Granted Patent B2

US 12,370,002 · App. 17/173,084 · Granted Jul 29, 2025

Inventors: Yanan Huang (Sunnyvale, CA); Caitlin Marie Romanczyk (San Francisco, CA); Ryan J. Murphy (Arvada, CO); David Stephen Mintz (Los Altos Hills, CA); Nicholas J. Eyre (Redwood City, CA)

Assignee: Auris Health, Inc.

A61B34/35A61B34/37B25J9/106B25J9/1666

Abstract

Claims (27)

1. A robotic system, comprising:

a patient table comprising a base, a column supported by the base, and a platform supported by the column, the platform being configured to support a patient;

an arm support coupled to the patient table by one or more set-up joints;

a first robotic arm supported by the arm support, the first robotic arm comprising a first end effector and a first plurality of arm joints;

a second robotic arm supported by the arm support, the second robotic arm comprising a second end effector and a second plurality of arm links;

a processor; and

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

drive movement of the first end effector into a new pose during a surgical procedure by controlling a configuration of the first plurality of arm joints in response to inputs received from a surgeon console;

determine an optimized position of the arm support based on information gathered by the processor; and

drive movement of the arm support to the optimized position by controlling a configuration of the one or more set-up joints while the first end effector is being moved into the new pose without interrupting the movement of the first end effector.

2. The system of claim 1 , wherein the information gathered by the processor comprises information regarding at least one of the first end effector of the first robotic arm, an instrument coupled to the first end effector, one or more points of entry including a remote center location of a cannula coupled to the first robotic arm, a location of one or more system components, a procedure type, a user preference, or a patient profile.

3. The system of claim 2 , wherein the information gathered by the processor comprises information regarding the location of one or more system components, wherein the location of one or more system components comprises a location of one or more joints of the first plurality of arm joints.

4. The system of claim 2 , wherein the information gathered by the processor comprises information regarding the location of one or more system components, wherein the location of one or more system components comprises a location of the platform.

5. The system of claim 2 , wherein the information gathered by the processor comprises an orientation of the first end effector of the first robotic arm.

6. The system of claim 1 , wherein the information gathered by the processor comprises at least one of linkage separations or joint positions relative to system component limits.

7. The system of claim 1 , wherein the arm support is configured to move to the optimized position autonomously.

8. The system of claim 1 , wherein the arm support is configured to move to the optimized position based on a user prompt.

9. The system of claim 8 , wherein the user prompt is received via a user interface associated with a tower.

10. The system of claim 8 , wherein the user prompt is received via touchpoints coupled to the first robotic arm and/or the arm support.

11. The system of claim 8 , wherein the user prompt is received via a user interface associated with the surgeon console.

12. The system of claim 1 , wherein the computer-executable instructions are configured to further cause the processor to:

command the arm support to move to an optimized position as the first robotic arm is manually moved.

13. The system of claim 1 , wherein the arm support is configured to move to the optimized position while maintaining a remote center location.

14. The system of claim 1 , wherein the processor is further configured to:

drive movement of the second end effector into a second new pose during the surgical procedure in response to inputs received from the surgeon console; and

drive the movement of the arm support while the second end effector is being moved into the second new pose without interrupting the movement of the second end effector.

15. The system of claim 1 , wherein the arm support is coupled to the column of the patient table.

Assignments (1)

Continuity (2)

References Cited (400)