US 11,712,173 B2
Systems and methods for displaying estimated location of instrument
Ritwik Ummalaneni, San Mateo, CA (US); and Prasanth Jeevan, San Mateo, CA (US)
Assigned to Auris Health, Inc., Redwood City, CA (US)
Filed by Auris Health, Inc., Redwood City, CA (US)
Filed on Nov. 6, 2020, as Appl. No. 17/91,372.
Application 17/091,372 is a continuation of application No. 16/365,507, filed on Mar. 26, 2019, granted, now 10,827,913.
Claims priority of provisional application 62/649,501, filed on Mar. 28, 2018.
Prior Publication US 2021/0076919 A1, Mar. 18, 2021
Int. Cl. A61B 5/00 (2006.01); A61B 5/06 (2006.01); A61B 1/05 (2006.01); A61B 34/20 (2016.01); A61B 1/00 (2006.01)
CPC A61B 5/066 (2013.01) [A61B 1/000094 (2022.02); A61B 1/05 (2013.01); A61B 34/20 (2016.02); A61B 2034/2051 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A system, comprising:
a medical instrument configured to be inserted into a luminal network of a patient, the medical instrument comprising a shape sensor configured to generate shape data indicative of a location of a distal end of the medical instrument;
a robotic arm configured to receive commands to move the medical instrument and control movement of the medical instrument based on the commands;
one or more processors; and
at least one computer-readable memory in communication with the one or more processors and having stored thereon computer-executable instructions configured to cause the one or more processors to:
estimate a first location of the distal end of the medical instrument with respect to a model of the luminal network based on first shape data generated by the shape sensor, the first shape data corresponding to a first time;
cause the estimated first location to be displayed;
after the first time, receive an insertion command to move the instrument at a second time;
cause the robotic arm to change an insertion amount of the medical instrument according to the insertion command;
estimate a second location of the instrument based on the first location and the insertion amount, the estimated second location corresponding to the second time;
cause the estimated second location to be displayed;
estimate a third location of the distal end of the medical instrument with respect to the model based on third shape data generated by the shape sensor, the third shape data corresponding to a third time subsequent to the second time; and
cause the estimated third location to be displayed.