IP Library › Granted Patent US 12,220,150
Granted Patent B2
US 12,220,150 · App. 17/951,036 · Granted Feb 11, 2025

Aligning medical instruments to access anatomy

Inventors: Sarah Plewe (Redwood City, CA); Elif Ayvali (Redwood City, CA)
Assignee: Auris Health, Inc.
A61B17/3403A61B17/3478A61B2017/00115A61B2560/0487
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Quick Facts
Patent No.
US 12,220,150
App. No.
17/951,036
Filed
Sep 22, 2022
Granted
Feb 11, 2025
Kind
B2
Art Unit
3783
USPC
600/461
Abstract

Techniques for aligning a medical instrument for access to a location within anatomy are discussed herein. For example, sensor data from a medical instrument can be used to determine an orientation of the medical instrument. The medical instrument can be configured to access the anatomy via an incision. A target trajectory can be determined for accessing the anatomy and alignment data can be generated that is indicative of an alignment of the orientation of the medical instrument to the target trajectory.

Claims (61)

1. A system comprising:

control circuitry; and

memory communicatively couped to the control circuitry and storing executable instructions that, when executed by the control circuitry, cause the control circuitry to perform operations comprising:

receiving first sensor data from a first medical instrument that is configured to access anatomy via an incision;

determining an orientation of the first medical instrument based on the first sensor data;

receiving second sensor data from a second medical instrument that is configured to access the anatomy through an anatomical lumen;

determining a target trajectory to access the anatomy based on the second sensor data; and

generating alignment data indicative of an alignment of the orientation of the first medical instrument to the target trajectory.

2. The system of claim 1 , wherein the first medical instrument is configured to couple to a robotic component, and the operations further comprise:

based on the alignment data, causing the robotic component to align the first medical instrument with the target trajectory.

3. The system of claim 1 , wherein the operations further comprise:

based on the alignment data, displaying one or more graphical representations to indicate the alignment of the orientation of the first medical instrument to the target trajectory.

4. The system of claim 1 , wherein the operations further comprise:

based on the alignment data, providing audio output to indicate the alignment of the orientation of the first medical instrument to the target trajectory.

5. The system of claim 1 , wherein the operations further comprise:

based on the alignment data, providing haptic output to indicate the alignment of the orientation of the first medical instrument to the target trajectory.

6. The system of claim 1 , wherein the operations further comprise:

determining a target location within the anatomy;

determining a proximity of the first medical instrument to the target location; and

providing output indicating the proximity of the first medical instrument to the target location.

7. The system of claim 1 , wherein the operations further comprise:

determining a target location within the anatomy;

determining that the first medical instrument is inserted beyond the target location; and

providing output indicating that the first medical instrument is inserted beyond the target location.

8. A method comprising:

receiving, by control circuitry, first sensor data from a first medical instrument that is configured to access anatomy via an incision;

determining, by the control circuitry, an orientation of the first medical instrument based on the first sensor data;

receiving, by the control circuitry, second sensor data from a second medical instrument that is configured to access the anatomy through an anatomical lumen;

determining, by the control circuitry, a target trajectory to access the anatomy based on the second sensor data; and

generating alignment data indicative of an alignment of the orientation of the first medical instrument to the target trajectory.

9. The method of claim 8 , further comprising:

based on the alignment data, displaying an instrument-alignment element within an interface to indicate the alignment of the orientation of the first medical instrument to the target trajectory.

10. The method of claim 9 , further comprising:

setting a position change parameter to a first value, the position change parameter being indicative of an amount of position change of the instrument-alignment element within the interface with respect to a unit of movement of the first medical instrument;

determining that the first medical instrument is within a predetermined proximity to a target location; and

based on determining that the first medical instrument is within the predetermined proximity to the target location, setting the position change parameter to a second value, the second value being associated with a greater amount of position change of the instrument-alignment element for the unit of movement of the first medical instrument than the first value.

11. The method of claim 8 , further comprising:

determining that the orientation of the first medical instrument is out of alignment with the target trajectory by more than a threshold amount; and

providing output indicating that the orientation of the first medical instrument is out of alignment with the target trajectory by more than the threshold amount.

12. The method of claim 11 , wherein the output includes an indication to retract the first medical instrument from the anatomy.

13. The method of claim 8 , wherein the first medical instrument is configured to couple to a robotic component, and the method further comprises:

based on the alignment data, causing the robotic component to align the first medical instrument with the target trajectory.

14. One or more non-transitory computer-readable media storing computer-executable instructions that, when executed by control circuitry, cause the control circuitry to perform operations comprising:

receiving first sensor data from a first medical instrument that is configured to access anatomy via an incision;

determining an orientation of the first medical instrument based on the first sensor data;

receiving second sensor data from a second medical instrument that is configured to access the anatomy through an anatomical lumen;

determining a target trajectory to access the anatomy based on the second sensor data; and

generating alignment data indicative of an alignment of the orientation of the first medical instrument to the target trajectory.

15. The one or more non-transitory computer-readable media of claim 14 , wherein the operations further comprise:

based on the alignment data, displaying a visual representation within an interface to indicate the alignment of the orientation of the first medical instrument to the target trajectory.

16. The one or more non-transitory computer-readable media of claim 15 , wherein the interface includes an alignment marking, a positioning of the visual representation relative to the alignment marking indicating the alignment of the orientation of the first medical instrument to the target trajectory.

17. The one or more non-transitory computer-readable media of claim 16 , wherein the alignment marking includes a boundary marking, and the operations further comprise:

determining that the orientation of the first medical instrument is out of alignment with the target trajectory by more than a threshold amount; and

causing the visual representation to be displayed within a predetermined distance to the boundary marking.

18. The one or more non-transitory computer-readable media of claim 15 , wherein the operations further comprise:

in response to determining that the orientation of the first medical instrument has changed by a unit of measurement and determining that the first medical instrument is outside a predetermined proximity to a target location associated with the target trajectory, updating a position of the visual representation within the interface by a first amount; and

in response to determining that the orientation of the first medical instrument has changed by the unit of measurement and determining that the first medical instrument is within the predetermined proximity to the target location, updating the position of the visual representation within the interface by a second amount.

19. The one or more non-transitory computer-readable media of claim 14 , wherein the first medical instrument is configured to couple to a robotic component, and the operations further comprise:

based on the alignment data, causing the robotic component to align the first medical instrument with the target trajectory.

20. The one or more non-transitory computer-readable media of claim 14 , wherein the operations further comprise:

based on the alignment data, providing audio output to indicate the alignment of the orientation of the first medical instrument to the target trajectory.

Assignments (1)
ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded Mar 23, 2023
From: PLEWE, SARAH; AYVALI, ELIF
To: AURIS HEALTH, INC.
Reel/Frame 063075/0091 →
Continuity (3)
Continuation 17130700 · Dec 22, 2020
Provisional Application 62955993 · Dec 31, 2019
Related Publication 20230094574A1 · Mar 30, 2023
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