US 12,089,804 B2
Navigation of tubular networks
David S. Mintz, Mountain View, CA (US); Atiyeh Ghoreyshi, Richmond, CA (US); Prasanth Jeevan, San Mateo, CA (US); Yiliang Xu, Cupertino, CA (US); Gehua Yang, Wexford, PA (US); Matthew Joseph Leotta, Clifton Park, NY (US); and Charles V. Stewart, Clifton park, NY (US)
Assigned to Auris Health, Inc., Redwood City, CA (US)
Filed by Auris Health, Inc., Redwood City, CA (US)
Filed on Jul. 27, 2022, as Appl. No. 17/875,365.
Application 17/875,365 is a continuation of application No. 17/004,669, filed on Aug. 27, 2020, granted, now 11,403,759.
Application 17/004,669 is a continuation of application No. 16/222,686, filed on Dec. 17, 2018, granted, now 10,796,432, issued on Sep. 16, 2020.
Application 16/222,686 is a continuation of application No. 15/669,258, filed on Aug. 4, 2017, granted, now 10,169,875, issued on Jan. 1, 2019.
Application 15/669,258 is a continuation of application No. 15/268,238, filed on Sep. 16, 2016, granted, now 9,727,963, issued on Aug. 8, 2017.
Claims priority of provisional application 62/220,770, filed on Sep. 18, 2015.
Prior Publication US 2023/0012778 A1, Jan. 19, 2023
Int. Cl. A61B 1/00 (2006.01); A61B 1/267 (2006.01); A61B 5/06 (2006.01); A61B 6/03 (2006.01); A61B 34/20 (2016.01); A61B 90/30 (2016.01); G06T 7/00 (2017.01); G06T 7/149 (2017.01); G06T 7/246 (2017.01); G06T 7/32 (2017.01); G06T 7/73 (2017.01); G06T 15/20 (2011.01); G06T 17/00 (2006.01); A61B 17/00 (2006.01); A61B 34/00 (2016.01); A61B 34/10 (2016.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01)
CPC A61B 1/000094 (2022.02) [A61B 1/00147 (2013.01); A61B 1/00149 (2013.01); A61B 1/0016 (2013.01); A61B 1/00194 (2022.02); A61B 1/2676 (2013.01); A61B 5/061 (2013.01); A61B 6/032 (2013.01); A61B 34/20 (2016.02); G06T 7/0012 (2013.01); G06T 7/149 (2017.01); G06T 7/248 (2017.01); G06T 7/32 (2017.01); G06T 7/73 (2017.01); G06T 15/205 (2013.01); G06T 17/00 (2013.01); A61B 2017/00809 (2013.01); A61B 2034/105 (2016.02); A61B 2034/107 (2016.02); A61B 2034/2048 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/2055 (2016.02); A61B 34/25 (2016.02); A61B 2034/252 (2016.02); A61B 2034/301 (2016.02); A61B 90/30 (2016.02); A61B 2090/3614 (2016.02); G06T 2207/10068 (2013.01); G06T 2207/10081 (2013.01); G06T 2207/30061 (2013.01); G06T 2207/30196 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A method comprising:
accessing data associated with an elongated medical instrument inserted into a tubular network of a patient, the tubular network comprising a plurality of openings to a plurality of respective segments;
determining (i) probabilities for entering each of the plurality of openings and (ii) a confidence value;
determining an estimated state for a tip of the elongated medical instrument based on the probabilities and the confidence value, comprising adding (i) a first multiplication of a first probability for entering a first opening associated with a first algorithm and a first confidence value associated with the first algorithm and (ii) a second multiplication of a second probability for entering the first opening associated with a second algorithm and a second confidence value associated with the second algorithm to determine a first sum, wherein the estimated state is indicative of a position of the tip in a segment of the plurality of respective segments; and
showing, on a display, the position of the tip within the segment.