US 11,839,439 B2
Systems and methods for instrument based insertion architectures
Aren Calder Hill, Mountain View, CA (US); Travis Michael Schuh, Los Altos, CA (US); and Nicholas J. Eyre, Redwood City, CA (US)
Assigned to Auris Health, Inc., Redwood City, CA (US)
Filed by Auris Health, Inc., Redwood City, CA (US)
Filed on Aug. 28, 2020, as Appl. No. 17/005,800.
Application 17/005,800 is a continuation of application No. 16/588,639, filed on Sep. 30, 2019, granted, now 10,779,898.
Application 16/588,639 is a continuation of application No. 16/215,208, filed on Dec. 10, 2018, granted, now 10,470,830, issued on Nov. 12, 2019.
Claims priority of provisional application 62/597,385, filed on Dec. 11, 2017.
Prior Publication US 2021/0052338 A1, Feb. 25, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/30 (2016.01); A61B 17/00 (2006.01); A61B 34/00 (2016.01); A61B 90/00 (2016.01); A61B 1/00 (2006.01); A61B 34/20 (2016.01); A61B 17/34 (2006.01); A61B 17/072 (2006.01)
CPC A61B 34/30 (2016.02) [A61B 1/0016 (2013.01); A61B 1/00149 (2013.01); A61B 90/37 (2016.02); A61B 2017/00017 (2013.01); A61B 2017/00477 (2013.01); A61B 2017/00725 (2013.01); A61B 2017/07285 (2013.01); A61B 2017/3409 (2013.01); A61B 2034/2065 (2016.02); A61B 2034/301 (2016.02); A61B 2034/302 (2016.02); A61B 2034/303 (2016.02); A61B 2034/715 (2016.02); A61B 2090/364 (2016.02)] 38 Claims
OG exemplary drawing
 
1. A medical device, comprising:
a shaft comprising a proximal portion and a distal portion;
an end effector connected to the distal portion of the shaft;
a handle coupled to the shaft and configured to be releasably coupled to a robotic arm; and
a first actuator comprising at least one cable placed in counter tension, and the first actuator is configured to create at least one differential in path length of the at least one cable to provide linear driving of the end effector.