Patents by Inventor David Stephen Mintz
David Stephen Mintz has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Publication number: 20240156558Abstract: A robotically enabled teleoperated system can include a controller and a robotic tool capable of manipulation by the controller. The controller can include a handle, a gimbal and a positioning platform. The handle can be configured for actuation by an operator to cause a corresponding manipulation of the robotic tool. The gimbal can include a joint and a load cell. The joint can be configured to be manipulated based on an impedance control, such that manipulation of the gimbal causes a corresponding manipulation of the robotic tool based on a displacement of the joint. A portion of the positioning platform can be configured to be manipulated based on an admittance control, such that manipulation of the positioning platform causes a corresponding manipulation of the robotic tool based on a force imparted on the controller and measured by the load cell.Type: ApplicationFiled: January 25, 2024Publication date: May 16, 2024Inventors: Yanan HUANG, Colin Allen WILSON, David Stephen MINTZ, Jason Tomas WILSON
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Publication number: 20240138934Abstract: Systems and methods for performing concomitant medical procedures are disclosed. In one aspect, the method involves controlling a first robotic arm to insert a first medical instrument through a first opening of a patient and controlling a second robotic arm to insert a second medical instrument through a second opening of the patient. The first robotic arm and the second robotic arm are part of a first platform and the first opening and the second opening are positioned at two different anatomical regions of the patient.Type: ApplicationFiled: January 8, 2024Publication date: May 2, 2024Inventors: Joshua F. DEFONZO, Alexander Tarek HASSAN, Frederic H. MOLL, David Stephen MINTZ, David M. SCHUMMERS, Paxton H. MAEDER-YORK, Andrew F. O'ROURKE
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Patent number: 11918316Abstract: A robotically enabled teleoperated system can include a controller and a robotic tool capable of manipulation by the controller. The controller can include a handle, a gimbal and a positioning platform. The handle can be configured for actuation by an operator to cause a corresponding manipulation of the robotic tool. The gimbal can include a joint and a load cell. The joint can be configured to be manipulated based on an impedance control, such that manipulation of the gimbal causes a corresponding manipulation of the robotic tool based on a displacement of the joint. A portion of the positioning platform can be configured to be manipulated based on an admittance control, such that manipulation of the positioning platform causes a corresponding manipulation of the robotic tool based on a force imparted on the controller and measured by the load cell.Type: GrantFiled: October 20, 2021Date of Patent: March 5, 2024Assignee: Auris Health, Inc.Inventors: Yanan Huang, Colin Allen Wilson, David Stephen Mintz, Jason Tomas Wilson
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Publication number: 20240058087Abstract: Certain aspects relate to systems and techniques for medical robotic systems that leverage a versatile, open kinematic chain together with a set of medical-procedure-specific software-controlled actuation constraints in order to perform a variety of medical procedures. The robotic system can be operated in a first mode by identifying a remote center and constraining the actuation of motorized joints to maintain intersection of at least an insertion axis with the remote center. The robotic system can be operated in a second mode by identifying a virtual rail position and constraining the actuation of motorized joints to maintain alignment of the insertion axis along the virtual rail.Type: ApplicationFiled: October 25, 2023Publication date: February 22, 2024Inventors: David Stephen MINTZ, Bruce R. WOODLEY, Travis Michael SCHUH, Yanan HUANG, Matthew Reagan WILLIAMS
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Patent number: 11903661Abstract: Systems and methods for performing concomitant medical procedures are disclosed. In one aspect, the method involves controlling a first robotic arm to insert a first medical instrument through a first opening of a patient and controlling a second robotic arm to insert a second medical instrument through a second opening of the patient. The first robotic arm and the second robotic arm are part of a first platform and the first opening and the second opening are positioned at two different anatomical regions of the patient.Type: GrantFiled: December 8, 2021Date of Patent: February 20, 2024Assignee: Auris Health, Inc.Inventors: Joshua F. DeFonzo, Alexander Tarek Hassan, Frederic H. Moll, David Stephen Mintz, David M. Schummers, Paxton H. Maeder-York, Andrew F. O'Rourke
