Auris Health, Inc.

Ciel Medical, Inc.

Casey Teal Landey

Ryan Jeffrey Connolly

Chauncey F Graetzel

Alan L Yu

Jason Joseph Hsu

Jiayi Lin

Brett Andrew Snyder

Zachary Stahl Morrison

Don Akira Tanaka

Gary B Hulme

Francois Pierre René Dransart

Ronan L Jenkinson

Jaeyeon Kwon

Mary Garrett

Douglas Bruce Dull

Jeffrey William Draper

Henry Lao

Dan E Azagury

Jacqueline Rose

Bruno Richet

Jeffrey C Weintraub

Alan Lau Yu

Jason J Hsu

Disclosed herein are systems and techniques for compensating for insertion of an instrument into a working channel of another instrument in a surgical system. According to one embodiment, a method of compensation includes: detecting insertion of an insertable instrument into a working channel of a flexible instrument; detecting, based on a data signal from at least one sensor, a position change of a distal portion of the flexible instrument from an initial position: generating a control signal based on the detected position change; and adjusting a tensioning of a pull wire based on the control signal to return the distal portion to the initial position.

Automatic instrument position adjustment

Certain aspects relate to a handle mechanism that permits control of linear motion of a shaft secured within the handle via two different interfaces for actuating the linear motion. In some aspects, a rotational interface can allow for fine control linear positioning of the shaft, for example by allowing a user to rotate the rotational interface to extend or retract the shaft. In some aspects, a plunging interface can enable a faster linear motion, for example by implementing a biasing mechanism that releases to drive rapid linear motion.

Shaft actuating handle

Drive device for a medical instrument

Instrument insertion compensation

Certain aspects relate to biopsy apparatuses, systems and techniques for biopsy using a biopsy pattern. Some aspects relate to moving a distal portion of a medical instrument to one or more sample locations of the biopsy pattern and guiding the instrument to obtain tissue samples from the sample locations within the biopsy pattern. Some aspects relate to obtaining the biopsy pattern and adjusting the sample locations within the biopsy pattern based on various factors such as anatomical features.

Biopsy apparatus and system

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.

Axial motion drive devices, systems, and methods for a robotic medical system

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.

Certain aspects relate to a superelastic medical instrument that of bending elastically through the tortuous pathways of an endoscope, returning to a straight shape upon deployment from the endoscope, and deploying straight along the axis of the end of the bronchoscope (within a tolerated margin) to distances of 2 cm or more.

Superelastic medical instrument

Described here are devices and methods for measuring a distance in an airway. In some instances, the devices may comprise an outer shaft and an inner shaft that is slidably disposed in a lumen of the outer shaft. An expandable stopper may be positioned at a distal end of the inner shaft, which may be configured to engage a carina of a patient. The device may comprise one or more alignment markings and one or more displacement markings that may be used to measure a distance between a distal tip of an endotracheal tube and the carina. In some variations, measurement may be facilitated by the use of an alignment guide that may attach to a predetermined portion of an endotracheal tube.

Devices and methods for airway measurement

Growing community of inventors

San Francisco, CA, United States of America

Casey Teal Landey