IP Library › Granted Patent US 12,582,485
Granted Patent B2
US 12,582,485 · App. 17/978,841 · Granted Mar 24, 2026

Multiple-input instrument position determination

Inventors: Hedyeh Rafii-Tari (Mountain View, CA); Ritwik Ummalaneni (San Mateo, CA); Simon Wei Quan Lim (San Mateo, CA); Prasanth Jeevan (San Mateo, CA)
Assignee: Auris Health, Inc.
A61B34/20A61B34/30A61B34/70A61B2017/00398A61B2034/2051A61B2034/2055A61B2034/2061A61B2034/301A61B2090/0811A61B2090/0818A61B90/361
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Quick Facts
Patent No.
US 12,582,485
App. No.
17/978,841
Filed
Nov 1, 2022
Granted
Mar 24, 2026
Kind
B2
Art Unit
3797
USPC
600/424
Abstract

A robotic system includes an instrument including an elongate shaft, a robotic manipulator configured to manipulate the elongate shaft of the instrument, and control circuitry communicatively coupled to the robotic manipulator and configured to determine a first estimated position of at least a portion of the elongate shaft of the instrument based at least in part on robotic command data, determine a second estimated position of the at least a portion of the elongate shaft of the instrument based at least in part on position sensor data, compare the first estimated position and the second estimated position, and generate a third estimated position based at least in part on the comparison of the first estimated position to the second estimated position.

Claims (57)

1 . A robotic system comprising:

an instrument including an elongate shaft;

a robotic manipulator configured to manipulate the elongate shaft of the instrument; and

control circuitry communicatively coupled to the robotic manipulator and configured to:

determine a first estimated position of at least a portion of the elongate shaft based on robotic command data, the first estimated position associated with a first confidence factor;

determine a second estimated position of the portion of the elongate shaft based on position sensor data, the second estimated position associated with a second confidence factor;

compare the first estimated position with the second estimated position;

adjust a weight of the first confidence factor or the second confidence factor based on the comparison of the first estimated position with the second estimated position; and

generate a third estimated position of the portion of the elongate shaft based on the first confidence factor and the second confidence factor.

2 . The robotic system of claim 1 , wherein the control circuitry is further configured to:

detect a buckling condition of the elongate shaft based on the comparison of the first estimated position with the second estimated position.

3 . The robotic system of claim 2 , wherein detecting the buckling condition includes:

determining that the first estimated position indicates a first amount of motion of the elongate shaft;

determining that the second estimated position indicates a second amount of motion of the elongate shaft; and

determining that the first amount of motion is greater than the second amount of motion.

4 . The robotic system of claim 2 , wherein adjusting the weight of the first confidence factor comprises decreasing the weight of the first confidence factor relative to the second confidence factor.

5 . The robotic system of claim 1 , wherein the third estimated position is generated based on the second estimated position, and wherein the first confidence factor is set to zero so that the first estimated position is disregarded.

6 . The robotic system of claim 1 , wherein the control circuitry is further configured to:

detect a hysteresis condition of the elongate shaft based on the comparison of the first estimated position with the second estimated position.

7 . The robotic system of claim 6 , wherein detecting the hysteresis condition includes:

determining that the first estimated position indicates a first amount of motion of the elongate shaft;

determining that second estimated position indicates a second amount of motion of the elongate shaft; and

determining that the first amount of motion is less than the second amount of motion.

8 . The robotic system of claim 1 , wherein the control circuitry is further configured to:

determine a fourth estimated position of the portion of the elongate shaft based on image data from a camera associated with the elongate shaft; and

compare the fourth estimated position with at least one of the first estimated position or the second estimated position, wherein the third estimated position is based on the comparison of the fourth estimated position with the at least one of the first estimated position or the second estimated position.

9 . The robotic system of claim 8 , wherein the third estimated position is based on a weighted combination of the first estimated position, the second estimated position, and the fourth estimated position.

10 . The robotic system of claim 1 , wherein the robotic command data indicates at least one of a commanded insertion depth, a commanded articulation, or a roll angle of the elongate shaft executed by the robotic manipulator.

11 . A robotic system comprising:

an instrument including an elongate shaft;

a robotic manipulator configured to manipulate the elongate shaft of the instrument; and

control circuitry communicatively coupled to the robotic manipulator and configured to:

determine a commanded motion of a distal end of the elongate shaft based on robotic command data, the commanded motion associated with a first confidence factor;

determine a sensed motion of the distal end of the elongate shaft based on position sensor data, the sensed motion associated with a second confidence factor;

compare the commanded motion with the sensed motion;

adjust a weight of the first confidence factor or the second confidence factor based on the comparison of the commanded motion with the sensed motion; and

determine an occurrence of buckling of the elongate shaft or hysteresis of the elongate shaft based on the first confidence factor and the second confidence factor.

12 . The robotic system of claim 11 , wherein determining the occurrence of buckling of the elongate shaft includes:

detecting a buckling event when the commanded motion is greater than the sensed motion.

13 . The robotic system of claim 11 , wherein determining the occurrence of hysteresis of the elongate shaft includes:

detecting a hysteresis event when the sensed motion is greater than the commanded motion.

14 . The robotic system of claim 11 , wherein the robotic command data is associated with a command provided to the robotic manipulator prior to the determining of the sensed motion.

15 . A method comprising:

determining a first estimated position of at least a portion of an elongate shaft of an instrument based on robotic command data, the first estimated position associated with a first confidence factor;

determining a second estimated position of the portion of the elongate shaft based on position sensor data, the second estimated position associated with a second confidence factor;

comparing the first estimated position with the second estimated position;

adjust a weight of the first confidence factor or the second confidence factor based on the comparison of the first estimated position with the second estimated position; and

generating a third estimated position of the portion of the elongate shaft based on the first confidence factor and the second confidence factor.

16 . The method of claim 15 , further comprising:

detecting a buckling condition of the elongate shaft based on the comparison of the first estimated position with the second estimated position.

17 . The method of claim 15 , wherein the third estimated position is generated based on the second estimated position, and wherein the first confidence factor is set to zero so that the first estimated position is disregarded.

18 . The method of claim 15 , further comprising:

detecting a hysteresis condition of the elongate shaft based on the comparison of the first estimated position with the second estimated position.

19 . The method of claim 15 , further comprising:

determining a fourth estimated position of the portion of the elongate shaft based on image data from a camera associated with the elongate shaft; and

comparing the fourth estimated position with at least one of the first estimated position or the second estimated position, wherein the third estimated position is based on the comparison of the fourth estimated position with the at least one of the first estimated position or the second estimated position.

20 . The method of claim 15 , wherein the robotic command data indicates at least one of a commanded insertion depth, a commanded articulation, or a roll angle of the elongate shaft executed by a robotic manipulator.

Assignments (1)
ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded Feb 4, 2025
From: RAFII-TARI, HEDYEH; UMMALANENI, RITWIK; LIM, SIMON WEI QUAN; JEEVAN, PRASANTH
To: AURIS HEALTH, INC.
Reel/Frame 070107/0855 →
Continuity (3)
Continuation 16219766 · Dec 13, 2018
Provisional Application 62598934 · Dec 14, 2017
Related Publication 20230049292A1 · Feb 16, 2023
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