US 12,232,819 B2
Robotically controllable field generators for tracking an medical instrument
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., Santa Clara, CA (US)
Filed by AURIS HEALTH, INC., Santa Clara, CA (US)
Filed on Aug. 25, 2021, as Appl. No. 17/412,121.
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 2022/0061925 A1, Mar. 3, 2022
Int. Cl. A61B 34/20 (2016.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01); A61B 34/32 (2016.01); A61B 34/37 (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:
a first robotic arm coupled to an electromagnetic (EM) field generator configured to generate an EM field, the first robotic arm configured to move the EM field generator;
a medical instrument configured for insertion into a patient, the medical instrument comprising an EM sensor; and
one or more processors configured to:
determine that the EM sensor is positioned at a boundary of a predetermined region within the EM field; and
adjust a position of the EM field generator by commanding movement of the first robotic arm responsive to determining that the EM sensor is positioned at the boundary of the predetermined region.