US 12,232,711 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 Veiw, CA (US); June Park, San Jose, CA (US); Neal Tanner, Burnet, TX (US); and Kiran Murthy, Sunnyvale, CA (US)
Assigned to Auris Health, Inc., Santa Clara, CA (US)
Filed by Auris Health, Inc., Redwood City, CA (US)
Filed on Mar. 26, 2024, as Appl. No. 18/616,697.
Application 18/616,697 is a continuation of application No. 18/140,664, filed on Apr. 28, 2023, granted, now 11,969,157, issued on Apr. 30, 2024.
Application 18/140,664 is a continuation of application No. 17/462,073, filed on Aug. 31, 2021, granted, now 11,653,905, issued on May 23, 2023.
Application 17/462,073 is a continuation of application No. 16/675,832, filed on Nov. 6, 2019, granted, now 11,129,602, issued on Sep. 28, 2021.
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 2024/0341739 A1, Oct. 17, 2024
Int. Cl. A61B 17/00 (2006.01); A61B 34/00 (2016.01); A61B 34/10 (2016.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 34/37 (2016.01); A61B 90/00 (2016.01); G06T 7/246 (2017.01)
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 method of registering a tool of a robotic drive system to a fluoroscopy image of an anatomy of a patient, the method comprising:
tracking a location of a splayer of the robotic drive system using one or more splayer sensors coupled to the splayer, wherein a location of the tool with respect to the splayer is known;
tracking a position of a table using one or more table sensors coupled to the table;
comparing a splayer reference frame to a table reference frame to generate a registration of the splayer to the table;
comparing the table reference frame to a fluoroscopy reference frame to generate a registration of the table to the fluoroscopy image; and
determining a location of the tool in the fluoroscopy image of the anatomy, based on the registration of the table to the fluoroscopy image, the registration of the splayer to the table, and the known location of the tool with respect to the splayer.