Auris Health, Inc.

Intuitive Surgical Operations, Inc.

Han Sen Medical, Inc.

Palo Alto Research Center Inc.

Auris Surgical Robotics, Inc.

Serena H Wong

Sean Paul Walker

June Gyu Park

Neal A Tanner

Jason Joseph Hsu

Kiran Murthy

Richard W Henderson

David S Mintz

Randall L Schlesinger

Jeffery B Alvarez

Gene Reis

Kamini Balaji

Joseph D Bogusky

Gregory J Kintz

Alan L Yu

Enrique Romo

Jian Zhang

Francis T Macnamara

Joseph Bogusky

Steve Burion

Greg Kintz

Katherine A Bender

Eric Peeters

Hans F Valencia

Scott Albert Uhland

Mimi Trinh Fitterer

Francis MacNamara

Kyle R Miller

Benjamin G Cohn

Leena Kadakia

Jeffrey B Alvarez

Joe Bogusky

An endolumenal robotic system provides the surgeon with the ability to drive a robotically-driven endoscopic device to a desired anatomical position in a patient without the need for awkward motions and positions, while also enjoying improved image quality from a digital camera mounted on the endoscopic device.

Endoscopic device with helical lumen design

An antenna system for tissue ablation comprises an energy transmission member, an antenna body coupled to the energy transmission member, a fluid source, and a choke member including a choke body and a choke connector electrically coupling the choke body to the energy transmission member. The choke connector is in direct contact with fluid from the fluid source and forms a delivery path for the fluid between the choke body and the energy transmission member. The choke connector and the choke body are integrally formed of a continuous wire mesh.

Cooled chokes for ablation systems and methods of use

An antenna system comprises an elongate flexible member and an optical fiber extending within the elongate flexible member. The system also comprises an energy conversion device optically coupled to a distal end of the optical fiber. The energy conversion device is operable to convert an optical signal received from the optical fiber to an electrical signal. The system also includes an antenna body coupled to the energy conversion device and powered by the electrical signal from the energy conversion device.

Systems and methods for powering an antenna

An apparatus of the present technology generally includes an elongated shaft having a proximal portion and a distal portion, a first elongated channel extending from the proximal portion to the distal portion, a second channel extending from the proximal portion to the distal portion, and a slidable imaging probe disposed within the first elongated channel. The apparatus can be manually, robotically, and/or teleoperably steerable and is configured for delivery to a subject and/or positioning within a subject near or at a target location. Once the steerable apparatus has been successfully positioned at the target location, the imaging probe can be repositioned relative to the first elongated channel, thereby opening a working lumen. The working lumen and second channel are configured for removal of material from the target location within the subject by applying simultaneous activities including suction, irrigation, and/or deliver a tool to the target location.

Steerable apparatus having a slideable imaging probe and associated methods of use

Systems and methods are described herein for tracking an elongate instrument or other medical instrument in an image.

Systems and methods for tracking robotically controlled medical instruments

For position sensors, e.g., a fiber-based system, that build a shape of an elongated member, such as a catheter, using a sequence of small orientation measurements, a small error in orientation at the proximal end of the sensor will cause large error in position at distal points on the fiber. Exemplary methods and systems are disclosed, which may provide full or partial registration along the length of the sensor to reduce the influence of the measurement error. Additional examples are directed to applying selective filtering at a proximal end of the elongated member to provide a more stable base for distal measurements and thereby reducing the influence of measurement errors.

Reducing measurement sensor error

A method comprises deploying a tool to a passageway exit site through a lumen of a flexible elongate device. The flexible elongate device comprises a proximal end, a distal end, and the lumen therebetween, and the tool comprises a needle. The method further comprises puncturing a passageway wall at the passageway exit site with the needle. The method further comprises deploying the needle through the passageway wall and through target tissue at a target location beyond the passageway wall. The method further comprises deploying an instrument to perform treatment on the target tissue at the target location. The instrument is deployed within the tool and through a perforation created in the target tissue by the needle.

