US Pat. No. 10,169,875

NAVIGATION OF TUBULAR NETWORKS

Auris Health, Inc., Redw...

1. A system comprising:a set of one or more processors; and
a computer readable-medium that includes computer program instructions that, when executed, cause the set of processors to:
access a first set of sensor data regarding physical manipulation of an elongated medical instrument inserted into a tubular network of a patient, the first set of sensor data being derived from at least a first set of one or more sensors located at a proximal portion of the of the elongated medical instrument;
access a second set of sensor data regarding the positioning of the medical elongated medical instrument, the second set of sensor data being derived from at least a second set of one or more sensors located within the elongated medical instrument, the second set of sensors being different from the first set of sensors;
determine a first estimated state regarding the physical manipulation of the elongated medical instrument based on the first set of sensor data;
determine a second estimate state regarding the physical manipulation of the elongated medical instrument based on the second set of sensor data; and
determine an estimated state of the elongated medical instrument based on the first estimated state and the second estimated state.

US Pat. No. 9,980,785

INSTRUMENT DEVICE MANIPULATOR WITH SURGICAL TOOL DE-ARTICULATION

Auris Health, Inc., Redw...

1. A surgical tool holder assembly comprising:a housing having an attachment interface for attachment to a reciprocal attachment interface of a surgical tool;
a plurality of torque couplers protruding outwards from the attachment interface, each torque coupler capable of transitioning between a first state of protruding outwards from the housing and a second state of retracting into the housing;
an actuation mechanism configured to control a transition between the first state and the second state; and
a plurality of actuators, each of the plurality of actuators coupled to a respective one of the plurality of torque couplers and configured to drive rotation of the respective one of the plurality torque couplers in response to an electrical control signal.

US Pat. No. 9,993,313

INSTRUMENT DEVICE MANIPULATOR WITH ROLL MECHANISM

Auris Health, Inc., Redw...

1. A surgical instrument device manipulator comprising:a surgical arm operable by a surgical robotics system;
a base fixedly connected to the surgical arm;
a surgical tool holder assembly including a surgical tool holder that is rotatably mounted to the base and configured to removeably attach to a surgical tool such that the surgical tool is fixed to the surgical tool holder when the surgical tool is attached, wherein the surgical tool holder comprises
a first opening on a first side of the surgical tool holder,
a second opening on a second side of the surgical tool holder, and
a passage extending along a passage axis between the first opening and the second opening such that an elongate body of the surgical tool can be inserted through the first opening, the passage, and the second opening; and
at least one drive mechanism coupled between the base and the surgical tool holder assembly to rotate the surgical tool holder around a rotational axis relative to the base such that rotation of the surgical tool holder causes rotation of the surgical tool attached to the surgical tool holder, wherein the rotational axis of the surgical tool holder is co-axially aligned with a longitudinal axis of the surgical tool.

US Pat. No. 10,016,900

SURGICAL ROBOTIC ARM ADMITTANCE CONTROL

Auris Health, Inc., Redw...

1. A system, comprising:a robotic arm comprising:
at least two linkages,
at least one joint connecting the at least two linkages,
at least one torque sensor configured to detect torque between the at least two linkages, and
at least one motor configured to adjust the position of the at least two linkages,
a processor; and
a memory storing computer-executable instructions to cause the processor to:
determine a force at a reference point on the robotic arm based on an output of the torque sensor,
receive an indication of a direction of movement of the reference point,
determine that a component of the force is in the same direction as the direction of movement of the reference point,
generate, based on the determination that the component of the force is in the same direction as the direction of movement of the reference point, at least one parameter indicative of a target resistance to movement of the robotic arm, and
control the motor, based on the at least one parameter, to move the robotic arm in accordance with the target resistance.

US Pat. No. 10,022,192

AUTOMATICALLY-INITIALIZED ROBOTIC SYSTEMS FOR NAVIGATION OF LUMINAL NETWORKS

Auris Health, Inc., Redw...

