US 11,864,848 B2
Electromagnetic distortion detection and compensation
Chauncey F. Graetzel, Palo Alto, CA (US); Subashini Srinivasan, San Carlos, CA (US); Yuriy Malinin, Palo Alto, CA (US); and Shyamprasad Konduri, Belmont, CA (US)
Assigned to Auris Health, Inc., Redwood City, CA (US)
Filed by Auris Health, Inc., Redwood City, CA (US)
Filed on May 9, 2022, as Appl. No. 17/740,206.
Application 17/740,206 is a continuation of application No. 17/009,593, filed on Sep. 1, 2020, granted, now 11,324,558.
Claims priority of provisional application 62/895,272, filed on Sep. 3, 2019.
Prior Publication US 2022/0265368 A1, Aug. 25, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/20 (2016.01); G16H 40/63 (2018.01); G16H 70/20 (2018.01); G16H 40/40 (2018.01); G06N 20/00 (2019.01); A61B 34/10 (2016.01); A61B 34/30 (2016.01)
CPC A61B 34/20 (2016.02) [G06N 20/00 (2019.01); G16H 40/40 (2018.01); G16H 40/63 (2018.01); G16H 70/20 (2018.01); A61B 2034/105 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/301 (2016.02); A61B 2034/302 (2016.02); A61B 2034/303 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A method of compensating for electromagnetic (EM) distortion, comprising:
determining a reference position of a distal end of an instrument at a first time based on EM location data, the instrument comprising one or more EM sensors configured to generate the EM location data indicative of a position of the distal end of the instrument;
determining that the distal end of the instrument at a second time is static, the second time being subsequent to the first time;
determining that the EM location data corresponding to the second time is indicative of the position of the distal end of the instrument at the second time having changed from the reference position by greater than a threshold distance; and
determining a compensated position of the distal end of the instrument based on the EM location data and the determination that the position of the distal end of the instrument at the second time has changed from the reference position by greater than a threshold distance.