Patent ID: 11925774
Assignee: AURIS HEALTH, INC.
Field: Medical technology (Instruments)
Classification: CPC A  Y | IPC A

Claim 0:
1. A robotically controlled steerable instrument system, comprising:
an elongate body comprising a shaft portion, a proximal section positioned distal to the shaft portion, a distal articulating section positioned distal to the proximal section, and a transition section longitudinally interposed between the distal articulating section and the proximal section;
four pullwires extending through at least the proximal section and the transition section of the elongate body, wherein the four pullwires extend along a first lateral side of the elongate body within the proximal section, wherein the four pullwires are coupled to the distal articulating section, wherein the four pullwires are evenly angularly spaced apart from each other about a central longitudinal axis of the elongate body at the distal articulating section, wherein the spacing between four pullwires transitions along the transition section to provide the even angular spacing of the four pullwires at the distal articulating section, and wherein the four pullwires converge at a proximal end of the transition section;
a robotic instrument driver; and
a mechanical interface coupling the four pullwires and the elongate body to the robotic instrument driver.