Systems and methods of steerable elongate device

A device may operate a guide wire and be operable by a single operator digit. The device may include an insertion control device for advancing the guide wire in a forward and in a reverse direction and along a longitudinal axis of the guide wire; and a rotary device for rolling a guide wire about the longitudinal axis. A robotic instrument driver may be operatively coupled to the device and configured to control axial movement of the guide wire along the longitudinal axis according to input received from the insertion control device and to control rotational movement of the guide wire according to input received from the rotary device.

Integrated catheter and guide wire controller

Systems and processes for facilitating the removal of material with a robotically assisted tool with laser, irrigation capabilities, aspiration capabilities. Tool guidance systems that make use of vision technologies, including optical coherence tomography (OCT), white light imaging, and structured light imaging. Emulsification patterns optimized to minimize risk to the patient and reduce procedure time. Robotic tools with articulation capabilities that allow for precise control during capsulorhexis and emulsification procedures. Robotic instrument drive mechanisms combined with pumps, flow meters, and valves regulate and control irrigation and aspiration functionalities during robotic ophthalmologic procedures.

Method, apparatus, and a system for robotic assisted surgery

A flexible instrument comprises an antenna having a distal tip portion shaped to perforate tissue, a proximal base, and an antenna body therebetween. The antenna body comprises a patterned cylindrical structure having antenna body elements spatially separated from each other and having a proximal end coupled to the proximal base and a distal end coupled to the distal tip portion. The distal tip portion is disposed distally of the distal end. The antenna comprises a first material having a flexible plastic deformation limit and a second material plated onto the first material. The second material is more conductive than the first material. The flexible instrument further comprises an adjustment device configured to adjust pitch lengths between adjacent antenna body elements and is configured to generate a radiation pattern from the antenna that varies based on the pitch length between the adjacent antenna body elements to ablate tissue.

Systems and methods related to flexible antennas

An energy delivery system includes a transmission member, an antenna at a distal end of the transmission member, a jacket surrounding the transmission member and the antenna, a fluid channel between the transmission member and the jacket, and a plug disposed at the distal end of the transmission member and a proximal end of the antenna. The plug is configured to prevent migration of a cooling fluid from the fluid channel to a cavity between the antenna and the jacket.

Coiled antenna with fluid cooling

An antenna system for tissue ablation includes an energy transmission member, a conductive hollow coil member, and a fluid cooling system. The energy transmission member has an inner conductor, an outer conductor, and a dielectric layer between the inner and outer conductors. A portion of the dielectric layer extends distally of a distal end of the outer conductor. The conductive hollow coil member includes a member lumen within a length of the conductive hollow coil member. The conductive hollow coil member is coiled around the portion of the dielectric layer and is separate from the inner conductor. The conductive hollow coil member extends along an entire length of the outer conductor of the energy transmission member. The fluid cooling system is coupled to the conductive hollow coil member for providing a flow of a cooling fluid through the member lumen for cooling the conductive hollow coil member.

Antenna systems and methods of use

An antenna system for tissue ablation includes an energy transmission member, an antenna body coupled to the energy transmission member, a fluid source, and a choke member comprising an integrally formed choke body and choke connector electrically coupled to the energy transmission member by the choke connector. The choke body defines an outermost portion of the choke member. The choke body has an axial length and the choke connector extends along a majority of the length of the choke body and contacts the choke body along the majority of the length. The choke connector is in direct contact with a fluid from the fluid source. The choke connector is disposed between the choke body and the energy transmission member. The choke connector forms a delivery path for the fluid between the choke body and the energy transmission member. The choke connector and the choke body are a continuous wire mesh.

The following describes various applications and uses for a controllably rigidizable flexible device or sheath. Such rigidizing mechanisms can allow for a transition between a rigid state and a flexible state of a sheath. Rigidization can be applied along an entire length of a flexible sheath or along select portions of the sheath, and the rigidization can be of varying stiffness. Rigidization can be user controlled or automatically controlled using computer processes.

Growing community of inventors

Mountain View, CA, United States of America

Serena H Wong