Granted Patent B2

US 12,544,167 · App. 16/941,379 · Granted Feb 10, 2026

Inventors: Nicholas J. Eyre (Redwood City, CA); Alexander Tarek Hassan (San Francisco, CA); David Stephen Mintz (Los Altos Hills, CA); Travis R. Marsot (Mountain View, CA)

Assignee: Auris Health, Inc.

A61B34/70A61B34/35A61B34/37B25J18/04A61B2034/301A61B2034/302

Abstract

Claims (47)

1 . A robotic medical system, comprising:

a first robotic arm including a first instrument driver, a plurality of robotic joints, and a first cannula interface, wherein the first instrument driver is configured to manipulate a first tool that passes through a first cannula mounted to the first cannula interface, wherein the first robotic arm is configured to rotate the first tool about a first remote center of motion located at a first port and spaced apart from the first cannula interface by a first remote center distance;

a second robotic arm including a second instrument driver, a plurality of robotic joints, and a second cannula interface, wherein the second instrument driver is configured to manipulate a second tool that passes through a second cannula mounted to the second cannula interface, wherein the second robotic arm is configured to rotate the second tool about a second remote center of motion located at a second port and spaced apart from the second cannula interface by a second remote center distance;

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:

simultaneously maintain the first remote center distance to be different from the second remote center distance.

2 . The system of claim 1 , wherein:

each of the first cannula and the second cannula is configured to intersect a body wall of a patient,

the system is further configured to move each of the first robotic arm and the second robotic arm while maintaining each of the first remote center of motion and the second remote center of motion to reduce forces exerted on the body wall.

3 . The system of claim 1 , wherein the first cannula has a first length, and the second cannula has a second length that is different from the first length.

4 . The system of claim 1 , wherein the computer-executable instructions further cause the processor to adjust one or more of the first remote center distance and the second remote center distance.

5 . The system of claim 1 , wherein the computer-executable instructions further cause the processor to adjust one or more of the first remote center distance and the second remote center distance to provide a null-space degree of freedom (DoF).

6 . The system of claim 1 , wherein:

the computer-executable instructions further cause the processor to adjust the first remote center distance to increase a maximum distance the first tool is able to be inserted into a patient.

7 . The system of claim 1 , wherein the first cannula is mounted to the first cannula interface of the first robotic arm via a mechanical coupling in a form of a latch.

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

determine that movement of one or more of the first robotic arm and the second robotic arm are within a threshold distance of a collision, and

adjust one or more of the first remote center distance and the second remote center distance to reduce a likelihood of the collision.

9 . The system of claim 1 , wherein:

the system is further configured to adjust the first remote center distance based on a force applied to the first robotic arm when in a remote center adjustment mode.

10 . A surgical method, comprising:

during a single treatment episode, maintaining a first remote center distance between a first cannula interface and a first remote center of motion of a first robotic arm, the first remote center of motion being located along a first cannula that provides a first port and is mounted to the first cannula interface of the first robotic arm, the first robotic arm inserting a first medical tool through the first cannula, and wherein the first robotic arm rotating the first cannula about the first remote center of motion;

during the single treatment episode, maintaining a second remote center distance between a second cannula interface and a second remote center of motion of a second robotic arm, the second remote center of motion being located along a second cannula that provides a second port and is mounted to the second cannula interface of the second robotic arm, the second robotic arm inserting a second medical tool through the second cannula, and the second robotic arm rotating the second cannula about the second remote center of motion; and

during the single treatment episode, maintaining the first remote center distance between the first cannula interface and the first remote center to be different from the second remote center distance between the second cannula interface and the second remote center of motion.

11 . The method of claim 10 , wherein the first cannula has a first length, and the second cannula has a second length that is different from the first length.

12 . The method of claim 10 , further comprising:

adjusting one or more of the first remote center distance and the second remote center distance.

13 . The method of claim 10 , further comprising:

adjusting the first remote center distance to increase a maximum distance the first medical tool is able to be inserted into a patient.

14 . The method of claim 10 , further comprising:

coupling the first robotic arm to the first cannula.

15 . The method of claim 10 , further comprising:

determining that movement of one or more of the first robotic arm and the second robotic arm would position the first robotic arm and the second robotic arm within a threshold distance of a collision; and

in accordance with the determination, adjusting one or more of the first remote center distance and the second remote center distance to increase a distance of separation between the first robotic arm and the second robotic arm.

16 . A surgical method, comprising:

providing a first robotic arm comprising a first drive mechanism and a first cannula interface, wherein a first cannula is mounted to the first cannula interface of the first robotic arm and the first robotic arm is associated with a first remote center of motion that is located at a first port and is spaced apart from the first cannula interface by a first remote center distance;

providing a second robotic arm comprising a second drive mechanism and a second cannula interface, wherein a second cannula is mounted to the second cannula interface of the second robotic arm and the second robotic arm is associated with a second remote center of motion that is located at a second port and is spaced apart from the second cannula interface by a second remote center distance;

avoiding a collision between the first robotic arm and the second robotic arm by adjusting the first remote center distance; and

simultaneously maintaining the adjusted first remote center distance to be different from the second remote center distance.

17 . The method of claim 16 , further comprising:

adjusting the first remote center distance to provide a null-space degree-of-freedom (DoF).

18 . The method of claim 16 , wherein the first cannula is configured to intersect a body wall of a patient, and the first remote center of motion is located at the intersection of the body wall of the patient and the first cannula, the method further comprising:

moving the first robotic arm while maintaining the first remote center of motion with respect to the body wall.

19 . The method of claim 16 , further comprising:

inserting a medical tool into a patient via the first cannula using the first robotic arm; and

adjusting the first remote center distance to increase a maximum distance the medical tool is able to be inserted into the patient.

20 . The method of claim 16 , wherein adjusting the first remote center distance is further based on a force applied to the first robotic arm.

Assignments (1)

Continuity (2)

References Cited (217)