Granted Patent B2

US 12,193,640 · App. 17/838,857 · Granted Jan 14, 2025

Inventors: Kyle Ross Danna (Scotts Valley, CA); Jian Zhang (San Mateo, CA); Carol Kayee Hung (Palo Alto, CA); Michael J. Shawver (Mill Valley, CA); Piotr Robert Slawinski (South San Francisco, CA); Hendrik Thompson (San Francisco, CA); Liya K. Abraha (San Francisco, CA)

Assignee: Noah Medical Corporation

A61B1/00147A61B1/00158A61B34/10A61B34/20A61B34/30G06F18/24147A61B2034/105A61B2034/107A61B2034/2051A61B2034/301A61B2034/303

Abstract

Claims (24)

1. A method for navigating a robotic endoscopic apparatus, the method comprising:

(a) generate a first transformation between an orientation of the robotic endoscopic apparatus and an orientation of a location sensor based at least in part on a first set of sensor data collected using the location sensor;

(b) generating a second transformation between a coordinate frame of the robotic endoscopic apparatus and a coordinate frame of a model representing an anatomical luminal network based at least in part on the first transformation and a second set of sensor data; and

(c) updating, based at least in part on a third set of sensor data, the second transformation using an updating algorithm, wherein the updating algorithm comprises a fast interval recalculation operation and a slow interval recalculation operation and wherein the fast interval recalculation operation comprises (i) calculating a first set of associations using a subset of data sampled from the third set of sensor data and (ii) combining the first set of associations with a second set of associations calculated for generating the second transformation in (b).

2. The method of claim 1 , further comprising calculating a point cloud using the combined first and second set of associations.

3. The method of claim 1 , wherein the slow interval recalculation operation comprises a nearest neighbor algorithm.

4. The method of claim 1 , wherein the slow interval recalculation operation comprises updating the second transformation using only the third set of sensor data.

5. The method of claim 1 , wherein the location sensor is an electromagnetic sensor.

6. The method of claim 1 , wherein the coordinate frame of the model representing an anatomical luminal network is generated using a pre-operative imaging system.

7. The method of claim 1 , wherein the robotic endoscopic apparatus comprises a disposable catheter assembly.

8. The method of claim 1 , wherein the location sensor is located at a distal tip of the robotic endoscopic apparatus.

9. A system for navigating a robotic endoscopic apparatus comprising:

a location sensor coupled to the robotic endoscopic apparatus; and

one or more processors in communication with the location sensor and the robotic endoscopic apparatus and configured to execute a set of instructions to cause the system to:

(a) generate a first transformation between an orientation of the robotic endoscopic apparatus and an orientation of the location sensor based at least in part on a first set of sensor data collected using the location sensor;

(b) generate a second transformation between a coordinate frame of the robotic endoscopic apparatus and a coordinate frame of a model representing an anatomical luminal network based at least in part on the first transformation and a second set of sensor data; and

(c) update, based at least in part on a third set of sensor data, the second transformation using an updating algorithm, wherein the updating algorithm comprises a fast interval recalculation operation and a slow interval recalculation operation and wherein the fast interval recalculation operation comprises (i) calculating a first set of associations using a subset of data sampled from the third set of sensor data and (ii) combining the first set of associations with a second set of associations calculated for generating the second transformation in (b).

10. The system of claim 9 , wherein the fast interval recalculation operation further comprises calculating a point cloud using the combined first and second set of associations.

11. The system of claim 9 , wherein the slow interval recalculation operation comprises a nearest neighbor algorithm.

12. The system of claim 9 , wherein the slow interval recalculation operation comprises updating the second transformation using only the third set of sensor data.

13. The system of claim 9 , wherein the location sensor is an electromagnetic sensor.

14. The system of claim 9 , wherein the coordinate frame of the model representing the anatomical luminal network is generated using a pre-operative imaging system.

15. The system of claim 9 , wherein the robotic endoscopic apparatus comprises a disposable catheter assembly.

16. The system of claim 9 , wherein the location sensor is located at a distal tip of the robotic endoscopic apparatus.

Assignments (1)

Continuity (4)

References Cited (18)