1. A method of facilitating navigation of an anatomical luminal network of a patient, the method, executed by a set of one or more computing devices, comprising:receiving imaging data captured by an imaging device at a distal end of an instrument positioned within the anatomical luminal network;
accessing a virtual feature derived from a virtual depth map associated with a virtual image, the virtual image simulated from a viewpoint of a virtual imaging device positioned at a virtual location within a virtual luminal network representative of the anatomical luminal network, wherein the virtual feature represents a first spatial relationship between two or more depth criteria in the virtual depth map;
generating a depth map based on the imaging data;
deriving a feature from the depth map, the feature representing a second spatial relationship between two or more depth criteria in the depth map;
calculating a correspondence between the feature derived from the depth map and the virtual feature derived from the virtual depth map; and
determining a pose of the distal end of the instrument within the anatomical luminal network based on the virtual location associated with the virtual feature based on the calculated correspondence.

US Pat. No. 10,123,755

REDUCING INCREMENTAL MEASUREMENT SENSOR ERROR

Auris Health, Inc., Redw...

1. A system comprising:an elongate member extending between a proximal end and a distal end;
one or more sensing elements positioned on the elongate member, the one or more sensing elements configured to provide at least:
proximal data associated with a proximal region of the elongate member, and
distal data associated with a distal region of the elongate member;
at least one non-transitory computer readable medium having stored thereon executable instructions; and
at least one processor in communication with the at least one non-transitory computer readable medium and configured to execute the instructions to:
receive the proximal data and the distal data from the one or more sensing elements,
filter the proximal data to reduce orientation error associated with the proximal region, and
determine a shape of the elongate member based on the filtered proximal data.

US Pat. No. 10,145,747

DETECTION OF UNDESIRABLE FORCES ON A SURGICAL ROBOTIC ARM

Auris Health, Inc., Redw...

1. A system, comprising:a first robotic arm, comprising:
at least two linkages,
at least one joint connecting the at least two linkages,
at least one torque sensor configured to detect torque between the at least two linkages, and
an instrument device manipulator (IDM) connected to a distal end of the first robotic arm;
a processor; and
a memory storing computer-executable instructions to cause the processor to:
measure a first torque value at the at least one joint based on an output of the torque sensor,
determine a second torque value at the at least one joint based on a position of the first robotic arm, the second torque value indicative of a gravitational component of the torque between the at least two linkages,
determine a first force at the IDM based on a difference between the first and second torque values, and
determine whether the first robotic arm has collided with an object based on the first force at the IDM.

US Pat. No. 10,123,843

INPUT DEVICE FOR CONTROLLING A CATHETER

AURIS HEALTH, INC., Redw...

1. A robotics system, comprising:a surgical instrument having a physical distal tip;
an actuator coupled to the surgical instrument;
a user interface comprising a display configured to present a plurality of virtual distal tips of the surgical instrument, each of the virtual distal tips having a different distal tip shape; and
a controller comprising a computing device communicatively coupled to the actuator and the user interface,
wherein the user interface is configured to receive a user input designating a selected virtual tip having a selected distal tip shape from the plurality of virtual distal tips; and
wherein the controller is configured to determine a desired shape of the physical distal tip based on the user input and output a control signal to the actuator to cause the physical distal tip to adopt the selected distal tip shape.

US Pat. No. 10,080,576

METHOD, APPARATUS, AND A SYSTEM FOR FACILITATING BENDING OF AN INSTRUMENT IN A SURGICAL OR MEDICAL ROBOTIC ENVIRONMENT

Auris Health, Inc., Redw...

1. A medical device comprising:a. an elongated body for use in medical procedures, the elongated body having a neutral axis and comprising:
i. a spine along the length of the elongated body;
ii. a series of ribs along the length of the elongated body, wherein the series of ribs form a corresponding series of ribbed voids along the length of the elongated body, wherein the elongated body, the spine, and the ribs are formed as a single component; and
iii. a lumen longitudinally oriented within the elongated body, wherein the lumen has a non-cylindrical cross-section defined by walls of uneven thickness formed from the elongated body and having a narrowed mid-section;
b. an ancillary component positioned within the lumen along the length of the body; and
c. a control wire that is configured to actuate an end effector that is operatively coupled to the control wire, wherein the control wire is positioned within the lumen offset from the neutral axis of the elongated body and separated from the ancillary component within the lumen by the narrowed mid-section.

