公开(公告)号：US11272995B2

公开(公告)日：2022-03-15

申请号：US16994501

申请日：2020-08-14

Applicant: Auris Health, Inc.

Inventor： Casey Teal Landey ,  Jiayi Lin ,  Chauncey F. Graetzel ,  Alan Lau Yu ,  Jason J. Hsu ,  Zachary Stahl Morrison

IPC: A61B34/00 ,  A61B34/30 ,  A61B34/20 ,  A61B34/37 ,  B25J9/02 ,  B25J9/10 ,  B25J9/16

Abstract: Certain aspects relate to systems and techniques for driving axial motion of a shaft of a medical instrument using a drive device. A drive device configured to facilitate axial motion of an elongated shaft of a medical instrument can include a body comprising a channel configured to receive the elongated shaft of the medical instrument, a roller configured to engage with the elongated shaft such that, when rotated, the roller drives axial motion of the elongated shaft received in the channel, a first drive input coupled to the body, wherein the first drive input is operable by a robotic system to rotate the roller, a cover configured to selectively open or close the channel, and a second drive input coupled to the body, wherein the second drive input is operable to actuate the cover.

公开(公告)号：US11246672B2

公开(公告)日：2022-02-15

申请号：US16994504

申请日：2020-08-14

Applicant: Auris Health, Inc.

Inventor： Casey Teal Landey ,  Jiayi Lin ,  Chauncey F. Graetzel ,  Alan Lau Yu ,  Jason J. Hsu ,  Zachary Stahl Morrison

IPC: A61B34/00 ,  A61B34/37 ,  B25J9/02 ,  B25J9/10 ,  B25J9/16 ,  A61B34/30 ,  A61B34/20

Abstract: Certain aspects relate to systems and techniques for driving axial motion of a shaft of a medical instrument using a drive device. Axial motion can include insertion and/or retraction of the instrument. For example, a robotic medical system can include a medical instrument comprising an instrument base and a flexible shaft configured for insertion into a patient, and a first robotic arm attachable to the instrument base of the medical instrument. The system also includes a drive device configured to engage the flexible shaft, and a second robotic arm attachable to the drive device. The second robotic arm is configured to operate the drive device to drive axial motion of the flexible shaft, and the first robotic arm is configured to move in coordination with operation of the drive device.

公开(公告)号：US12193769B2

公开(公告)日：2025-01-14

申请号：US16914873

申请日：2020-06-29

Applicant: Auris Health, Inc.

Inventor： Frederic H. Moll ,  Alan Lau Yu

IPC: A61B34/30 ,  A61B1/00 ,  A61B1/267 ,  A61B1/273 ,  A61B1/303 ,  A61B1/307 ,  A61B1/31 ,  A61B1/313 ,  A61B34/00 ,  A61B34/20 ,  A61B50/10 ,  A61B90/50 ,  A61B90/57 ,  A61G13/04 ,  A61G13/06 ,  A61G13/10

Abstract: A robotic surgical system comprises a horizontal platform to support a patient, a rail positioned about the horizontal platform, a carriage operatively coupled to and configured to translate along the rail, and a robotic arm operatively coupled to the carriage and translated about the patient by the rail. The robotic arm is configured to operate on the patient in a variety of positions provided by the translating carriage. The rail provides a rounded path for the carriage, such as a U-shaped path. The U-shaped path may comprise a first leg and a second leg, the first leg longer than the second leg. Furthermore, the system may comprise a plurality of carriages operatively coupled to the rail and a plurality of robotic arms. Also, the system may further comprise a central base which the horizontal platform can articulate relative to, such as by translating horizontally or vertically, rotating, or titling.

公开(公告)号：US20240277429A1

公开(公告)日：2024-08-22

申请号：US18653622

申请日：2024-05-02

Applicant: Auris Health, Inc.

Inventor： Frederic H. Moll ,  Alan Lau Yu

IPC: A61B34/30 ,  A61B1/00 ,  A61B1/267 ,  A61B1/273 ,  A61B1/303 ,  A61B1/307 ,  A61B1/31 ,  A61B1/313 ,  A61B34/00 ,  A61B34/20 ,  A61B50/10 ,  A61B90/50 ,  A61B90/57 ,  A61G13/04 ,  A61G13/06 ,  A61G13/10

CPC classification number: A61B34/30 ,  A61B1/00149 ,  A61B34/00 ,  A61B34/20 ,  A61B50/10 ,  A61B90/50 ,  A61G13/04 ,  A61G13/06 ,  A61G13/10 ,  A61B1/2676 ,  A61B1/2736 ,  A61B1/303 ,  A61B1/307 ,  A61B1/31 ,  A61B1/3132 ,  A61B2034/304 ,  A61B2090/571 ,  A61G13/101

Abstract: A robotic surgical system comprises a horizontal platform to support a patient, a rail positioned about the horizontal platform, a carriage operatively coupled to and configured to translate along the rail, and a robotic arm operatively coupled to the carriage and translated about the patient by the rail. The robotic arm is configured to operate on the patient in a variety of positions provided by the translating carriage. The rail provides a rounded path for the carriage, such as a U-shaped path. The U-shaped path may comprise a first leg and a second leg, the first leg longer than the second leg. Furthermore, the system may comprise a plurality of carriages operatively coupled to the rail and a plurality of robotic arms. Also, the system may further comprise a central base which the horizontal platform can articulate relative to, such as by translating horizontally or vertically, rotating, or titling.

