# US 10,499,999 B2 · Systems and methods for aligning an elongate member with an access site > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,499,999 B2 - Document ID: US10499999B2 - Status: Granted - Kind: B2 - Application number: 14/880,024 - Filed: 2015-10-09 - Published: 2016-04-14 - Granted: 2019-12-10 - Earliest claimed: 2014-10-09 - Assignees: Auris Health, Inc. - Applicants: Auris Health, Inc. - Inventors: Alan Lau Yu - Web page: https://patentgrep.com/patent/US10499999B2 ## CPC - A61B 34/30: Surgical robots - A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes} - A61B 2090/571: {for clamping a support arm to a bed or other supports} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract An alignment system for controlling an alignment of a robotically controlled elongate member at an access site on a patient may include a longitudinal support rail and support arms coupled with and extending from the longitudinal support rail to form an alignment joint. One or more of the support arms may be configured to maintain the alignment of the elongate member with the access site during a surgical procedure. A method of aligning an elongate member with an access site may include determining a position of a stabilizer of an alignment joint and the access site on a patient, coupling the stabilizer to the access site on the patient, and automatically aligning the instrument driver with the stabilizer on the patient. ## Claims ### Claim 1 An alignment system for controlling an alignment of a robotically controlled elongate member at an access site on a patient, the system comprising: a longitudinal support rail; multiple support arms coupled with and extending from the longitudinal support rail to form an alignment joint, wherein the support arms are configured to reach the access site on the patient, and wherein the support arms are configured to maintain the alignment of the elongate member with the access site during a surgical procedure; a stabilizer comprising: a base with an opening formed therethrough for receiving the elongate member, and a connector that couples an active drive device to the stabilizer, the connector comprising an outwardly exposed extension with a slot formed thereunder, the connector configured to directly attach the active drive device to the stabilizer via the slot; and a port configured to be inserted at the access site, wherein the stabilizer is aligned with the port, wherein one of the support arms is configured to be attached to the stabilizer to support and facilitate rotational movement of the stabilizer with respect to the support arm when the stabilizer is attached to the support arm. ### Claim 2 (depends on 1) The alignment system of claim 1, wherein the longitudinal support rail is attached to a patient support. ### Claim 3 (depends on 2) The alignment system of claim 2, wherein the support arms and the longitudinal support rail are draped with a sterile drape. ### Claim 4 (depends on 3) The alignment system of claim 3, wherein the support arms and the longitudinal support rail maintain the alignment of the elongate member through the sterile drape. ### Claim 5 (depends on 1) The alignment system of claim 1, wherein the support arms form at least one rotatable joint configured to adjust a yaw orientation of the elongate member. ### Claim 6 (depends on 1) The alignment system of claim 1, wherein at least one of the support arms is adjustable in a yaw orientation. ### Claim 7 (depends on 1) The alignment system of claim 1, wherein at least one of the support arms is adjustable in a pitch orientation. ### Claim 8 (depends on 1) The alignment system of claim 1, wherein the stabilizer is coupled to a distal portion of one of the support arms. ### Claim 9 (depends on 1) The alignment system of claim 1, wherein the stabilizer is coupled to a distal portion of one of the support arms, and further comprising an anti-buckling device coupled to the stabilizer and supporting the elongate member. ### Claim 10 (depends on 1) The alignment system of claim 1, wherein the active drive device is coupled to a distal portion of one of the support arms, and wherein the active drive devices inserts and retracts the elongate member. ### Claim 11 (depends on 1) The alignment system of claim 1, further comprising at least one sensor configured to determine a position of the access site. ### Claim 12 (depends on 11) The alignment system of claim 11, further comprising an instrument driver on a second support structure, wherein a position of the access site is communicated to the second support structure, and a heading direction of the instrument driver is adjustable to ensure alignment of the elongate member with the access site. ### Claim 13 A system for aligning an elongate member with an access site on a patient, the system comprising: a revolute joint configured to support an instrument driver, wherein the revolute joint is translatable relative to an operating table, and wherein the instrument driver is configured to axially and laterally displace an elongate member; an alignment joint coupled to the revolute joint, wherein the alignment joint is translatable relative to the operating table, and wherein the alignment joint is configured to align the elongate member with the access site, the alignment joint comprising one or more position sensors, wherein an output of the one or more position sensors is indicative of a position of the alignment joint; and a stabilizer engageable with the patient, wherein the stabilizer comprises a base with an opening formed therethrough for receiving the elongate member, wherein the output of the one or more position sensors is further indicative of a position of the stabilizer; wherein the system is configured to: determine the position of the stabilizer based on the output of the one or more position sensors and automatically move the revolute joint to align the instrument driver with the stabilizer based on the determined position of the stabilizer. ### Claim 14 (depends on 13) The system of claim 13, wherein the stabilizer is configured to couple to an anti-buckling mechanism of the elongate member. ### Claim 15 (depends on 13) The system of claim 13, further comprising an active drive device attached to the stabilizer, wherein the active drive device inserts and retracts the elongate member. ### Claim 16 (depends on 13) The system of claim 13, wherein the stabilizer is coupled to the alignment joint. ### Claim 17 A system for aligning an elongate member with an access site on a patient, the system comprising: an alignment joint, wherein the alignment joint is translatable relative to a patient support, and wherein the alignment joint is configured to align an elongate member with the access site; an active drive device coupled to the alignment joint, wherein the active drive device is configured to manipulate the elongate member at the access site; and a stabilizer connected to the active drive device by a connector, wherein the stabilizer comprises a base with an opening formed therethrough for receiving the elongate member, and wherein the connector comprises an outwardly exposed extension with a slot formed thereunder, the connector configured to directly attach the active drive device to the stabilizer via the slot, wherein the alignment joint is configured to be attached to the stabilizer to support and facilitate rotational movement of the stabilizer with respect to the support arm when the stabilizer is attached to the support arm. ### Claim 18 (depends on 17) The system of claim 17, wherein the active drive device axially translates the elongate member. ### Claim 19 A method of aligning an elongate member, controlled by an instrument driver, with an access site, the method comprising: coupling a stabilizer to the access site on a patient, wherein the stabilizer is engageable with the patient, wherein the stabilizer comprises a base with an opening formed therethrough for receiving the elongate member; coupling the stabilizer to an alignment joint, the alignment joint comprising at least one position sensor; determining a position of the alignment joint based on an output of the at least one position sensor; determining a position of the stabilizer based on the output of the at least one position sensor; and automatically aligning the instrument driver with the stabilizer on the patient based on the determined positions of the stabilizer and the alignment joint. ### Claim 20 (depends on 19) The method of claim 19, further comprising coupling at least one of an anti-buckling mechanism of an instrument driver or an active drive device to the stabilizer of the alignment joint.