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

Claim 9:
10. 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, wherein the distal articulating section has a flexural stiffness that is less than 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 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 equally spaced circumferentially to each other at the distal articulating section such that the four pullwires are equally spaced circumferentially at a distal end of the transition section and converge at a proximal end of the transition section;
a robotic instrument driver;
a mechanical interface coupling the four pullwires and a proximal end of the elongate body to the robotic instrument driver; and
a control station communicatively coupled to the instrument driver, wherein the control station comprises a master input device for interfacing with a user and a computing device programmed to provide control of a distal articulation angle and a distal roll of the elongate body, and wherein the computing device provides control of the elongate body by computing a displacement of each of the pullwires independently.