US 11,653,905 B2
Systems and methods for tracking robotically controlled medical instruments
Serena Wong, Mountain View, CA (US); Sean Walker, Mountain View, CA (US); Jason Hsu, Mountain View, CA (US); June Park, San Jose, CA (US); Neal Tanner, Burnet, TX (US); and Kiran Murthy, Sunnyvale, CA (US)
Assigned to Auris Health, Inc., Redwood City, CA (US)
Filed by Auris Health, Inc., Redwood City, CA (US)
Filed on Aug. 31, 2021, as Appl. No. 17/462,073.
Application 17/462,073 is a continuation of application No. 16/675,832, filed on Nov. 6, 2019, granted, now 11,129,602.
Application 16/675,832 is a continuation of application No. 16/165,377, filed on Oct. 19, 2018, granted, now 10,531,864, issued on Jan. 14, 2020.
Application 16/165,377 is a continuation of application No. 15/649,522, filed on Jul. 13, 2017, granted, now 10,130,345, issued on Nov. 20, 2018.
Application 15/649,522 is a continuation of application No. 14/663,021, filed on Mar. 19, 2015, granted, now 9,710,921, issued on Jul. 18, 2017.
Application 14/663,021 is a continuation of application No. 13/835,698, filed on Mar. 15, 2013, granted, now 9,014,851, issued on Apr. 21, 2015.
Prior Publication US 2021/0386413 A1, Dec. 16, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 17/00 (2006.01); G06T 7/246 (2017.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01); A61B 34/37 (2016.01); A61B 90/00 (2016.01); A61B 34/10 (2016.01); A61B 34/20 (2016.01)
CPC A61B 17/00 (2013.01) [A61B 34/25 (2016.02); A61B 34/30 (2016.02); A61B 34/37 (2016.02); A61B 90/39 (2016.02); G06T 7/248 (2017.01); A61B 2017/00212 (2013.01); A61B 2034/105 (2016.02); A61B 2034/2059 (2016.02); A61B 2034/2061 (2016.02); A61B 2034/301 (2016.02); A61B 2090/3735 (2016.02); A61B 2090/3782 (2016.02); A61B 2090/3966 (2016.02); G06T 2207/30004 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A robotic system for manipulating a tool with respect to a 3D model of an anatomical structure, where the tool comprises a shape sensor coupled thereto, the system comprising:
a robotic drive system comprising at least one actuator, the robotic drive system configured to couple with the tool to position the tool with respect to the 3D model, wherein the shape sensor on the tool senses a shape of the tool while in the anatomical structure, and wherein the sensed shape of the tool in the anatomical structure is correlated against features of the anatomical structure in the 3D model; and
a controller configured to compute a registration between a sensor reference frame and a 3D model reference frame such that the controller can direct the robotic drive system in the 3D model reference frame using the registration.