Auris Health, Inc.

Moon Surgical Sas

Auris Surgical Robotics, Inc.

David Paul Noonan

Ehsan Basafa

Jeffery B Alvarez

Nicolas Linard

Ritwik Ummalaneni

Jad Fayad

Victoria Cheng-Tan Wu

Subashini Srinivasan

Allen Jiang

Hedyeh Rafii-Tari

David Burdick Berman

Brian Matthew Patenaude

Chauncey F Graetzel

Prasanth Jeevan

Menglong Ye

Mingyen Ho

Shu-Yun Chung

Joseph A Urban, Jr

Varun Agrawal

Don Akira Tanaka

Ryan Jeffrey Connolly

Elif Ayvali

Douglas Bruce Dull

Jesus Mago

Jeffrey William Draper

Neal Tanner

Yanwei Wang

Moran Gera Mamo

Sergio L Martinez, Jr

Victoria Cheng-Ten Wu

Andrew Elliott Heinrich

Jeffery Byron Alvarez

Techniques discussed herein relate to controlling robotic components to move medical instruments and tools configured to be advanced through the medical instruments. For example, a system can include a medical instrument with a working channel, a first robotic component configured to control movement of the medical instrument, and a second robotic component configured to control movement of a tool through the working channel. The first robotic component or the second robotic component can be configured to maintain a position of the tool while the medical instrument moves.

Tool positioning for medical instruments with working channels

Anatomical feature tracking involves advancing a medical instrument to a treatment site of a patient, the medical instrument comprising an imaging device, generating a first image of at least a portion of the treatment site using the imaging device of the medical instrument when a distal end of the medical instrument is in a first position, generating a first silhouette of a first target anatomical feature represented in the first image, generating a second image of at least a portion of the treatment site using the imaging device of the medical instrument when the distal end of the medical instrument is in a second position, generating a second silhouette of a second target anatomical feature represented in the second image, and determining a target position at the treatment site based at least in part on the first silhouette and the second silhouette.

Anatomical feature tracking

Co-manipulation robotic systems are described herein that may be used for assisting with laparoscopic surgical procedures. The co-manipulation robotic systems allow a surgeon to use commercially-available surgical tools while providing benefits associated with surgical robotics. Advantageously, the surgical tools may be seamlessly coupled to the robot arms using a disposable coupler while the reusable portions of the robot arm remain in a sterile drape. Further, the co-manipulation robotic system may operate in multiple modes to enhance usability and safety, while allowing the surgeon to position the instrument directly with the instrument handle and further maintain the desired position of the instrument using the robot arm.

Co-manipulation surgical system having multiple operational modes for use with surgical instruments for performing surgery

A method of controlling an instrument involves measuring strain of one or more optical fibers associated with an elongate shaft of an instrument, determining a first shape estimation of the elongate shaft based on the measured strain, determining, based on the measured strain, a strain-indicated characteristic of the elongate shaft with respect to a mechanical condition of the elongate shaft, determining an expected range of the mechanical condition of the elongate shaft, determining that the strain-indicated characteristic is outside of the expected range of the mechanical condition, and in response to the determination that the strain-indicated characteristic is outside of the expected range, determining a second shape estimation of the elongate shaft, the second shape estimation being based to a lesser degree on the measured strain compared to the first shape estimation.

Instrument shape determination

Provided are systems and methods for path-based navigation of tubular networks. In one aspect, the method includes receiving location data from at least one of a set of location sensors and a set of robot command inputs, the location data being indicative of a location of an instrument configured to be driven through a luminal network. The method also includes determining a first estimate of the location of the instrument at a first time based on the location data, determining a second estimate of the location of the instrument at the first time based on the path, and determining the location of the instrument at the first time based on the first estimate and the second estimate.

Path-based navigation of tubular networks

A patient introducer for use with a surgical robotic system is disclosed. In one aspect, the patient introducer may include an introducer tube extending between (i) a distal end connectable to a port and (ii) a proximal end configured to receive a surgical tool. The introducer tube may be configured to guide the surgical tool into the port. The patient introducer may also include an alignment member connected to the introducer tube and including a first shape and a first alignment marking. The alignment member may be configured to interface with a manipulator assembly of a robotic system. The manipulator assembly may include a second shape and a second alignment marking, the first shape being complementary to the second shape. The first alignment marking of the alignment member may facilitate rotational alignment of the alignment member and the manipulator assembly.

Patient introducer alignment

Co-manipulation surgical systems having optical sensors for generating graphical displays

Provided are systems and methods for registration of location sensors. In one aspect, a system includes an instrument and a processor configured to provide a first set of commands to drive the instrument along a first branch of the luminal network, the first branch being outside a path to a target within a model. The processor is also configured to track a set of one or more registration parameters during the driving of the instrument along the first branch and determine that the set of registration parameters satisfy a registration criterion. The processor is further configured to determine a registration between a location sensor coordinate system and a model coordinate system based on location data received from a set of location sensors during the driving of the instrument along the first branch and a second branch.

Systems and methods for registration of location sensors

Co-manipulation surgical system having a coupling mechanism removeably attachable to surgical instruments

Co-manipulation surgical system having automated preset robot arm configurations

Co-manipulation surgical system having a robot arm removeably attachable to surgical instruments for performing laparoscopic surgery

Certain aspects relate to systems and techniques for surgical robotic arm setup. In one aspect, there is provided a system including a first robotic arm configured to manipulate a medical instrument, a processor, and a memory. The processor may be configured to: determine a minimum stroke length of the first robotic arm that allows advancing of the medical instrument by the first robotic arm to reach a target region from an access point via a path, determine a boundary for an initial pose of the first robotic arm based on the minimum stroke length and a mapping stored in the memory, and during an arm setup phase prior to performing a procedure, provide an indication of the boundary during movement of the first robotic arm.

Robotic system with indication of boundary for robotic arm

Co-manipulation surgical system for bedside robotic laparoscopic surgery using surgical instruments

Co-manipulation surgical system for use with surgical instruments for performing laparoscopic surgery while estimating hold force

Growing community of inventors

San Francisco, CA, United States of America

David Paul Noonan