Auris Health, Inc.

Christopher K Sramek

Gregory J Kintz

Alan L Yu

David Burdick Berman

Elif Ayvali

David S Mintz

Enrique Romo

Nahid Sidki

Prasanth Jeevan

Hedyeh Rafii-Tari

Jason Lee

Nicolas E Robert

Certain aspects relate to systems with robotically controllable field generators and applications thereof. A robotic medical system may include a robotic arm coupled to an electromagnetic (EM) field generator configured to generate an EM field, and the first robotic arm may be configured to move the EM field generator. The medical system may also include a medical instrument configured for insertion into a patient. The medical instrument may comprise an EM sensor and one or more processors. The processors may: determine a position of the EM sensor within the EM field; and adjust a position of the EM field generator by commanding movement of the first robotic arm based on the determined position of the EM sensor.

Robotically controllable field generators for tracking an medical instrument

Certain aspects relate to systems with robotically controllable field generators and applications thereof. For example, a robotic medical system may include a first robotic arm that is configured to couple to an electromagnetic (EM) field generator. The first robotic arm be capable of moving the EM field generator. The robotic medical system may also include one or more processors. The processors may determine an EM position of an EM sensor within the EM field in an EM coordinate frame associated with the EM field generator. The processors also determine a position of the EM field generator in a robotic coordinate frame associated with the first robotic arm. The processors determine a registration between the EM coordinate frame and the robotic coordinate frame based on the position of the EM field generator. Based on the registration, the processors may determine a position of the EM sensor in the robotic coordinate frame.

Robotically controllable field generators for registering multiple coordinate frames

A surgical tool having an electromagnetic (EM) sensor component is provided. The surgical tool has a flexible shaft portion. Additionally, the surgical tool has a rigid portion attached to the flexible shaft portion. The rigid portion comprises at least one EM sensor within the rigid portion. The at least one EM sensor comprises an extended core portion surrounded by a coil. Additionally, the at least one EM sensor generates a change in voltage when exposed to an electromagnetic field.

Surgical tools having electromagnetic tracking components

Certain aspects relate to systems with robotically controllable field generators and applications thereof. In one application, a robotic medical system, comprising a first robotic arm coupled to an electromagnetic (EM) field generator configured to generate an EM field, an EM sensor, and a processor. The processor may be configured to transmit a command to the first robotic arm to cause movement of the EM field generator along a robotic trajectory while the EM sensor remains at a location. An EM sensor trajectory of the EM sensor within the EM field corresponding to a period of time in which the EM field generator moved along the robotic trajectory may be detected. The robotic trajectory and the EM sensor trajectory may be analyzed to determine a difference between the robotic trajectory and the EM sensor trajectory; and EM distortion at the location may be detected comparing the difference and a threshold.

Robotically controllable field generators for detecting distortions

An electromagnetic (EM) system for tracking a surgical tool is provided. The system may comprise a plurality of subsets of field generator coils disposed along edge portions of a surgical bed. Each subset of field generator coils may be configured to generate a magnetic field within a control volume. The system may further comprise a position sensor disposed on a portion of the surgical tool. The position sensor may be configured to generate a sensor signal in response to the magnetic field when the position sensor is located inside the control volume. Additionally, the system may comprise an EM system controller configured to selectively activate one or more of the subsets of field generator coils based on the sensor signal.

Electromagnetic tracking surgical system and method of controlling the same

Certain aspects relate to a medical system that includes a robotically controllable field generator and an instrument guide. The instrument guide may guide a percutaneously insertable instrument along an insertion axis. The instrument guide may also be positioned on an electromagnetic (EM) field generator, where the EM field generator can generate an EM field. A first robotic arm may be coupled to the EM field generator and it may move the EM field generator and the instrument guide. The system then determines: an EM target positioned within a patient, and a registration that maps positions within an EM coordinate frame associated with the EM field to positions within a robotic coordinate frame. The system may also determine, based on the registration, a position of the EM target within the robotic coordinate frame. Based on the position of the EM target within the robotic coordinate frame, move the first robotic arm may move to align the insertion axis of the instrument guide with the EM target.

Robotically controllable field generators for aligning a guide with a target

Systems and methods for electromagnetic distortion detection are disclosed. In one aspect, the system includes an electromagnetic (EM) sensor configured to generate an EM sensor signal in response to detection of the EM field. The system may also include a processor configured to calculate a baseline value of a metric indicative of a position of the EM sensor at a first time and calculate an updated value of the metric during a time period after the first time. The processor may be further configured to determine that a difference between the updated value and the baseline value is greater than a threshold value and determine that the EM field has been distorted in response to the difference being greater than the threshold value.

Electromagnetic distortion detection

Floating electromagnetic field generator systems and methods are provided. The system comprises a surgical bed portion. The system also comprises a brace component disposed within the surgical bed portion. Additionally, the system comprises a first arm that is attached to the brace component. The first arm is positioned adjacent to the surgical bed portion. Additionally, the first arm has at least one field generator coil embedded therein. The system also comprises a second arm that is attached to the brace component. The second arm is positioned adjacent to the surgical bed portion. Additionally, the second arm has at least one field generator coil embedded therein. The second arm is positioned parallel to the first arm.

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Half Moon Bay, CA, United States of America

Christopher K Sramek