US 11,786,316 B2
Robotically controllable field generators for aligning a guide with a target
Christopher Sramek, Half Moon Bay, CA (US); Elif Ayvali, Redwood City, CA (US); and David Burdick Berman, San Mateo, CA (US)
Assigned to Auris Health, Inc., Redwood City, CA (US)
Filed by AURIS HEALTH, INC., Redwood City, CA (US)
Filed on Aug. 25, 2021, as Appl. No. 17/412,136.
Claims priority of provisional application 63/216,990, filed on Jun. 30, 2021.
Claims priority of provisional application 63/084,979, filed on Sep. 29, 2020.
Claims priority of provisional application 63/084,950, filed on Sep. 29, 2020.
Claims priority of provisional application 63/070,472, filed on Aug. 26, 2020.
Prior Publication US 2022/0061926 A1, Mar. 3, 2022
Int. Cl. A61B 34/00 (2016.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 34/37 (2016.01); A61B 34/32 (2016.01); B25J 9/16 (2006.01); B25J 19/02 (2006.01)
CPC A61B 34/20 (2016.02) [A61B 34/30 (2016.02); A61B 34/32 (2016.02); A61B 34/37 (2016.02); A61B 34/70 (2016.02); B25J 9/1653 (2013.01); B25J 9/1664 (2013.01); B25J 19/027 (2013.01); A61B 2034/2051 (2016.02); A61B 2034/301 (2016.02); A61B 2034/302 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A robotic medical system comprising:
an electromagnetic (EM) field generator, the EM field generator configured to generate an EM field that detects an EM target positioned within a patient;
an instrument guide positioned on the EM field generator and configured to guide a percutaneously insertable instrument along an insertion axis;
a first robotic arm configured to be coupled to the EM field generator, the first robotic arm further configured to move a combined structure of the EM field generator and the instrument guide; and
one or more processors configured to:
determine the EM target positioned within the patient,
determine a registration that maps coordinates within an EM coordinate frame associated with the EM field to coordinates within a robotic coordinate frame associated with a kinematic pose of the first robotic arm,
determine, based on the registration, a position of the EM target within the robotic coordinate frame, and
based on the position of the EM target within the robotic coordinate frame, move the first robotic arm to align the insertion axis of the instrument guide with the EM target such that, when the insertion axis is aligned with the EM target, the percutaneously insertable instrument is guidable toward the EM target.