US 12,137,990 B2
Systems and methods for localizing, tracking and/or controlling medical instruments
Sean Walker, Mountain View, CA (US); Christopher Sewell, Sunnyvale, CA (US); June Park, San Jose, CA (US); Prabu Ravindran, Milpitas, CA (US); Aditya Koolwal, Mountain View, CA (US); Dave Camarillo, Aptos, CA (US); and Federico Barbagli, San Francisco, CA (US)
Assigned to Auris Health, Inc., Redwood City, CA (US)
Filed by Auris Health, Inc., Redwood City, CA (US)
Filed on Oct. 14, 2022, as Appl. No. 17/965,917.
Application 17/965,917 is a division of application No. 15/466,565, filed on Mar. 22, 2017, granted, now 11,504,187.
Application 15/466,565 is a continuation of application No. 13/832,586, filed on Mar. 15, 2013, granted, now 9,629,595, issued on Apr. 24, 2017.
Prior Publication US 2023/0107693 A1, Apr. 6, 2023
Int. Cl. A61B 34/20 (2016.01); A61B 5/06 (2006.01); A61B 6/00 (2006.01); A61B 6/03 (2006.01); A61B 6/12 (2006.01); A61B 34/30 (2016.01); A61B 5/00 (2006.01); A61B 90/00 (2016.01)
CPC A61B 34/20 (2016.02) [A61B 5/062 (2013.01); A61B 5/066 (2013.01); A61B 6/032 (2013.01); A61B 6/12 (2013.01); A61B 6/485 (2013.01); A61B 6/5205 (2013.01); A61B 6/5258 (2013.01); A61B 34/30 (2016.02); A61B 5/725 (2013.01); A61B 2034/2051 (2016.02); A61B 2034/301 (2016.02); A61B 2090/376 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A robotic system comprising:
an elongate instrument;
a localization sensor coupled to the elongate instrument;
a robotic drive system comprising at least one actuator, the robotic drive system configured to position the elongate instrument with respect to a target space; and
a controller configured to;
produce a registration between a first coordinate frame of the localization sensor, and a second coordinate frame of at least one of an image or a patient,
produce a plurality of signals to direct the robotic drive system or elongate instrument in the second coordinate frame using the registration and wherein the image comprises an image of the target space, and
track movement of the elongate instrument by:
initializing an active contour in the image,
predicting, based on a robotic motion command received from a user, a next active contour of the elongate instrument as the elongate instrument is moved, and
updating the active contour in the image as the elongate instrument moves in the patient.