Auris Health, Inc.

Fernando Reyes

Travis Michael Schuh

Allen Jiang

Loic Alexandre Bovay

The disclosed technology includes improved microsurgical tools providing multiple degrees of freedom at the wrist level, including roll, pitch, and grasp DOFs, a tight articulation bending radius, low radial offset, and improved stiffness. Some implementations include an end effector platform moveable along a fixed trajectory on a fictional axle so as not to interfere with a central-axis aligned working channel; a crossed-arm mechanical linkage for articulating an end-effector platform throughout a pitch DOF with an amplified pitch angle; and a partial pulley system to articulate the arms while maximizing pulley radius to shaft diameter, and permitting a constant transmission efficiency to the arms throughout the range of articulation. In some implementations, a tool shaft outer diameter may be smaller than 3 mm; a pitch DOF range may be &#xb1;90&#xb0;, a roll DOF range may be &#xb1;180&#xb0;, and a grasp DOF range may be 30&#xb0;.

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Daly City, CA, United States of America

Fernando Reyes