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Publication number: 20230390008Abstract: Robotic medical systems can be capable of kinematic optimization using shared robotic degrees-of-freedom. A robotic medical system can include a patient platform, an adjustable arm support coupled to the patient platform, and at least one robotic arm coupled to the adjustable arm support. The at least one robotic arm can be coupled to a medical tool. The robotic medical system includes a first link and a second link. Each of the first link and the second link includes a first end coupled to the adjustable arm support and a second end coupled to a base of the patient platform, for rotating the adjustable arm support relative to the patient platform. The robotic medical system can also include a processor configured to adjust a position of the adjustable arm support and the at least one robotic arm while maintaining a remote center of movement of the medical tool.Type: ApplicationFiled: August 21, 2023Publication date: December 7, 2023Inventors: Nicholas J. EYRE, Sean Patrick KELLY, Sven WEHRMANN, Yoichiro DAN, Travis C. COVINGTON, Yanan HUANG, David Stephen MINTZ
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Patent number: 11832907Abstract: Certain aspects relate to systems and techniques for medical robotic systems that leverage a versatile, open kinematic chain together with a set of medical-procedure-specific software-controlled actuation constraints in order to perform a variety of medical procedures. The robotic system can be operated in a first mode by identifying a remote center and constraining the actuation of motorized joints to maintain intersection of at least an insertion axis with the remote center. The robotic system can be operated in a second mode by identifying a virtual rail position and constraining the actuation of motorized joints to maintain alignment of the insertion axis along the virtual rail.Type: GrantFiled: June 4, 2021Date of Patent: December 5, 2023Assignee: Auris Health, Inc.Inventors: David Stephen Mintz, Bruce R. Woodley, Travis Michael Schuh, Yanan Huang, Matthew Reagan Williams
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Patent number: 11771510Abstract: Robotic medical systems can be capable of kinematic optimization using shared robotic degrees-of-freedom. A robotic medical system can include a patient platform, an adjustable arm support coupled to the patient platform, and at least one robotic arm coupled to the adjustable arm support. The at least one robotic arm can be coupled to a medical tool. The robotic medical system includes a first link and a second link. Each of the first link and the second link includes a first end coupled to the adjustable arm support and a second end coupled to a base of the patient platform, for rotating the adjustable arm support relative to the patient platform. The robotic medical system can also include a processor configured to adjust a position of the adjustable arm support and the at least one robotic arm while maintaining a remote center of movement of the medical tool.Type: GrantFiled: December 16, 2021Date of Patent: October 3, 2023Assignee: Auris Health, Inc.Inventors: Nicholas J. Eyre, Sean Patrick Kelly, Sven Wehrmann, Yoichiro Dan, Travis C. Covington, Yanan Huang, David Stephen Mintz
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Patent number: 11676511Abstract: The systems and methods disclosed herein are directed to robotically controlling a medical device to utilize manual skills and techniques developed by surgeons. The system can include an emulator representing a medical device. The system can include at least one detector configured to track the emulator. The system can also include an imaging device configured to track the medical device. The system may be configured to move the medical device to reduce an alignment offset between the location of the emulator and the location of the medical device, to move the imaging device based on the translational movement of the emulator, and/or to move the medical device based on data indicative of an orientation of the emulator.Type: GrantFiled: June 11, 2021Date of Patent: June 13, 2023Assignee: Auris Health, Inc.Inventors: Michael Shyh-Yen Ho, David Stephen Mintz, Edward Joseph Menard, Mark A. Lown, Jason Thomas Wilson, Yanan Huang
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Patent number: 11638618Abstract: Certain aspects relate to systems and techniques for aligning inputs on medical instruments. In one aspect, the method includes receiving, at a data reader of the instrument drive mechanism, alignment data from the tool when the tool is positioned within a threshold distance of the data reader. The tool include one or more inputs and one or more pull wires configured to be actuated by output shafts of the instrument drive mechanism via the one or more inputs. The method also includes receiving, at a processor, the alignment data from the data reader, and rotating, via the processor, the one or more output shafts of the instrument drive mechanism into alignment with the one or more inputs of the tool based on the alignment data. Each of the output shafts is configured to mechanically couple with a corresponding one of the inputs of the tool.Type: GrantFiled: February 21, 2020Date of Patent: May 2, 2023Assignee: Auris Health, Inc.Inventors: Travis Michael Schuh, David Stephen Mintz
