US 11,957,446 B2
System and method for medical instrument navigation and targeting
Hedyeh Rafii-Tari, Mountain View, CA (US); Prasanth Jeevan, San Mateo, CA (US); Douglas T. Boyd, Soquel, CA (US); Melissa A. Teran, Redwood City, CA (US); Alexander James Sheehy, Redwood City, CA (US); Nicolas E. Robert, San Leandro, CA (US); Miroslav Drahos, Freehold, NJ (US); Jeffery D. Howard, San Francisco, CA (US); Andrew Esbenshade Zeldis, Berkeley, CA (US); and René Ango Mambembe, Nantes (FR)
Assigned to Auris Health, Inc., Redwood City, CA (US)
Filed by Auris Health, Inc., Redwood City, CA (US)
Filed on Nov. 13, 2020, as Appl. No. 17/097,998.
Application 17/097,998 is a continuation of application No. 16/212,495, filed on Dec. 6, 2018, granted, now 10,835,153.
Claims priority of provisional application 62/596,710, filed on Dec. 8, 2017.
Prior Publication US 2021/0059559 A1, Mar. 4, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 5/00 (2006.01); A61B 5/06 (2006.01); A61B 34/00 (2016.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 17/00 (2006.01); A61B 34/10 (2016.01); A61B 90/00 (2016.01); A61B 90/30 (2016.01); A61B 90/50 (2016.01)
CPC A61B 5/066 (2013.01) [A61B 34/20 (2016.02); A61B 34/25 (2016.02); A61B 34/30 (2016.02); A61B 34/74 (2016.02); A61B 2017/00809 (2013.01); A61B 2034/105 (2016.02); A61B 2034/107 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/2059 (2016.02); A61B 2034/2061 (2016.02); A61B 2034/2065 (2016.02); A61B 2034/256 (2016.02); A61B 2034/258 (2016.02); A61B 2034/301 (2016.02); A61B 2090/306 (2016.02); A61B 2090/309 (2016.02); A61B 2090/3614 (2016.02); A61B 2090/365 (2016.02); A61B 2090/368 (2016.02); A61B 90/37 (2016.02); A61B 2090/372 (2016.02); A61B 2090/376 (2016.02); A61B 2090/3762 (2016.02); A61B 2090/502 (2016.02); A61B 2217/005 (2013.01); A61B 2217/007 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of navigating a medical instrument, comprising:
determining, based on data received from at least one sensor of the medical instrument, a position and orientation of a distal end of the medical instrument with respect to a model of a mapped portion of a luminal network;
causing, on at least a portion of a display, a rendering of the model, a position of an object with respect to the model, and the position and orientation of the distal end of the medical instrument, wherein the rendering is based on a viewpoint directed at the object and different from a viewpoint of the medical instrument; and
causing, on at least a portion of the display, a rendering of a modified view, wherein the modified view comprises a rotated view of the model, the position of the object, and the position and orientation of the distal end of the medical instrument, with the object as a center of rotation.