# US 11,439,419 B2 · Advanced basket drive mode > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,439,419 B2 - Document ID: US11439419B2 - Status: Granted - Kind: B2 - Application number: 17/121,167 - Filed: 2020-12-14 - Published: 2021-07-01 - Granted: 2022-09-13 - Earliest claimed: 2019-12-31 - Assignees: Auris Health, Inc. - Applicants: Auris Health, Inc. - Inventors: Jiayi Lin; Chauncey F. Graetzel; Sarah Plewe; Rachel Leigh Chok - Web page: https://patentgrep.com/patent/US11439419B2 ## CPC - A61B 17/221: Gripping devices in the form of loops or baskets {for gripping calculi or similar types of obstructions (surgical snare instruments A61B17/32056)} - A61B 1/00006: {of control signals} - A61B 1/00149: {using articulated arms} - A61B 1/307: for the urinary organs, e.g. urethroscopes or cystoscopes - A61B 34/30: Surgical robots - A61B 34/37: Leader-follower robots (A61B34/35 takes precedence) - A61B 34/74: {Manipulators with manual electric input means} - A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes} - A61B 2034/742: {Joysticks} - A61B 2034/743: {Keyboards} - A61B 2034/744: {Mouse} - A61B 2090/066: {for measuring torque} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract A robotic system includes a robotic manipulator configured to: manipulate a medical instrument having a basket; open the basket at a first opening speed and a second, faster opening speed; and close the basket at a first closing speed and a second, faster closing speed. The system includes an input device configured to receive one or more user interactions and initiate one or more actions by the robotic manipulator, including directly controlled movement and/or pre-programmed motions. Control circuitry of the robotic system is configured to: in response to receiving a first user interaction via the input device, trigger a first pre-programmed motion of the robotic manipulator to open the basket at the second, faster opening speed; and in response to receiving a second user interaction via the input device, trigger a second pre-programmed motion to close the basket at the second, faster closing speed. ## Claims ### Claim 1 A robotic system for performing a medical procedure, the robotic system comprising: a robotic manipulator configured to: manipulate a medical instrument comprising a basket, the medical instrument configured to access a human anatomy; open the basket at a first opening speed and a second opening speed faster than the first opening speed; and close the basket at a first closing speed and a second closing speed faster than the first closing speed; an input device configured to receive one or more user interactions and initiate one or more actions by the robotic manipulator, the one or more actions comprising at least one of directly controlled movement and pre-programmed motions; and control circuitry communicatively coupled to the input device and the robotic manipulator and configured to: in response to receiving a first user interaction via the input device, trigger a first pre-programmed motion of the robotic manipulator, the first pre-programmed motion comprising opening the basket at the second opening speed; and in response to receiving a second user interaction via the input device, trigger a second pre-programmed motion of the robotic manipulator, the second pre-programmed motion comprising closing the basket at the second closing speed. ### Claim 2 (depends on 1) The robotic system of claim 1, wherein the medical instrument further comprises a ureteroscope. ### Claim 3 (depends on 1) The robotic system of claim 1, wherein the medical procedure comprises ureteroscopy. ### Claim 4 (depends on 1) The robotic system of claim 1, wherein the input device comprises a control pad, the control pad comprising: directional controls configured to direct movement of the robotic manipulator along a plurality of axes; and a plurality of buttons including a first button and a second button. ### Claim 5 (depends on 4) The robotic system of claim 4, wherein the first user interaction comprises double tapping the first button. ### Claim 6 (depends on 5) The robotic system of claim 5, wherein the second user interaction comprises double tapping the second button. ### Claim 7 (depends on 6) The robotic system of claim 6, the control circuitry further configured to: in response to tapping the first button and the second button concurrently, trigger a third pre-programmed motion of the robotic manipulator comprising a repeated, short range, forward and backward movement at an accelerated speed. ### Claim 8 (depends on 1) The robotic system of claim 1, the control circuitry further configured to: in response to receiving a third user interaction, trigger a third pre-programmed motion of the robotic manipulator comprising a repeated, short range, forward and backward movement at an accelerated speed. ### Claim 9 (depends on 1) The robotic system of claim 1, wherein the second pre-programmed motion further comprises: detecting a torque on a drive mechanism of the basket; and in response to the torque exceeding a threshold, stopping the closing of the basket. ### Claim 10 (depends on 1) The robotic system of claim 1, wherein the at least one of the first user interaction and the second user interaction comprises a voice command. ### Claim 11 A method for controlling a medical instrument using a robotic manipulator, the method comprising: manipulating, using the robotic manipulator, a medical instrument comprising a basket to access a human anatomy, the robotic manipulator configured to open the basket at a first opening speed and a second opening speed, the robotic manipulator further configured to close the basket at a first closing speed and a second closing speed; receiving, via an input device, one or more user interactions for triggering pre-programmed actions by the robotic manipulator; in response to receiving a first user interaction via the input device, triggering a first pre-programmed motion of the robotic manipulator, the first pre-programmed motion comprising opening the basket at the second opening speed, the second opening speed faster than the first opening speed; and in response to receiving a second user interaction via the input device, triggering a second pre-programmed motion of the robotic manipulator, the second pre-programmed motion comprising closing the basket at the second closing speed, the second closing speed faster than the first closing speed. ### Claim 12 (depends on 11) The method of claim 11, wherein the first user interaction comprises double tapping a first button of the input device and second user interaction comprises double tapping a second button of the input device. ### Claim 13 (depends on 12) The method of claim 12, the method comprising: in response to tapping the first button and the second button concurrently, triggering a third pre-programmed motion of the robotic manipulator, the third pre-programmed motion comprising a repeated, short range, forward and backward movement at an accelerated speed. ### Claim 14 (depends on 13) The method of claim 13, the method comprising: in response to receiving a movement input along a first axis on the input device, moving a central locus of the third pre-programmed motion of the robotic