Granted Patent B2

US 10,765,303 · App. 16/273,985 · Granted Sep 8, 2020

Inventors: Chauncey F. Graetzel (Palo Alto, CA); Alexander James Sheehy (Redwood City, CA)

Assignee: Auris Health, Inc.

A61B1/00149A61B1/0002A61B1/00006A61B1/0016A61B1/0057A61B1/2676A61B1/2736A61B1/307

Abstract

Claims (54)

1. A robotic surgical system, comprising:

a medical instrument comprising an outer body and an inner body configured to be driven through a lumen in the outer body;

a set of one or more instrument manipulators configured to control movement of the outer and inner bodies;

a set of one or more user input devices;

a set of one or more processors; and

at least one computer-readable memory in communication with the set of processors and having stored thereon computer-executable instructions to cause the set of processors to:

receive, via the set of user input devices, a command to drive the medical instrument while a drive mode of the medical instrument is in a paired drive mode,

control movement of the outer and inner bodies using the set of one or more instrument manipulators to drive the medical instrument and maintain a distal end of the inner body to extend from a distal end of the outer body at a predetermined distance while the medical instrument is in the paired drive mode,

control co-articulation of the outer and inner bodies, wherein an amount of the co-articulation is based on the predetermined distance,

receive, via the set of user input devices, a change drive mode command, and

in response to receiving the change drive mode command, change the drive mode of the medical instrument from the paired drive mode to an unpaired drive mode.

2. The robotic surgical system of claim 1 , wherein each of the distal ends of the inner body and the outer body are chamfered.

3. The robotic surgical system of claim 1 , wherein the memory further stores computer-executable instructions to cause the set of processors to:

determine that the distance between the distal end of the inner body and the distal end of the outer body is not equal to the predetermined distance;

in response to determining that the distance between the distal end of the inner body and the distal end of the outer is not equal to the predetermined distance, change the drive mode of the medical instrument into the unpaired drive mode; and

advance one of the outer and inner bodies until the distance between the distal end of the inner body and the distal end of the outer body is within the predetermined distance.

4. The robotic surgical system of claim 1 , wherein the memory further stores computer-executable instructions to cause the set of processors to:

determine that the distal end of the inner body extends from the distal end of the outer body by less than the predetermined distance;

in response to determining that the distal end of the inner body extends from a distal end of the outer by less than the predetermined distance, change the drive mode of the medical instrument into an inner body drive mode;

advance the inner body until the distal end of the inner body extends from the distal end of the outer body by the predetermined distance; and

change the drive mode of the medical instrument into the paired drive mode.

5. The robotic surgical system of claim 1 , wherein the memory further stores computer-executable instructions to cause the set of processors to:

prior to entering the paired mode, determine that the distal end of the inner body extends from the distal end of the outer body by greater than the predetermined distance;

in response to determining that the distal end of the inner body extends from a distal end of the outer by greater than the predetermined distance, change the drive mode of the medical instrument into an outer body drive mode;

advance the outer body until the distal end of the inner body extends from the distal end of the outer body by the predetermined distance; and

change the drive mode of the medical instrument into the paired drive mode.

6. The robotic surgical system of claim 1 , wherein the memory further stores computer-executable instructions to cause the set of processors to:

change the drive mode of the medical instrument to an inner body drive mode in which the inner body is advanced or retracted while the outer body remains stationary.

7. The robotic surgical system of claim 6 , wherein the memory further stores computer-executable instructions to cause the set of processors to:

receive, via the set of user input devices in the inner body drive mode, a retraction command to retract;

in response to receiving the retraction command, retract via the set of instrument manipulators, the inner body;

determine that: (a) the distance between the distal end of the inner body and the distal end of the outer body is within a tolerance range of the predetermined distance, and (b) a timing condition has been satisfied; and

in response to determining that the distance between the distal end of the inner body and the distal end of the outer body is within the tolerance range of the predetermined distance and that the timing condition has been satisfied, change the drive mode of the medical instrument to the paired drive mode.

8. The robotic surgical system of claim 6 , wherein the memory further stores computer-executable instructions to cause the set of processors to:

change the drive mode of the medical instrument to an outer body drive mode in which the outer body is advanced or retracted while the inner body remains stationary;

receive, via the set of user input devices, a toggle drive mode command to toggle the drive mode of the medical instrument;

determine, in response to receiving the toggle drive mode command, that the distance between the distal end of the inner body and the distal end of the outer body is not within a tolerance range of the predetermined distance; and

in response to the toggle drive mode command and determining that the distance between the distal end of the inner body and the distal end of the outer body is not within the tolerance range of the predetermined distance, toggle the drive mode of the medical instrument between the inner body drive mode and the outer body drive mode.

9. The robotic surgical system of claim 6 , wherein the memory further stores computer-executable instructions to cause the set of processors to:

change the drive mode of the medical instrument to an outer body drive mode in which the outer body is advanced or retracted while the inner body remains stationary;

receive, via the set of user input devices, a toggle drive mode command to toggle the drive mode of the medical instrument;

determine, in response to receiving the toggle drive mode command, that the distance between the distal end of the inner body and the distal end of the outer body is equal to the predetermined distance; and

in response to the toggle drive mode command and determining that the distance between the distal end of the inner body and the distal end of the outer body is equal to the predetermined distance, toggle the drive mode of the medical instrument between the inner body drive mode and the paired drive mode.

10. The robotic surgical system of claim 1 , wherein the memory further stores computer-executable instructions to cause the set of processors to:

change the drive mode of the medical instrument to an outer body drive mode in which the outer body is advanced or retracted while the inner body remains stationary.

11. The robotic surgical system of claim 10 , wherein the memory further stores computer-executable instructions to cause the set of processors to:

receive, via the set of user input devices in the outer body drive mode, an advancement instruction to advance;

in response to receiving the advancement instruction, advance via the set of instrument manipulators, the outer body;

determine that: (a) the distance between the distal end of the inner body and the distal end of the outer body is within a tolerance range of the predetermined distance, and (b) the timing condition has been satisfied; and

in response to determining that the distance between the distal end of the inner body and the distal end of the outer body is within the tolerance range of the predetermined distance and the timing condition has been satisfied, change the drive mode of the medical instrument to the paired driving mode.

12. The robotic surgical system of claim 1 , wherein:

the set of one or more instrument manipulators comprises at least three instrument manipulators,

the medical instrument further comprises a robotically controlled surgical instrument configured to be driven through a lumen in the inner body,

the outer body, the inner body, and the robotically controlled surgical instrument are respectively coupled to the three instrument manipulators.

Assignments (1)

Continuity (2)

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