System and method for driving medical instrument
AssigneeAuris Health, Inc.
InventorsChauncey F. Graetzel, Alexander James Sheehy
Life of this patent
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Abstract
Certain aspects relate to systems and techniques for driving a medical instrument having an inner body and an outer body. In one aspect, a system includes a medical instrument comprising an outer body and an inner body configured to be driven through a lumen in the outer body. The system may further include a set of one or more instrument manipulators configured to control movement of the outer and inner bodies and a set of one or more processors configured to: receive a change drive mode command, and in response to receiving the change drive mode command, change a drive mode of the medical instrument from a paired drive mode to an unpaired drive mode.
Claims12
A robotic surgical system, comprising:
- a medical instrument comprising an outer body and an inner body configured to be driven through a lumen in the outer body;
- a set of one or more instrument manipulators configured to control movement of the outer and inner bodies;
- a set of one or more user input devices;
- a set of one or more processors;
- and
- at least one computer-readable memory in communication with the set of processors and having stored thereon computer-executable instructions to cause the set of processors to:
- receive, via the set of user input devices, a command to drive the medical instrument while a drive mode of the medical instrument is in a paired drive mode,
- control movement of the outer and inner bodies using the set of one or more instrument manipulators to drive the medical instrument and maintain a distal end of the inner body to extend from a distal end of the outer body at a predetermined distance while the medical instrument is in the paired drive mode,
- control co-articulation of the outer and inner bodies, wherein an amount of the co-articulation is based on the predetermined distance,
- receive, via the set of user input devices, a change drive mode command, and
- in response to receiving the change drive mode command, change the drive mode of the medical instrument from the paired drive mode to an unpaired drive mode.
Dependencies are inferred from the claim text.