Granted Patent B2

US 12,616,539 · App. 17/824,752 · Granted May 5, 2026

Inventors: Alexander Tarek Hassan (San Francisco, CA); Enrique Romo (Danville, CA)

Assignee: Auris Health, Inc.

A61B34/37A61B1/0005A61B1/00149A61B1/2676A61B1/2736A61B1/307A61B34/20A61B50/13A61M13/003A61B2017/00199A61B2034/2051A61B2034/301A61B2034/303

Abstract

Claims (55)

1 . A robotic system, comprising:

a first robotic arm configured to manipulate a flexible instrument;

a second robotic arm configured to manipulate a rigid instrument;

a first arm support for supporting the first robotic arm;

a second arm support, distinct from the first arm support, for supporting the second robotic arm;

a display configured to display feedback from the flexible instrument and feedback from the rigid instrument; and

a processor configured to:

identify a zone of sterility and a zone of non-sterility;

maintain the first robotic arm within the zone of non-sterility; and

maintain the second robotic arm within the zone of sterility.

2 . The robotic system of claim 1 , further comprising a bed, wherein both the first arm support and the second arm support are coupled to the bed.

3 . The robotic system of claim 2 , wherein the first arm support is coupled to a first side of the bed and the second arm support is coupled to a second side of the bed that is opposite to the first side of the bed.

4 . The robotic system of claim 1 , further comprising a cart and a bed, wherein:

one of the first arm support or the second arm support is coupled to the cart; and

the other of the first arm support or the second arm support is coupled to the bed.

5 . The robotic system of claim 4 , wherein the cart is movable relative to the bed.

6 . The robotic system of claim 1 , further comprising a third robotic arm supported by the first arm support.

7 . The robotic system of claim 6 , further comprising a fourth robotic arm supported by the second arm support.

8 . The robotic system of claim 1 , wherein:

the flexible instrument comprises a flexible scope; and

the rigid instrument comprises a rigid scope.

9 . The robotic system of claim 8 , wherein the display is configured to display the feedback from the flexible scope and the feedback from the rigid scope in a picture-in-picture view.

10 . The robotic system of claim 8 , wherein the display is configured to display the feedback from the flexible scope and the feedback from the rigid scope are displayed in a side-by-side view.

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

identify a transition zone between the zone of sterility and the zone of non-sterility.

12 . The robotic system of claim 11 , wherein the processor is further configured to:

prevent the first robotic arm and the second robotic arm from moving into the transition zone.

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

identify the zone of sterility and the zone of non-sterility via a visual demarcation.

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

provide a cue to a user that that the second robotic arm is moving into the zone of non-sterility or moving into a transition zone between the zone of non-sterility and the zone of sterility.

15 . The robotic system of claim 14 , wherein the cue is a visual cue.

16 . The robotic system of claim 14 , wherein the cue is an auditory cue.

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

prompt the user for confirmation; and

continue moving the second robotic arm into the zone of non-sterility or the transition zone upon receiving the confirmation from the user.

18 . A robotic system, comprising:

a first robotic arm configured to manipulate a flexible instrument;

a second robotic arm configured to manipulate a rigid instrument;

a display configured to display feedback from the flexible instrument and the rigid instrument; and

a processor configured to:

identify a zone of sterility and a zone of non-sterility;

maintain the first robotic arm within the zone of non-sterility; and

maintain the second robotic arm within the zone of sterility.

19 . A robotic system, comprising:

a first robotic arm configured to manipulate a flexible instrument;

a second robotic arm configured to manipulate a rigid instrument;

a display configured to display feedback from the flexible instrument and the rigid instrument; and

a processor configured to:

identify a zone of sterility and a zone of non-sterility;

prevent the first robotic arm or the flexible instrument from crossing over into the zone of sterility; and

prevent the second robotic arm or the rigid instrument from crossing over into the zone of non-sterility.

20 . The robotic system of claim 19 , wherein the processor is further configured to:

identify a transition zone between the zone of sterility and the zone of non-sterility; and

prevent the first robotic arm and the second robotic arm from moving into the transition zone.

Continuity (3)

References Cited (316)