/00477 (2013.01); A61B 2034/2046 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/256 (2016.02); A61B 2034/302 (2016.02); A61B 2034/303 (2016.02); A61B 34/76 (2016.02); A61B 46/10 (2016.02); A61B 90/361 (2016.02); A61B 2090/376 (2016.02); A61B 2090/3762 (2016.02); A61B 90/90 (2016.02); A61B 90/98 (2016.02); A61B 2217/005 (2013.01); A61B 2217/007 (2013.01); G05B 2219/40315 (2013.01); G05B 2219/45123 (2013.01)] 20 Claims
OG exemplary drawing
 
19. A method of positioning a robotic arm, the method comprising:
determining an achievable stroke length based on a length of an elongated shaft;
determining a mapping of a luminal network of a patient;
based on the mapping, determining a minimum stroke length of the robotic arm that allows advancing of the elongated shaft by the robotic arm to reach a target region within the patient;
comparing the minimum stroke length and the achievable stroke length to determine whether the achievable stroke length is greater than or equal to the minimum stroke length; and
providing an indication of whether the target region can be reached by a tip of the elongated shaft based on an initial pose of the robotic arm.