# US 11,992,275 B2 · Robotically controllable field generators for detecting distortions > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,992,275 B2 - Document ID: US11992275B2 - Status: Granted - Kind: B2 - Application number: 17/412,144 - Filed: 2021-08-25 - Published: 2022-03-03 - Granted: 2024-05-28 - Earliest claimed: 2020-08-26 - Assignees: Auris Health, Inc. - Applicants: Auris Health, Inc. - Inventors: Christopher Sramek; Elif Ayvali; David Burdick Berman - Web page: https://patentgrep.com/patent/US11992275B2 ## CPC - A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis - B25J 9/1689: {Teleoperation} - A61B 34/30: Surgical robots - A61B 34/32: operating autonomously - A61B 34/37: Leader-follower robots (A61B34/35 takes precedence) - A61B 34/70: {Manipulators specially adapted for use in surgery} - B25J 5/007: {mounted on wheels} - B25J 9/0087: {Dual arms (double SCARA arms B25J9/043)} - B25J 9/1653: {parameters identification, estimation, stiffness, accuracy, error analysis} - B25J 9/1664: {characterised by motion, path, trajectory planning} - B25J 19/027: {Electromagnetic sensing devices} - A61B 2017/00725: {Calibration or performance testing} - A61B 2034/107: {Visualisation of planned trajectories or target regions} - A61B 2034/2051: {Electromagnetic tracking systems} - A61B 2034/2059: {Mechanical position encoders} - A61B 2034/2061: {using shape-sensors, e.g. fiber shape sensors with Bragg gratings} - A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes} - A61B 2034/302: {specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities} - A61B 2090/306: {using optical fibres} - A61B 2090/309: {using white LEDs} - A61B 2090/376: {using X-rays, e.g. fluoroscopy} - A61B 2090/378: {using ultrasound} - A61B 2090/397: {electromagnetic other than visible, e.g. microwave} - A61B 2090/571: {for clamping a support arm to a bed or other supports} - G05B 2219/45118: Endoscopic, laparoscopic manipulator - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract Certain aspects relate to systems with robotically controllable field generators and applications thereof. In one application, a robotic medical system, comprising a first robotic arm coupled to an electromagnetic (EM) field generator configured to generate an EM field, an EM sensor, and a processor. The processor may be configured to transmit a command to the first robotic arm to cause movement of the EM field generator along a robotic trajectory while the EM sensor remains at a location. An EM sensor trajectory of the EM sensor within the EM field corresponding to a period of time in which the EM field generator moved along the robotic trajectory may be detected. The robotic trajectory and the EM sensor trajectory may be analyzed to determine a difference between the robotic trajectory and the EM sensor trajectory; and EM distortion at the location may be detected comparing the difference and a threshold. ## Claims ### Claim 1 A robotic medical system, comprising: a first robotic arm coupled to an electromagnetic (EM) field generator configured to generate an EM field; an EM sensor; and one or more processors configured to: transmit a command to the first robotic arm to cause movement of the EM field generator along a robotic trajectory while the EM sensor remains at a location; detect an EM sensor trajectory of the EM sensor within the EM field corresponding to a period of time in which the EM field generator moved along the robotic trajectory; analyze the robotic trajectory and the EM sensor trajectory to determine a difference between the robotic trajectory and the EM sensor trajectory; and determine a presence of an EM distortion at the location based at least in part on the difference between the robotic trajectory and the EM sensor trajectory being greater than a threshold. ### Claim 2 (depends on 1) The system of claim 1, wherein the one or more processors are configured to determine the robotic trajectory based on kinematic data corresponding to the first robotic arm. ### Claim 3 (depends on 1) The system of claim 1, wherein the one or more processors are configured to determine the threshold based on at least one of an error factor associated with a movement of the first robotic arm or an error factor associated with EM sensor noise. ### Claim 4 (depends on 1) The system of claim 1, wherein the one or more processors are configured to determine the difference between the robotic trajectory and the EM sensor trajectory based on a comparison of a shape of the robotic trajectory to a shape of the EM sensor trajectory. ### Claim 5 (depends on 1) The system of claim 1, wherein the one or more processors are configured to determine the difference between the robotic trajectory and the EM sensor trajectory based on a comparison of a plurality of points along the robotic trajectory to a corresponding plurality of points along the EM sensor trajectory. ### Claim 6 (depends on 5) The system of claim 5, wherein each of the plurality of points are determined with respect to a time associated with the movement of the EM field generator. ### Claim 7 (depends on 1) The system of claim 1, wherein the one or more processors are further configured to, upon determining the presence of the EM distortion at the location, reposition the EM field generator with the first robotic arm to reduce the EM distortion at the location. ### Claim 8 (depends on 7) The system of claim 7, wherein the one or more processors are configured to reposition the EM field generator with the first robotic arm to reduce the EM distortion at the location by being configured to: transmit an additional command to the first