US Pat. No. 10,130,427

SYSTEMS AND METHODS FOR POSITIONING AN ELONGATE MEMBER INSIDE A BODY

Auris Health, Inc., Redw...

1. A method for robotically navigating first and second coaxial elongate members into a target anatomy of a patient, the method comprising:advancing the first elongate member toward the target anatomy;
advancing the second elongate member over a distal tip of the first elongate member;
applying tension to one or more pullwires to articulate a distal tip of the second elongate member to direct the distal tip of the first elongate member toward the target anatomy;
advancing the distal tip of the first elongate member into the target anatomy;
after advancing the distal tip of the first elongated member into the target anatomy advancing the second elongate member over the first elongate member and into the target anatomy; and
releasing the tension on the one or more pullwires of the second elongate member while advancing the second elongate member into the target anatomy.

US Pat. No. 10,206,746

USER INTERFACE FOR ACTIVE DRIVE APPARATUS WITH FINITE RANGE OF MOTION

Auris Health, Inc., Redw...

1. A system comprising:a drive mechanism;
a controller configured to:
determine a user interface status;
determine a drive mechanism location of a gripper device relative to a first limit and a second limit, wherein the gripper device is configured to drive a medical instrument through a patient's anatomy; and
select a clutching location of the gripper device based on the user interface status and the drive mechanism location, and
wherein the user interface status is indicative of user interaction of a user interface and comprises at least one of an active status and an inactive status, and
wherein the inactive status is based on a determination by the controller that user interaction of the user interface has ceased.

US Pat. No. 10,159,533

SURGICAL SYSTEM WITH CONFIGURABLE RAIL-MOUNTED MECHANICAL ARMS

Auris Health, Inc., Redw...

1. A medical device comprising:a horizontal platform having a first lateral side, a second lateral side opposite the first lateral side, a top end, and a bottom end opposite the top end;
a first linear rail portion extending along the first lateral side of the horizontal platform;
a second linear rail portion extending along the second lateral side of the horizontal platform and toward and beyond the bottom end of the horizontal platform;
a carriage configured to translate along the second linear rail portion, the carriage being operatively coupled to the second linear rail portion; and
a robotic arm operatively coupled to the carriage,
wherein the robotic arm is configured to be moved about the horizontal platform by the carriage to perform a medical procedure on a patient on the horizontal platform, and
wherein the entirety of the carriage is configured to be moved beyond the bottom end of the horizontal platform along the second linear rail portion parallel to the second lateral side.

US Pat. No. 10,149,720

METHOD, APPARATUS, AND A SYSTEM FOR FACILITATING BENDING OF AN INSTRUMENT IN A SURGICAL OR MEDICAL ROBOTIC ENVIRONMENT

Auris Health, Inc., Redw...

1. A bending section to carry a tool for use in noninvasive medical procedures, the bending section comprising:an actuation wire;
a rod having an approximately cylindrical outer circumference and a neutral axis;
a top portion along a length of the rod;
a bottom portion along the length of the rod, wherein at least a section of the bottom portion of the cylindrical rod is formed without material;
a non-cylindrical channel through the entire rod, the non-cylindrical channel comprising a top pathway along the top portion and proximate the neutral axis, a bottom pathway along the bottom portion and off-axis from the neutral axis, and a narrowed region therebetween connecting the top and bottom pathways, wherein the rod has a greater wall thickness at the narrowed region than at the top and bottom pathways, wherein the actuation wire is positioned within the bottom pathway to articulate the rod, wherein the actuation wire is in contact with a surface that forms the non-cylindrical channel, and wherein the top pathway is configured to accommodate at least one ancillary component to be in proximity to the neutral axis of the rod;
a plurality of first sections alternatingly adjacent to a plurality of second sections along the length of the rod, wherein the plurality of first sections is formed without material to form a plurality of partial voids next to the plurality of second sections, such that the partial voids permit bending of the rod along the top portion of rod.

