US 12,220,150 B2
Aligning medical instruments to access anatomy
Sarah Plewe, Redwood City, CA (US); and Elif Ayvali, Redwood City, CA (US)
Assigned to Auris Health, Inc., Santa Clara, CA (US)
Filed by Auris Health, Inc., Santa Clara, CA (US)
Filed on Sep. 22, 2022, as Appl. No. 17/951,036.
Application 17/951,036 is a continuation of application No. 17/130,700, filed on Dec. 22, 2020, granted, now 11,602,372.
Claims priority of provisional application 62/955,993, filed on Dec. 31, 2019.
Prior Publication US 2023/0094574 A1, Mar. 30, 2023
Int. Cl. A61B 17/34 (2006.01); A61B 17/00 (2006.01)
CPC A61B 17/3403 (2013.01) [A61B 17/3478 (2013.01); A61B 2017/00115 (2013.01); A61B 2560/0487 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
control circuitry; and
memory communicatively couped to the control circuitry and storing executable instructions that, when executed by the control circuitry, cause the control circuitry to perform operations comprising:
receiving first sensor data from a first medical instrument that is configured to access anatomy via an incision;
determining an orientation of the first medical instrument based on the first sensor data;
receiving second sensor data from a second medical instrument that is configured to access the anatomy through an anatomical lumen;
determining a target trajectory to access the anatomy based on the second sensor data; and
generating alignment data indicative of an alignment of the orientation of the first medical instrument to the target trajectory.