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The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.

The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.

Patent No.:

US 11534247 B1

PDFFull Text
Date of Patent:
Dec. 27, 2022

Filed:

May. 09, 2019

Instrument insertion compensation

Applicant:

Auris Health, Inc., Redwood City, CA (US);

Inventors:

Ryan Jeffrey Connolly, San Carlos, CA (US);

Casey Teal Landey, San Francisco, CA (US);

Chauncey F. Graetzel, Palo Alto, CA (US);

Assignee:

Auris Health, Inc., Redwood City, CA (US);

Attorney:

Chang & Hale LLP

Primary Examiner:

Jason Holloway

Int. Cl.
CPC ...
A61B 34/30 (2016.01); A61B 90/00 (2016.01); A61B 1/018 (2006.01); A61B 34/20 (2016.01); A61B 1/005 (2006.01); A61B 1/00 (2006.01); A61B 1/267 (2006.01); A61B 5/06 (2006.01); A61B 34/00 (2016.01); A61B 90/90 (2016.01); A61B 90/96 (2016.01); A61B 90/98 (2016.01); A61B 17/00 (2006.01); A61B 5/08 (2006.01); A61B 90/30 (2016.01);
U.S. Cl.
CPC ...
A61B 34/30 (2016.02); A61B 1/0016 (2013.01); A61B 1/0051 (2013.01); A61B 1/00149 (2013.01); A61B 1/018 (2013.01); A61B 1/2676 (2013.01); A61B 5/062 (2013.01); A61B 5/067 (2013.01); A61B 34/20 (2016.02); A61B 34/71 (2016.02); A61B 90/361 (2016.02); A61B 90/90 (2016.02); A61B 1/00147 (2013.01); A61B 5/0803 (2013.01); A61B 34/25 (2016.02); A61B 90/39 (2016.02); A61B 90/96 (2016.02); A61B 90/98 (2016.02); A61B 2017/00809 (2013.01); A61B 2034/2048 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/2059 (2016.02); A61B 2034/2065 (2016.02); A61B 2090/309 (2016.02); A61B 2090/3614 (2016.02); A61B 2090/376 (2016.02); A61B 2090/3966 (2016.02);
Abstract

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.

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