Granted Patent B2

US 12,727,950 · App. 18/905,061 · Granted Sep 8, 2026

Inventors: Hedyeh Rafii-Tari (Mountain View, CA); Prasanth Jeevan (San Mateo, CA)

Assignee: Auris Health, Inc.

A61B34/20A61B34/10A61B34/30A61B2017/00477A61B2017/00809A61B2034/105A61B2034/2048A61B2034/2051A61B2034/2059A61B2034/2061A61B2034/2063A61B2034/2072A61B2034/301A61B2034/303A61B2090/306A61B2090/309A61B2090/3614

Abstract

Claims (74)

1 . A non-transitory computer-readable storage medium storing instructions that, when executed by one or more processors of a device, cause the device to perform operations comprising:

receiving, from a position sensor, first position sensor data corresponding to an instrument positioned at a first point in a first portion of a luminal network that is mapped by a preoperative model;

determining a first estimated instrument position based on the first position sensor data;

determining a second estimated instrument position based on the first position sensor data and data not received from the position sensor;

determining a location transform based on a difference between the first estimated instrument position and the second estimated instrument position;

receiving, from the position sensor, second position sensor data corresponding to the instrument positioned at a second point in a second portion of the luminal network that is not mapped by the preoperative model;

determining a third estimated instrument position based on the second position sensor data;

adjusting the third estimated instrument position using the location transform;

determining a fourth estimated instrument position;

adjusting the fourth estimated instrument position using the location transform; and

outputting the adjusted instrument position.

2 . The non-transitory computer-readable storage medium of claim 1 , wherein the operations further comprise:

determining the location transform at a transition point between the first portion of the luminal network and the second portion of the luminal network.

3 . The non-transitory computer-readable storage medium of claim 2 , wherein the operations further comprise:

outputting the second estimated instrument position when the instrument is in the first portion of the luminal network.

4 . The non-transitory computer-readable storage medium of claim 2 , wherein the operations further comprise:

obtaining the preoperative model; and

determining the transition point based on the preoperative model.

5 . The non-transitory computer-readable storage medium of claim 1 , wherein the operations further comprise:

determining the location transform based on a plurality of position estimates of the instrument positioned at a plurality of points in the first portion of the luminal network preceding a transition point between the first portion of the luminal network and the second portion of the luminal network.

6 . The non-transitory computer-readable storage medium of claim 1 , wherein the location transform is an offset.

7 . The non-transitory computer-readable storage medium of claim 1 , wherein the operations further comprise:

displaying a visual indicia of the adjusted instrument position on a display.

8 . The non-transitory computer-readable storage medium of claim 1 , wherein:

the first point is in a first lumen of the luminal network; and

the second point is in a second lumen of the luminal network.

9 . A method for navigating an instrument in a luminal network of a body, the method comprising:

receiving, from a position sensor, first position sensor data corresponding to an instrument positioned at a first point in a first portion of a luminal network that is mapped by a preoperative model;

determining a first estimated instrument position based on the first position sensor data;

determining a second estimated instrument position based on the first position sensor data and data not received from the position sensor;

determining a location transform based on a difference between the first estimated instrument position and the second estimated instrument position;

receiving, from the position sensor, second position sensor data corresponding to the instrument positioned at a second point in a second portion of the luminal network that is not mapped by the preoperative model;

determining a third estimated instrument position based on the second position sensor data;

adjusting the third estimated instrument position using the location transform;

determining a fourth estimated instrument position;

adjusting the fourth estimated instrument position using the location transform; and

outputting the adjusted instrument position.

10 . The method of claim 9 , further comprising:

determining the location transform at a transition point between the first portion of the luminal network and the second portion of the luminal network.

11 . The method of claim 10 , further comprising:

outputting the second estimated instrument position when the instrument is in the first portion of the luminal network.

12 . The method of claim 10 , further comprising:

obtaining the preoperative model; and

determining the transition point based on the preoperative model.

13 . The method of claim 12 , wherein the transition point is determined to be at one of:

a threshold length of a last segment of the preoperative model; or

a distal end of a last segment of the preoperative model.

14 . The method of claim 9 , further comprising:

determining the location transform based on a plurality of position estimates of the instrument positioned at a plurality of points in the first portion of the luminal network preceding a transition point between the first portion of the luminal network and the second portion of the luminal network.

15 . The method of claim 9 , wherein the location transform is an offset.

16 . The method of claim 9 , further comprising:

displaying a visual indicia of the adjusted instrument position on a display.

17 . The method of claim 16 , further comprising:

determining a pointing direction of the instrument based on the adjusted instrument position; and

displaying the pointing direction of the instrument on the display.

18 . The method of claim 9 , further comprising:

receiving the data not received from the position sensor from a robotic system controlling the instrument, wherein the data received from the robotic system comprises robotic command and kinematics data associated with the robotic system.

19 . The method of claim 11 , further comprising:

receiving the data not received from the position sensor from a shape sensing fiber, an accelerometer, or a gyroscope.

20 . A robotic system, comprising:

an instrument having an elongate body and a position sensor disposed on the elongate body;

an instrument positioning device attached to the instrument and configured to move the instrument;

one or more processors; and

one or more computer-readable memories storing instructions that, when executed by the one or more processors, cause the robotic system to perform operations comprising:

receiving, from a position sensor, first position sensor data corresponding to an instrument positioned at a first point in a first portion of a luminal network that is mapped by a preoperative model;

determining a first estimated instrument position based on the first position sensor data;

determining a second estimated instrument position based on the first position sensor data and data not received from the position sensor;

determining a location transform based on a difference between the first estimated instrument position and the second estimated instrument position;

receiving, from the position sensor, second position sensor data corresponding to the instrument positioned at a second point in a second portion of the luminal network that is not mapped by the preoperative model;

determining a third estimated instrument position based on the second position sensor data;

adjusting the third estimated instrument position using the location transform;

determining a fourth estimated instrument position;

adjusting the fourth estimated instrument position using the location transform; and

outputting the adjusted instrument position.

Assignments (1)

Continuity (4)

References Cited (400)