robotic arm to cause movement of the EM field generator along a second robotic trajectory while the EM sensor remains at the location; detect a second EM sensor trajectory of the EM sensor within the EM field corresponding to a period of time in which the EM field generator moved along the second robotic trajectory; analyze the second robotic trajectory and the second EM sensor trajectory to determine a difference between the second robotic trajectory and the second EM sensor trajectory; and compare the difference between the second robotic trajectory and the second EM sensor trajectory and the difference between the robotic trajectory and the EM sensor trajectory. ### Claim 9 (depends on 8) The system of claim 8, wherein the one or more processors are configured to position the EM field generator at a point along the second robotic trajectory when the difference between the second robotic trajectory and the second EM sensor trajectory is less than the difference between the robotic trajectory and the EM sensor trajectory. ### Claim 10 A method performed by a set of one or more processors of a robotic system, the method comprising: commanding a first robotic arm to move an electromagnetic (EM) field generator from a first location to a second location while an EM sensor remains at a location; determining a robotic trajectory associated with the EM field generator moving from the first location to the second location; detecting an EM sensor trajectory of the EM sensor within an EM field, the EM sensor trajectory being associated with a time period in which the EM field generator moved along the robotic trajectory; determining a difference between the robotic trajectory and the EM sensor trajectory; and determining a presence of an EM distortion at the location based at least in part on the difference between the robotic trajectory and the EM sensor trajectory being greater than a distortion threshold. ### Claim 11 (depends on 10) The method of claim 10, wherein determining the robotic trajectory further is based on using kinematic data corresponding to the first robotic arm. ### Claim 12 (depends on 10) The method of claim 10, wherein determining the robotic trajectory associated with the EM field generator moving from the first location to the second location includes compensating for an error factor associated with a movement of the first robotic arm. ### Claim 13 (depends on 10) The method of claim 10, wherein detecting the EM sensor trajectory includes compensating for an error factor associated with EM sensor noise. ### Claim 14 (depends on 10) The method of claim 10, wherein determining the difference between the robotic trajectory and the EM sensor trajectory further comprises comparing a shape of the robotic trajectory to a shape of the EM sensor trajectory. ### Claim 15 (depends on 10) The method of claim 10, wherein determining the difference between the robotic trajectory and the EM sensor trajectory further comprises comparing a plurality of points along the robotic trajectory to a corresponding plurality of points along the EM sensor trajectory. ### Claim 16 (depends on 15) The method of claim 15, wherein each of the plurality of points are determined with respect to a time associated with the movement of the EM field generator. ### Claim 17 (depends on 10) The method of claim 10, further comprises, upon determining the presence of the EM distortion at the location, repositioning the EM field generator with the first robotic arm to reduce the EM distortion at the location. ### Claim 18 (depends on 10) The method of claim 10, further comprising: commanding the first robotic arm to cause movement of the EM field generator along a second robotic trajectory while the EM sensor remains at the location; detecting a second EM sensor trajectory of the EM sensor within the EM field, the second EM sensor trajectory being associated with a time period in which the EM field generator moved along the second robotic trajectory; analyzing the second robotic trajectory and the second EM sensor trajectory to determine a difference between the second robotic trajectory and the second EM sensor trajectory; and comparing the difference between the second robotic trajectory and the second EM sensor trajectory and the difference between the robotic trajectory and the EM sensor trajectory. ### Claim 19 (depends on 18) The method of claim 18, further comprising positioning the EM field generator at a point along the second robotic trajectory when the difference between the second robotic trajectory and the second EM sensor trajectory is less than the difference between the robotic trajectory and the EM sensor trajectory. ### Claim 20 A non-transitory computer readable storage medium comprising computer program instructions that when executed by one or more processors cause the one or more processors to: transmit a command to a first robotic arm to cause movement of an electromagnetic (EM) field generator along a robotic trajectory while an EM sensor remains at a location, the first robotic arm coupled to the EM field generator configured to generate the EM field; detect an EM sensor trajectory of the EM sensor within the EM field corresponding to a period of time in which the EM field generator moved along the robotic trajectory; analyze the robotic trajectory and the EM sensor trajectory to determine a difference between the robotic trajectory and the EM sensor trajectory; and determine a presence of an EM distortion at the location based at least in part on the difference between the robotic trajectory and the EM sensor trajectory being greater than a threshold.