Auris Health, Inc.

Jiayi Lin

Chauncey F Graetzel

Shu-Yun Chung

Alan L Yu

Jason Joseph Hsu

Casey Teal Landey

Sarah Plewe

Rachel Leigh Chok

Zachary Stahl Morrison

Mingyen Ho

John Young

Vivian Aralis

Aadel Al Jadda

Alan Lau Yu

A robotic system includes a medical instrument comprising an elongate shaft dimensioned to be disposed at least partially within an access sheath and control circuitry configured to cause the elongate shaft to be retracted at least partially within the access sheath, determine a position of a distal end of the elongate shaft relative to the access sheath, and modify a speed of retraction of the elongate shaft based on the determined position of the distal end of the elongate shaft relative to the access sheath.

Robotic instrument drive control

A robotic system includes a robotic manipulator configured to: manipulate a medical instrument having a basket; open the basket at a first opening speed and a second, faster opening speed; and close the basket at a first closing speed and a second, faster closing speed. The system includes an input device configured to receive one or more user interactions and initiate one or more actions by the robotic manipulator, including directly controlled movement and/or pre-programmed motions. Control circuitry of the robotic system is configured to: in response to receiving a first user interaction via the input device, trigger a first pre-programmed motion of the robotic manipulator to open the basket at the second, faster opening speed; and in response to receiving a second user interaction via the input device, trigger a second pre-programmed motion to close the basket at the second, faster closing speed.

Advanced basket drive mode

A method of detecting a stuck basket condition involves retracting an endoscope within an anatomical cavity of a patient, the endoscope having a basket device disposed at least partially within a working channel thereof, determining that a force reading associated with at least one of the basket device and the endoscope exceeds a predetermined threshold, and determining that the basket device is in a stuck condition based at least in part on the determination that the force reading exceeds the predetermined threshold.

Stuck instrument management

Certain aspects relate to systems and techniques for detection of undesirable forces on one or more surgical robotic arms. In one aspect, there is provided a system including a robotic arm, including: two linkages, a joint, a torque sensor, and an instrument device manipulator (IDM). The system may further include a processor configured to measure a first torque value at the joint based on an output of the torque sensor and determine a second torque value at the joint based on a position of the robotic arm. The second torque value may be indicative of a gravitational component of the torque between the two linkages. The processor may be further configured to determine a force at the IDM based a difference between the first and second torque values and determine whether the robotic arm has collided with an object or misaligned based on the force at the IDM.

Robotic manipulator force determination

Detection of undesirable forces on a robotic manipulator

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.

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San Mateo, CA, United States of America

Jiayi Lin