US 12,390,286 B2
Instrument shape determination
Chauncey F. Graetzel, Palo Alto, CA (US); and David Paul Noonan, San Francisco, CA (US)
Assigned to Auris Health, Inc., Santa Clara, CA (US)
Filed by Auris Health, Inc., Santa Clara, CA (US)
Filed on Sep. 18, 2023, as Appl. No. 18/469,140.
Application 18/469,140 is a continuation of application No. 17/124,151, filed on Dec. 16, 2020, granted, now 11,779,400.
Application 17/124,151 is a continuation of application No. 16/531,580, filed on Aug. 5, 2019, granted, now 10,898,276, issued on Jan. 26, 2021.
Claims priority of provisional application 62/715,668, filed on Aug. 7, 2018.
Prior Publication US 2024/0000520 A1, Jan. 4, 2024
Int. Cl. A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01)
CPC A61B 34/20 (2016.02) [A61B 2034/2051 (2016.02); A61B 2034/2061 (2016.02); A61B 2034/2065 (2016.02); A61B 2034/301 (2016.02); A61B 2090/0809 (2016.02); A61B 2090/0818 (2016.02); A61B 2090/3782 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A method of controlling an instrument, the method comprising:
measuring strain of one or more optical fibers associated with an elongate shaft of an instrument;
determining a first shape estimation of the elongate shaft based on the measured strain and a first weight associated therewith;
determining, based on the measured strain, a strain-indicated characteristic of the elongate shaft with respect to a mechanical condition of the elongate shaft;
determining an expected range of the mechanical condition of the elongate shaft;
determining that the strain-indicated characteristic is outside of the expected range of the mechanical condition;
in response to the determination that the strain-indicated characteristic is outside of the expected range, determining a second shape estimation of the elongate shaft based on the measured strain and a second weight associated therewith, the second weight lower than the first weight; and
outputting the second shape estimation of the elongate shaft.