US 11,779,400 B2
Combining strain-based shape sensing with catheter control
Chauncey F. Graetzel, Palo Alto, CA (US); and David Paul Noonan, San Francisco, CA (US)
Assigned to Auris Health, Inc., Redwood City, CA (US)
Filed by Auris Health, Inc., Redwood City, CA (US)
Filed on Dec. 16, 2020, as Appl. No. 17/124,151.
Application 17/124,151 is a continuation of application No. 16/531,580, filed on Aug. 5, 2019, granted, now 10,898,276.
Claims priority of provisional application 62/715,668, filed on Aug. 7, 2018.
Prior Publication US 2021/0169588 A1, Jun. 10, 2021
Int. Cl. A61B 34/20 (2016.01); A61B 90/00 (2016.01); A61B 34/30 (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 within an interior region of a body, the method comprising:
accessing robotic command data configured to instruct positioning of the instrument;
accessing strain data from an optical fiber positioned within the instrument that is indicative of a strain on a portion of the instrument positioned within the interior region of the body;
determining shape data based on the strain data;
determining that the shape data indicates a curvature value that exceeds a curvature value indicated by the robotic command data;
based on the curvature value exceeding the curvature value indicated by the robotic command data, determining adjusted shape data;
determining an estimated state of the instrument based on the adjusted shape data; and
outputting the estimated state of the instrument.