US 12,402,963 B2
Apparatus, systems, and methods to facilitate instrument visualization
Devon Manuel Daley, San Mateo, CA (US); Zihan Chen, Union City, CA (US); and Enrique Romo, Danville, CA (US)
Assigned to Auris Health, Inc., Santa Clara, CA (US)
Filed by Auris Health, Inc., Redwood City, CA (US)
Filed on Jul. 22, 2020, as Appl. No. 16/936,419.
Claims priority of provisional application 62/881,346, filed on Jul. 31, 2019.
Prior Publication US 2021/0030497 A1, Feb. 4, 2021
Int. Cl. A61B 34/35 (2016.01); A61B 18/00 (2006.01); A61B 34/00 (2016.01); G02B 6/02 (2006.01)
CPC A61B 34/35 (2016.02) [A61B 34/76 (2016.02); G02B 6/02076 (2013.01); A61B 2018/00297 (2013.01); A61B 2562/028 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A processor-implemented method comprising:
(a) obtaining, for one or more instruments coupled to a robotic medical device, one or more corresponding instrument positions and instrument movement directions relative to a current field of view (FOV) of at least one image sensor coupled to the robotic medical device; and
(b) initiating, for a selected instrument of the one or more instruments, generation of a corresponding feedback to a user, wherein the corresponding feedback is in real-time and is based on an obtained position of the selected instrument relative to the current FOV, wherein the corresponding feedback includes a directional indicator indicating the corresponding instrument movement directions,
wherein the corresponding feedback comprises a corresponding visual feedback,
wherein initiating generation of the corresponding visual feedback comprises:
initiating display of the directional indicator indicating a movement direction for the selected instrument to bring the selected instrument:
(i) further into the current FOV in response to a determination that the obtained position of the selected instrument is within the current FOV and within a threshold of a boundary of the current FOV, or
(ii) into the current FOV in response to a determination that the obtained position of the selected instrument is outside the boundary of the current FOV.