US Pat. No. 10,143,360

METHODS AND DEVICES FOR CONTROLLING A SHAPEABLE MEDICAL DEVICE

Auris Health, Inc., Redw...

1. A method of controlling advancement of a shapeable medical device within an anatomic path, the method comprising:processing a command from an input device to actuate the shapeable medical device into a desired configuration of one or more portions of the shapeable medical device;
issuing a position control signal to one or more actuators based on a model of shapeable medical device mechanics to advance the shapeable medical device along the anatomic path;
obtaining a plurality of localization data to determine a real shape of at least the one or more portions of the shapeable instrument when advanced along the anatomic path; and
determining a differential between the real shape and the desired configuration of the one or more portions; and
based on the differential between the real shape and the desired configuration of the one or more portions, updating the model of shapeable medical device mechanics and controlling advancement of the shapeable medical device based on the updated model.

US Pat. No. 10,143,526

ROBOT-ASSISTED DRIVING SYSTEMS AND METHODS

Auris Health, Inc., Redw...

1. A method for driving a flexible medical instrument in three dimensional space within an anatomy, the method performed by a robotic medical system and comprising:acquiring an anatomical image using an imaging subsystem of the robotic medical system;
acquiring localization information for the instrument from a tracking sensor integrated in the instrument;
registering the instrument to the anatomical image;
overlaying a representation of the instrument on the anatomical image for display to a user;
identifying a target on the anatomical image;
receiving a user command to drive the instrument, the user command received from the user via a user input device;
identifying, based on the localization information of the instrument and the identified target, a pathway suitable for navigating the instrument from its current position towards the target;
overlaying a representation of the pathway suitable for navigating the instrument from its current position towards the target on the anatomical image for display to the user.

US Pat. No. 10,136,959

ENDOLUMENAL OBJECT SIZING

Auris Health, Inc., Redw...

1. A method for sizing an object positioned within a patient, comprising:navigating an elongate body to a location within the patient and proximate to the object, the elongate body comprising an imaging sensor for capturing images of the object;
capturing sequential images of the object with the imaging sensor;
navigating the elongate body into at least one of a different orientation and a different position during the capture of the sequential images;
determining orientations and positions of the elongate body during the capture of the sequential images based on a set of robot data;
comparing the orientation and position of the elongate body determined based on the set of robot data for at least one captured sequential image to the orientation and position determined based on the set of robot data for at least another captured sequential image; and
analyzing, with a processor, the sequential images of the object and the comparison of the set of robot data to estimate a size of the object.

US Pat. No. 10,130,345

SYSTEM AND METHODS FOR TRACKING ROBOTICALLY CONTROLLED MEDICAL INSTRUMENTS

Auris Health, Inc., Redw...

1. A robotic system configured to manipulate a tool within a patient's anatomy, the system comprising:the tool comprising a shape sensor that senses a shape of at least a portion of the tool while within the patient's anatomy;
a robotic drive system comprising at least one actuator, the robotic drive system coupled to the tool and configured to articulate the tool within the patient's anatomy and
a controller configured to register a sensor reference frame and a 3-dimensional (3D) model, reference frame based on the shape of the tool and features of a 3D model of the patient's anatomy, the controller also being configured to direct the robotic drive system based on the registration.

US Pat. No. 10,159,532

ROBOTIC SYSTEMS FOR DETERMINING A ROLL OF A MEDICAL DEVICE IN LUMINAL NETWORKS

Auris Health, Inc., Redw...