公开(公告)号：US20220370161A1

公开(公告)日：2022-11-24

申请号：US17826239

申请日：2022-05-27

Applicant: Auris Health, Inc.

Inventor： Alan Lau Yu

IPC: A61B34/30

Abstract: Described herein are systems and methods for aligning an elongate member with an access site. An alignment system for controlling an alignment of a robotically controlled elongate member at an access site on a patient may include a longitudinal support rail and support arms coupled with and extending from the longitudinal support rail to form an alignment joint. One or more of the support arms may be configured to maintain the alignment of the elongate member with the access site during a surgical procedure. A method of aligning an elongate member with an access site may include determining a position of a stabilizer of an alignment joint and the access site on a patient, coupling the stabilizer to the access site on the patient, and automatically aligning the instrument driver with the stabilizer on the patient.

公开(公告)号：US11344377B2

公开(公告)日：2022-05-31

申请号：US16544528

申请日：2019-08-19

Applicant: Auris Health, Inc.

Inventor： Alan Lau Yu

IPC: A61B34/30 ,  A61B90/57

Abstract: Systems and methods align an elongate member with an access site. An alignment system for controlling an alignment of a robotically controlled elongate member at an access site on a patient may include a longitudinal support rail and support arms coupled with and extending from the longitudinal support rail to form an alignment joint. One or more of the support arms may be configured to maintain the alignment of the elongate member with the access site during a surgical procedure. A method of aligning an elongate member with an access site may include determining a position of a stabilizer of an alignment joint and the access site on a patient, coupling the stabilizer to the access site on the patient, and automatically aligning the instrument driver with the stabilizer on the patient.

公开(公告)号：US20210045823A1

公开(公告)日：2021-02-18

申请号：US16994504

申请日：2020-08-14

Applicant: Auris Health, Inc.

Inventor： Casey Teal Landey ,  Jiayi Lin ,  Chauncey F. Graetzel ,  Alan Lau Yu ,  Jason J. Hsu ,  Zachary Stahl Morrison

IPC: A61B34/00 ,  A61B34/37 ,  B25J9/02 ,  B25J9/10 ,  B25J9/16

Abstract: Certain aspects relate to systems and techniques for driving axial motion of a shaft of a medical instrument using a drive device. Axial motion can include insertion and/or retraction of the instrument. For example, a robotic medical system can include a medical instrument comprising an instrument base and a flexible shaft configured for insertion into a patient, and a first robotic arm attachable to the instrument base of the medical instrument. The system also includes a drive device configured to engage the flexible shaft, and a second robotic arm attachable to the drive device. The second robotic arm is configured to operate the drive device to drive axial motion of the flexible shaft, and the first robotic arm is configured to move in coordination with operation of the drive device.

公开(公告)号：US12220189B2

公开(公告)日：2025-02-11

申请号：US17826239

申请日：2022-05-27

Applicant: Auris Health, Inc.

Inventor： Alan Lau Yu

IPC: A61B34/30 ,  A61B90/57

Abstract: Systems and methods align an elongate member with an access site. An alignment system for controlling an alignment of a robotically controlled elongate member at an access site on a patient may include a longitudinal support rail and support arms coupled with and extending from the longitudinal support rail to form an alignment joint. One or more of the support arms may be configured to maintain the alignment of the elongate member with the access site during a surgical procedure. A method of aligning an elongate member with an access site may include determining a position of a stabilizer of an alignment joint and the access site on a patient, coupling the stabilizer to the access site on the patient, and automatically aligning the instrument driver with the stabilizer on the patient.

公开(公告)号：US20210045824A1

公开(公告)日：2021-02-18

申请号：US16994514

申请日：2020-08-14

Applicant: Auris Health, Inc.

Inventor： Casey Teal Landey ,  Jiayi Lin ,  Chauncey F. Graetzel ,  Alan Lau Yu ,  Jason J. Hsu ,  Zachary Stahl Morrison

IPC: A61B34/00 ,  A61B34/37 ,  A61B34/20 ,  B25J9/02 ,  B25J9/10

Abstract: Certain aspects relate to systems and techniques for driving axial motion of a shaft of a medical instrument using a drive device. A robotic medical system can include a drive device comprising a pair of rollers configured to engage a shaft of a medical instrument and a processor configured to operate the rollers to drive insertion of the shaft at a first rate during a first insertion period when a distal tip of the shaft is positioned within an access sheath inserted into the patient, and operate the rollers to transition to driving insertion of the shaft at a second rate that is slower than the first rate during a second insertion period when the distal tip of the shaft is positioned beyond a distal tip of the access sheath.

公开(公告)号：US20210045822A1

公开(公告)日：2021-02-18

申请号：US16994501

申请日：2020-08-14

Applicant: Auris Health, Inc.

Inventor： Casey Teal Landey ,  Jiayi Lin ,  Chauncey F. Graetzel ,  Alan Lau Yu ,  Jason J. Hsu ,  Zachary Stahl Morrison

IPC: A61B34/00 ,  A61B34/30

Abstract: Certain aspects relate to systems and techniques for driving axial motion of a shaft of a medical instrument using a drive device. A drive device configured to facilitate axial motion of an elongated shaft of a medical instrument can include a body comprising a channel configured to receive the elongated shaft of the medical instrument, a roller configured to engage with the elongated shaft such that, when rotated, the roller drives axial motion of the elongated shaft received in the channel, a first drive input coupled to the body, wherein the first drive input is operable by a robotic system to rotate the roller, a cover configured to selectively open or close the channel, and a second drive input coupled to the body, wherein the second drive input is operable to actuate the cover.