US 12,226,168 B2
Systems and methods for registration of location sensors
Subashini Srinivasan, San Carlos, CA (US); David Paul Noonan, San Francisco, CA (US); David Burdick Berman, San Mateo, CA (US); and Brian Matthew Patenaude, Mountain View, CA (US)
Assigned to Auris Health, Inc., Santa Clara, CA (US)
Filed by Auris Health, Inc., Santa Clara, CA (US)
Filed on Feb. 13, 2023, as Appl. No. 18/108,744.
Application 18/108,744 is a continuation of application No. 17/155,842, filed on Jan. 22, 2021, granted, now 11,576,730.
Application 17/155,842 is a continuation of application No. 16/735,218, filed on Jan. 6, 2020, granted, now 10,898,277, issued on Jan. 26, 2021.
Application 16/735,218 is a continuation of application No. 16/365,386, filed on Mar. 26, 2019, granted, now 10,524,866, issued on Jan. 7, 2020.
Claims priority of provisional application 62/649,513, filed on Mar. 28, 2018.
Prior Publication US 2023/0270505 A1, Aug. 31, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/00 (2016.01); A61B 17/00 (2006.01); A61B 34/10 (2016.01); A61B 34/20 (2016.01); A61B 90/00 (2016.01)
CPC A61B 34/20 (2016.02) [A61B 34/10 (2016.02); A61B 90/361 (2016.02); A61B 90/39 (2016.02); A61B 2017/00809 (2013.01); A61B 2034/107 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/2065 (2016.02); A61B 2034/2068 (2016.02); A61B 2034/2074 (2016.02); A61B 34/25 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A system, comprising:
a set of processors of a computer system; and
at least one non-transitory computer-readable memory in communication with the set of processors and having stored thereon a model of a luminal network of a patient, the model comprising a target within a model coordinate system and a path to the target, the memory further having stored thereon computer-executable instructions to cause the set of processors to:
determine a first branch of and a second branch of the luminal network based on (i) the first branch and the second branch branching from a common part of the path to the target and (ii) the first branch and the second branch shaped asymmetrically in the model;
generate a set of instructions for driving a distal end of an instrument along the first branch based on at least a portion of the first branch being outside the path to the target; and
perform a registration between the model coordinate system and a location sensor coordinate system based on unregistered sensor location data received from a set of one or more location sensors during the driving the distal end along the first branch.