US 11,911,113 B2
Electromagnetic tracking surgical system and method of controlling the same
Christopher Sramek, Half Moon Bay, CA (US); Gregory J. Kintz, Santa Cruz, CA (US); David S. Mintz, Los Altos Hills, CA (US); and Alan Yu, Union City, CA (US)
Assigned to Auris Health, Inc., Redwood City, CA (US)
Filed by Auris Health, Inc., Redwood City, CA (US)
Filed on Jan. 29, 2021, as Appl. No. 17/162,709.
Application 17/162,709 is a continuation of application No. 15/406,599, filed on Jan. 13, 2017, granted, now 10,932,861.
Claims priority of provisional application 62/278,925, filed on Jan. 14, 2016.
Prior Publication US 2021/0153954 A1, May 27, 2021
Int. Cl. A61B 34/20 (2016.01); A61B 5/06 (2006.01); A61G 7/00 (2006.01); A61G 13/00 (2006.01); A61B 34/30 (2016.01); A61G 7/05 (2006.01); A61G 13/06 (2006.01); A61G 13/08 (2006.01); A61G 13/04 (2006.01)
CPC A61B 34/20 (2016.02) [A61B 34/30 (2016.02); A61G 7/05 (2013.01); A61B 5/062 (2013.01); A61B 2034/2051 (2016.02); A61G 13/04 (2013.01); A61G 13/06 (2013.01); A61G 13/08 (2013.01); A61G 2203/30 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An instrument tracking system comprising:
a first set of one or more electromagnetic (EM) field generators associated with a first structure and configured to generate a first EM field volume;
a second set of one or more EM field generators associated with a second structure and configured to generate a second EM field volume, the second EM field volume overlapping the first EM field volume in an overlapping EM field volume; and
controller circuitry configured to:
determine a first spatial relationship between the first EM field volume and the second EM field volume relative to a global coordinate system;
after movement of the first structure relative to the second structure, determine a modified spatial relationship between the first EM field volume and the second EM field volume relative to the global coordinate system;
detect a position sensor within the first EM field volume, the position sensor being associated with an instrument; and
in response to said detecting the position sensor within the first EM field volume, activate the first set of one or more EM field generators.