Instrument device manipulator with tension sensing apparatus
AssigneeAuris Health, Inc.
InventorsAlan Yu, Enrique Romo
Life of this patent
Estimating the term…
Abstract
An endolumenal robotic system provides the surgeon with the ability to drive a robotically-driven endoscopic device to a desired anatomical position in a patient without the need for awkward motions and positions, while also enjoying improved image quality from a digital camera mounted on the endoscopic device.
Claims20
1-20. (canceled)
A method for navigating a luminal network, the method comprising:
- positioning a working end of an endoscopic tool at a branched location in a luminal network;
- at the branched location, capturing images at the working end of the endoscopic tool from a camera;
- comparing features from the images captured at the working end of the endoscopic tool from the camera to corresponding features from a pre-generated computer model of the branched location;
- and
- based at least in part on the comparison, registering the position of the endoscopic tool within the computer model of the luminal network.
The method of claim 21, wherein comparing features from the images captured at the working end of the endoscopic tool comprises comparing cross-sectional views of the branched location.
A robotic medical system for bronchoscopy, the system comprising:
- a robotic arm coupled to the moveable system cart;
- an endoscope removably coupled to the robotic arm, the endoscope comprising an elongated body configured to be inserted into and navigated through bronchial lumens of a patient, wherein a distal end of the elongated body of the endoscope is articulable;
- one or more processors configured to:
- track a position a working end of an endoscopic tool at a branched location in a luminal network;
- at the branched location, capture images at the working end of the endoscopic tool from a camera;
- compare features from the images captured at the working end of the endoscopic tool from the camera to corresponding features from a pre-generated computer model of the branched location;
- and
- based at least in part on the comparison of the corresponding features from the pre-generated computer model of the branched location and the images captured at the branched location, register the position of the endoscopic tool within the computer model of the luminal network.
Dependencies are inferred from the claim text.