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Publication number: 20220265378Abstract: Robotic medical systems may perform robotic movement that is saturated according to one or more constraints of the system. A robotic system can include a robotic arm configured to control a medical instrument. The robotic system can receive a first user input from a user for moving the robotic arm to control the medical instrument. The robotic system can guide the movement of the robotic arm along a collision boundary surrounding an object in accordance with the first user input and one or more secondary constraints.Type: ApplicationFiled: May 10, 2022Publication date: August 25, 2022Inventors: Yanan HUANG, Nima SARLI, Ying MAO, David Stephen MINTZ
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Patent number: 11357586Abstract: Systems and methods for saturated robotic movement are provided. In one aspect, there is provided a robotic system, including a robotic arm configured to control movement of a medical instrument, and a processor configured to: receive a first user input from a user for moving the medical instrument with the robotic arm, determine that moving the robotic arm according to the first user input would cause a contact point of the robotic arm to contact or cross a collision boundary surrounding an object, and guide the movement of the robotic arm such that the contact point of the robotic arm continuously moves along the collision boundary based in part on the first user input, in response to the determination that moving the robotic arm according to the first user input would cause the contact point to contact or cross the collision boundary.Type: GrantFiled: May 11, 2021Date of Patent: June 14, 2022Assignee: Auris Health, Inc.Inventors: Yanan Huang, Nima Sarli, Ying Mao, David Stephen Mintz
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Publication number: 20220104895Abstract: Robotic medical systems can be capable of kinematic optimization using shared robotic degrees-of-freedom. A robotic medical system can include a patient platform, an adjustable arm support coupled to the patient platform, and at least one robotic arm coupled to the adjustable arm support. The at least one robotic arm can be coupled to a medical tool. The robotic medical system includes a first link and a second link. Each of the first link and the second link includes a first end coupled to the adjustable arm support and a second end coupled to a base of the patient platform, for rotating the adjustable arm support relative to the patient platform. The robotic medical system can also include a processor configured to adjust a position of the adjustable arm support and the at least one robotic arm while maintaining a remote center of movement of the medical tool.Type: ApplicationFiled: December 16, 2021Publication date: April 7, 2022Inventors: Nicholas J. EYRE, Sean Patrick KELLY, Sven WEHRMANN, Yoichiro DAN, Travis C. COVINGTON, Yanan HUANG, David Stephen MINTZ
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Publication number: 20220096178Abstract: Systems and methods for performing concomitant medical procedures are disclosed. In one aspect, the method involves controlling a first robotic arm to insert a first medical instrument through a first opening of a patient and controlling a second robotic arm to insert a second medical instrument through a second opening of the patient. The first robotic arm and the second robotic arm are part of a first platform and the first opening and the second opening are positioned at two different anatomical regions of the patient.Type: ApplicationFiled: December 8, 2021Publication date: March 31, 2022Inventors: Joshua F. DEFONZO, Alexander Tarek HASSAN, Frederic H. MOLL, David Stephen MINTZ, David M. SCHUMMERS, Paxton H. MAEDER-YORK, Andrew F. O'ROURKE
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Publication number: 20220039896Abstract: A robotically enabled teleoperated system can include a controller and a robotic tool capable of manipulation by the controller. The controller can include a handle, a gimbal and a positioning platform. The handle can be configured for actuation by an operator to cause a corresponding manipulation of the robotic tool. The gimbal can include a joint and a load cell. The joint can be configured to be manipulated based on an impedance control, such that manipulation of the gimbal causes a corresponding manipulation of the robotic tool based on a displacement of the joint. A portion of the positioning platform can be configured to be manipulated based on an admittance control, such that manipulation of the positioning platform causes a corresponding manipulation of the robotic tool based on a force imparted on the controller and measured by the load cell.Type: ApplicationFiled: October 20, 2021Publication date: February 10, 2022Inventors: Yanan HUANG, Colin Allen WILSON, David Stephen MINTZ, Jason Tomas WILSON