1. A method of facilitating navigation of an anatomical luminal network of a patient, the method, executed by a set of one or more computing devices, comprising:receiving imaging data captured by an imaging device at a distal end of an instrument positioned within the anatomical luminal network, wherein the anatomical luminal network includes a right bronchus and a left bronchus;
identifying one or more features from the imaging data, the one or more features identified from the imaging data representing a first positioning of the right bronchus and the left bronchus in the imaging data;
accessing one or more features associated with a virtual image, the virtual image simulated from a viewpoint of a virtual imaging device positioned at a virtual location within a virtual luminal network representative of the anatomical luminal network, the virtual luminal network including a virtual right bronchus corresponding to the right bronchus and a virtual left bronchus corresponding to the left bronchus, wherein the one or more features associated with the virtual image represent a second positioning of the virtual right bronchus and the virtual left bronchus in the virtual image;
calculating a correspondence between the first positioning and the second positioning; and
determining a roll of the distal end of the instrument within the anatomical luminal network based on the calculated correspondence.

US Pat. No. 10,213,264

CATHETER TENSION SENSING

Auris Health, Inc., Redw...

1. A robotic surgical system, comprising:an elongate member comprising a pull wire disposed therein;
an input device configured to receive a user input;
an instrument driver operatively coupled to the elongate member, the instrument driver comprising a motor and a rotary torque sensor configured to generate torque data indicative of a torque imparted on the pull wire; and
a control system operatively coupled to the input device and the instrument driver, wherein the elongate member is controllable by the instrument driver based on a command generated by the control system in response to the user input and the torque data.

US Pat. No. 10,231,867

METHOD, APPARATUS AND SYSTEM FOR A WATER JET

Auris Health, Inc., Redw...

1. A system configured for medical operation comprising:a water jet device having an instrument drive mechanism;
an aspiration device separate from the water jet device; and
a robotic control system comprising a controller, a flow rate meter, a throttle valve, and a pump,
wherein the flow rate meter is in communication with the controller and the controller is in communication with the pump and the throttle valve to form a feedback loop,
wherein the flow rate meter is configured to generate and send a feedback signal to the controller,
wherein the controller is configured to: generate and send a control signal to the pump in response to the feedback signal, and generate and send a throttle control signal to the throttle valve to control a flow rate of the water jet device in response to the feedback signal,
wherein the water jet device is configured to be coupled to the robotic control system via the instrument drive mechanism to generate a cutting jet based at least in part on the control signal from the controller so as to have a desired jet cutting area,
wherein the flow rate meter is upstream from the instrument drive mechanism,
wherein the aspiration device is configured to be coupled to the robotic control system to provide aspiration, and
wherein the robotic control system is configured to operate the water jet device aspiration device, the flow rate meter, the throttle valve, and the pump to perform the medical operation according to a predetermined workflow.

US Pat. No. 10,231,793

OBJECT REMOVAL THROUGH A PERCUTANEOUS SUCTION TUBE

Auris Health, Inc., Redw...

1. A method for removing an object from a patient, comprising:inserting a suction tube into a patient's kidney through a port created by a percutaneous cut;
advancing an endoscope into the patient's kidney by inserting the endoscope through a natural orifice in the patient and then through a patient lumen other than the port and into the kidney, the endoscope comprising a working channel;
irrigating the patient's kidney with a fluid, where the fluid passes within the working channel of the endoscope; and
applying negative pressure to the suction tube, the combination of the fluid irrigation and the negative pressure assisting in causing the object to be removed from the patient's kidney through the suction tube.

US Pat. No. 10,244,926

DETECTING ENDOLUMENAL BUCKLING OF FLEXIBLE INSTRUMENTS

Auris Health, Inc., Redw...

1. A method for detecting buckling of a medical instrument comprising an elongate body, the method comprising:directing a command to move an elongate body;
receiving sensor data generated from a first sensor placed in a first portion of the elongate body, the sensor data comprising information regarding a first measured status of the first portion of the elongate body;
determining a first expected status of the first sensor from command data useable to control a manipulator coupled to the elongate body to effect movement of the elongate body;
comparing the first measured status with the first expected status; and
responsive to the first measured status deviating from the first expected status relative to a first associated threshold, determining that the elongate body has buckled.