# US 12,178,521 B2 · Robotically controllable field generators for registering multiple coordinate frames > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,178,521 B2 - Document ID: US12178521B2 - Status: Granted - Kind: B2 - Application number: 17/412,115 - Filed: 2021-08-25 - Published: 2022-03-03 - Granted: 2024-12-31 - 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/US12178521B2 ## 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. For example, a robotic medical system may include a first robotic arm that is configured to couple to an electromagnetic (EM) field generator. The first robotic arm be capable of moving the EM field generator. The robotic medical system may also include one or more processors. The processors may determine an EM position of an EM sensor within the EM field in an EM coordinate frame associated with the EM field generator. The processors also determine a position of the EM field generator in a robotic coordinate frame associated with the first robotic arm. The processors determine a registration between the EM coordinate frame and the robotic coordinate frame based on the position of the EM field generator. Based on the registration, the processors may determine a position of the EM sensor in the robotic coordinate frame. ## Claims ### Claim 1 A robotic medical system comprising: a first robotic arm configured to couple to an electromagnetic (EM) field generator and configured to move the EM field generator; and one or more processors configured to: determine an EM position of an EM sensor within the EM field in an EM coordinate frame associated with the EM field generator; determine a position of the EM field generator in a robotic coordinate frame associated with the first robotic arm; determine a registration between the EM coordinate frame and the robotic coordinate frame based on the position of the EM field generator; and based on the registration, determine a position of the EM sensor in the robotic coordinate frame. ### Claim 2 (depends on 1) The system of claim 1, wherein the one or more processors are configured to determine the position of the EM field generator based on kinematics of the first robotic arm. ### Claim 3 (depends on 1) The system of claim 1, wherein the EM field generator comprises a compact field generator (cFG). ### Claim 4 (depends on 1) The system of claim 1, wherein the first robotic arm is configured to removably couple to the EM field generator. ### Claim 5 (depends on 1) The system of claim 1, further comprising: a second robotic arm configured to control movement of a medical instrument, wherein the robotic coordinate frame is further associated with the second robotic arm. ### Claim 6 (depends on 5) The system of claim 5, wherein the first robotic arm and the second robotic arm are coupled to a moveable cart. ### Claim 7 (depends on 5) The system of claim 5, wherein the first robotic arm and the second robotic arm are coupled to a patient platform configured to support a patient during a medical procedure. ### Claim 8 (depends on 5) The system of claim 5, wherein the EM sensor is positioned on the medical instrument. ### Claim 9 (depends on 1) The system of claim 1, wherein the one or more processors are further configured to cause the first robotic arm to move the EM field generator to allow access to a patient during a medical procedure. ### Claim 10 (depends on 1) The system of claim 1, wherein the one or more processors are further configured to: cause the first robotic arm to move the EM field generator relative to the EM sensor to a new position; and determine a new EM position of the EM sensor within the EM field in the EM coordinate frame associated with the EM field generator, wherein the new EM position has improved accuracy compared to the EM position. ### Claim 11 (depends on 1) The system of claim 1, wherein the one or more processors are further configured to cause the first robotic arm to move the EM field generator to center the EM sensor within a working volume of the EM field generator based on the position of the EM field generator and the position of the first robotic arm. ### Claim 12 A method for performing a robotic medical procedure, the method comprising: generating an electromagnetic (EM) field with an EM field generator coupled to a first robotic arm, the EM field associated with an EM coordinate frame; determining a position of the EM field generator within a robotic coordinate frame based on kinematics of the first robotic arm; determining a registration between the EM coordinate frame and the robotic coordinate frame associated with the first robotic arm based on the determined position of the EM field generator; determining a position of an EM sensor within the EM coordinate frame; and based on the registration, determining the position of the EM sensor in the robotic coordinate frame. ### Claim 13 (depends on 12) The method of claim 12, wherein the determination of the position of the EM field generator within the robotic coordinate frame is based on kinematics of the first robotic arm. ### Claim 14 (depends on 12) The method of claim 12, further comprising removably coupling the EM field generator to the first robotic arm. ### Claim 15 (depends on 12) The method of claim 12, further comprising causing the first robotic arm to move the EM field generator. ### Claim 16 (depends on 15) The method of claim 15, wherein causing the first robotic arm to move the EM field generator comprises causing the first robotic arm to move the EM field generator to a position that allows access to a patient during a medical procedure. ### Claim 17 (depends on 15) The method of claim 15, wherein causing the first robotic arm to move the EM field generator comprises moving the EM field generator relative to a new position associated with improved accuracy in tracking the EM sensor within the EM field coordinate frame. ### Claim 18 (depends on 15) The method of claim 15, wherein causing the first robotic arm to move the EM field generator comprises centering the EM sensor within a working volume of the EM field generator. ### Claim 19 (depends on 12) The method of claim 12, further comprising controlling a medical instrument coupled to a second robotic arm, wherein the robotic coordinate frame is associated with the second robotic arm. ### Claim 20 (depends on 12) The method of claim 12, further comprising positioning a moveable cart relative to a patient platform configured to support a patient during the robotic medical procedure such that there is a known spatial relationship between robotic coordinate frame and the patient platform.