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Patent number: 11234780Abstract: Systems and methods for kinematic optimization with shared robotic degrees-of-freedom are provided. In one aspect, a robotic medical system includes a base, an adjustable arm support coupled to the base, and at least one robotic arm coupled to the adjustable arm support. The at least one robotic arm is further configured to be coupled to a medical tool that is configured to be delivered through an incision or natural orifice of a patient. The system further includes a processor configured to adjust a position of the adjustable arm support and the at least one robotic arm while maintaining a remote center of movement of the tool.Type: GrantFiled: September 2, 2020Date of Patent: February 1, 2022Assignee: Auris Health, Inc.Inventors: Nicholas J. Eyre, Sean Patrick Kelly, Sven Wehrmann, Yoichiro Dan, Travis C. Covington, Yanan Huang, David Stephen Mintz
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Publication number: 20210401520Abstract: Systems and methods for saturated robotic movement are provided. In one aspect, there is provided a robotic system, including a robotic arm configured to control movement of a medical instrument, and a processor configured to: receive a first user input from a user for moving the medical instrument with the robotic arm, determine that moving the robotic arm according to the first user input would cause a contact point of the robotic arm to contact or cross a collision boundary surrounding an object, and guide the movement of the robotic arm such that the contact point of the robotic arm continuously moves along the collision boundary based in part on the first user input, in response to the determination that moving the robotic arm according to the first user input would cause the contact point to contact or cross the collision boundary.Type: ApplicationFiled: May 11, 2021Publication date: December 30, 2021Inventors: Yanan HUANG, Nima SARLI, Ying MAO, David Stephen MINTZ
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Patent number: 11197728Abstract: Systems and methods for performing concomitant medical procedures are disclosed. In one aspect, the method involves controlling a first robotic arm to insert a first medical instrument through a first opening of a patient and controlling a second robotic arm to insert a second medical instrument through a second opening of the patient. The first robotic arm and the second robotic arm are part of a first platform and the first opening and the second opening are positioned at two different anatomical regions of the patient.Type: GrantFiled: September 3, 2019Date of Patent: December 14, 2021Assignee: Auris Health, Inc.Inventors: Joshua F. DeFonzo, Alexander Tarek Hassan, Frederic H. Moll, David Stephen Mintz, David M. Schummers, Paxton H. Maeder-York, Andrew F. O'Rourke
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Patent number: 11179213Abstract: A robotically enabled teleoperated system can include a controller and an instrument capable of manipulation by the controller. The instrument can be a medical instrument. The controller can include a handle configured for actuation by an operator. The handle can be attached to a gimbal configured to allow manipulation of the handle in multiple rotational degrees of freedom. The gimbal can include a load cell. The gimbal can be configured for impedance control. The controller can also include a positioning platform coupled to the gimbal and configured to allow manipulation of the handle in multiple positional degrees of freedom. The controller can be configured for admittance control based at least in part on an output signal of the load cell in the gimbal.Type: GrantFiled: May 16, 2019Date of Patent: November 23, 2021Assignee: Auris Health, Inc.Inventors: Yanan Huang, Colin Allen Wilson, David Stephen Mintz, Jason Tomas Wilson
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Publication number: 20210298851Abstract: Certain aspects relate to systems and techniques for optimizing the configuration of a robotic system by moving the links of the system in a null space to minimize a cost function. The null space being defined by the desired set of end effector pose. The cost function may be evaluated by computing the distance of the links from various avoidance zones. The avoidance zones are associated with collisions and joint limit conditions. The systems and techniques may specifically relate to a system wherein the optimization includes movement of an arm support. The system may be employed pre-operatively or intraoperatively to minimize collisions and joint limit event during the course of a procedure. The system may be used at intervals. The system may be used each time the end effectors are commanded into a new pose.Type: ApplicationFiled: February 10, 2021Publication date: September 30, 2021Inventors: Yanan Huang, Caitlin M. Romanczyk, Ryan J. Murphy, David Stephen Mintz, Nicholas J. Eyre