US 11,950,898 B2Granted

Systems and methods for displaying estimated location of instrument

AssigneeAuris Health, Inc.

InventorsRitwik Ummalaneni, Prasanth Jeevan

Life of this patent

Estimating the term…

Loading patent…

Abstract

Provided are systems and methods for displaying an estimated location of an instrument. In one aspect, the method includes determining a first location of the instrument based on first location data generated by a set of one or more location sensors for the instrument, the first location data corresponding to a first time period, and after the first time period, receiving a user command to move the instrument during a second time period. The method also includes estimating a second location of the instrument based on the first location and the received user command, the estimated second location corresponding to the second time period, and confirming the estimated second location based on second location data generated by the set of location sensors. The method further includes causing the estimated second location to be displayed prior to the confirmation of the estimated second location.

Claims20

Dependent claims

A system, comprising:

a medical instrument configured to be inserted into a luminal network of a patient, the medical instrument comprising a shape sensor configured to generate shape data;
a robotic arm configured to control movement of the medical instrument;
one or more processors;
and
at least one computer-readable memory in communication with the one or more processors and having stored thereon computer-executable instructions to cause the one or more processors to:
access a model of the luminal network, the model generated from at least one computerized tomography (CT) scan;
estimate a first location of a distal end of the medical instrument with respect to the model of the luminal network based on the shape data and a registration between the shape data and the model of the luminal network;
cause the estimated first location to be displayed on a display;
command the robotic arm, based on command data, to move the distal end of the medical instrument away from the estimated first location;
estimate, independent of the registration between the shape data and the model of the luminal network, a second location of the distal end of the medical instrument with respect to the model of the luminal network based on the first location and the command data related to the movement of the distal end;
and
cause the estimated second location to be displayed.

9 more elements

A non-transitory computer readable storage medium having stored thereon instructions that, when executed, cause at least one computing device to:

access a model of a luminal network, the model generated from at least one computerized tomography (CT) scan;
obtain shape data generated by a shape sensor of a medical instrument;
estimate a first location of a distal end of the medical instrument with respect to the model of the luminal network based on the shape data and a registration between the shape data and the model of the luminal network;
cause the estimated first location to be displayed on a display;
command a robotic arm, based on command data, to move the distal end of the medical instrument away from the estimated first location;
estimate, independent of the registration between the shape data and the model of the luminal network, a second location of the distal end of the medical instrument with respect to the model of the luminal network based on the first location and the command data related to the move of the distal end;
and
cause the estimated second location to be displayed.

5 more elements

Dependencies are inferred from the claim text.

Facts

Application: 17/091,347Filed 6 Nov 2020 · continuation
Priority: 28 Mar 2018
Published: US 2021/0076918 A118 Mar 2021
Granted: 9 Apr 2024
Term ends: Not estimatedThe source records don’t support an estimate.

Classification28 codes

A61B 5/066
Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on…
A61B 1/000094
Of image signals during a use of endoscope: extracting biological structures
A61B 1/05
Combined with photographic or television appliances: characterised by the image sensor, e.g. camera, being in the distal end portion
A61B 34/20
Computer-aided surgery; Manipulators or robots specially adapted for use in surgery: surgical navigation systems; Devices for tracking or guiding…

Family

Application62/649,501Us provisional application · filed 28 Mar 2018
Application16/365,507Parent of this continuation · filed 26 Mar 2019
US 2021/0076918 A1Pre-grant publication · published 18 Mar 2021
US 10,827,913 B2Parent of this continuation
US 2019/0298160 A1Published application
US 11,950,898 B2This patent

From the US filing history. Foreign family members aren’t listed.