manipulator along the first axis; and repeating the short range, forward and backward movement at the central locus. ### Claim 15 (depends on 13) The method of claim 13, wherein the third pre-programmed motion further comprises a repeated, rotational movement. ### Claim 16 (depends on 11) The method of claim 11, the method comprising: manipulating, using the robotic manipulator, an endoscope to access a human anatomy, the endoscope configured to capture images of the medical instrument within the human anatomy. ### Claim 17 (depends on 11) The method of claim 11, the method comprising: receiving, via an input device, a third user interaction for directly controlling movement of the medical instrument; and manipulating, using the robotic manipulator, the medical instrument along one or more axes of movement based on the received third user interaction. ### Claim 18 (depends on 11) The method of claim 11, wherein the second pre-programmed motion further comprises: detecting a torque on a drive mechanism of the basket; and in response to the torque exceeding a threshold, stopping the closing of the basket. ### Claim 19 A control system for controlling a robotic device for performing a medical procedure, the control system comprising: an input device configured to receive one or more user interactions and initiate one or more actions by the robotic device, the one or more actions comprising at least one of directly-controlled movement and pre-programmed motions; a communication interface configured to send commands to the robotic device corresponding to the directly-controlled movement and the pre-programmed motions, the commands comprising: movement, by the robotic device, of a medical instrument comprising a basket, the medical instrument configured to access a human anatomy; opening the basket at a first opening speed and a second opening speed faster than the first opening speed; and closing the basket at a first closing speed and a second closing speed faster than the first closing speed; and control circuitry communicatively coupled to the input device and the communication interface, the control circuitry configured to: in response to receiving a first user interaction, trigger a first pre-programmed motion of the robotic device, the first pre-programmed motion comprising opening the basket at the second opening speed; and in response to receiving a second user interaction, trigger a second pre-programmed motion of the robotic device, the second pre-programmed motion comprising closing the basket at the second closing speed. ### Claim 20 (depends on 19) The control system of claim 19, wherein the input device comprises: directional controls configured to direct movement of the robotic device along a plurality of axes; and a plurality of buttons including a first button configured to trigger the first pre-programmed motion and a second button configured to trigger the second pre-programmed motion. ### Claim 21 (depends on 20) The control system of claim 20, wherein: double-tapping the first button triggers the first pre-programmed motion; and double-tapping the second button triggers the second pre-programmed motion. ### Claim 22 (depends on 20) The control system of claim 20, wherein: single tapping the first button triggers a third pre-programmed motion different from the first pre-programmed motion; and single-tapping the second button triggers a fourth pre-programmed motion different from the second pre-programmed motion. ### Claim 23 (depends on 20) The control system of claim 20, the control circuitry further configured to: in response to tapping the first button and the second button concurrently, trigger a third pre-programmed motion of the robotic device, the third pre-programmed motion comprising a repeated, short range, forward and backward movement at an accelerated speed. ### Claim 24 (depends on 23) The control system of claim 23, the control circuitry further configured to: in response to receiving, via the directional controls, a movement request along a first axis, move a central locus of the third pre-programmed motion of the robotic device along the first axis; and repeat the short range, forward and backward movement at the central locus. ### Claim 25 (depends on 19) The control system of claim 19, wherein: the input device comprises a microphone configured to capture vocal user commands; and the control circuitry is further configured to identify a first vocal user command corresponding to the first user interaction, and a second vocal user command corresponding to the second user interaction. ### Claim 26 (depends on 19) The control system of claim 19, wherein: the robotic device is located at a first geographic location different from a second geographic location of the control system; and the communication interface is further configured to send the commands over a wide area network. ### Claim 27 One or more non-transitory computer-readable media storing computer-executable instructions that, when executed by control circuitry, cause the control circuitry to perform operations comprising: manipulating, using a robotic device, a medical instrument comprising a basket to access a human anatomy, the robotic device configured to open the basket at a first opening speed and a second opening speed, the robotic device further configured to close the basket at a first closing speed and a second closing speed; receiving, via an input device, one or more inputs for triggering pre-programmed actions by the robotic device; in response to receiving a first input via the input device, triggering a first pre-programmed motion of the robotic device, the first pre-programmed motion comprising opening the basket at the second opening speed, the second opening speed faster than the first opening speed; and in response to receiving a second input via the input device, triggering a second pre-programmed motion of the robotic device, the second pre-programmed motion comprising closing the basket at the second closing speed, the second closing speed faster than the first closing speed. ### Claim 28 (depends on 27) The one or more non-transitory computer-readable media of claim 27, wherein the first input comprises double tapping a first button of the input device and second input comprises double tapping a second button of the input device. ### Claim 29 (depends on 28) The one or more non-transitory computer-readable media of claim 28, the computer-executable instructions further configured to cause the control circuitry to perform operations comprising: in response to tapping the first button and the second button concurrently, triggering a third pre-programmed motion of the robotic device, the third pre-programmed motion comprising a repeated, short range, forward and backward movement at an accelerated speed. ### Claim 30 (depends on 27) The one or more non-transitory computer-readable media of claim 27, the computer-executable instructions further configured to cause the control circuitry to perform operations comprising: receiving, via the input device, a third input for controlling direct movement of the robotic device; and manipulating, using the robotic device, the medical instrument along one or more axes of movement based on the received third input.