Auris Health, Inc.

Han Sen Medical, Inc.

Christopher M Sewell

Sean Paul Walker

Neal A Tanner

Aditya Koolwal

Federico Barbagli

Jeffery B Alvarez

June Gyu Park

Enrique Romo

Gene Reis

Francis MacNamara

Teresa Miller

Dave Camarillo

Aaron M Weiss

Prabu Ravindran

Matt Roelle

Alan Lau Yu

Systems and methods for introducing and driving flexible members in a patient's body are described herein. In one embodiment, a robotic method includes positioning a flexible elongated member that has a preformed configuration, wherein at least a part of the flexible elongated member has a first member disposed around it, and wherein the first member includes a first wire for bending the first member or for maintaining the first member in a bent configuration, releasing at least some tension in the first wire to relax the first member, and advancing the first member distally relative to the flexible elongated member while the first member is in a relaxed configuration.

Systems and methods for positioning an elongate member inside a body

Systems and methods are described herein for tracking, localization or controlling an elongate instrument or other medical instrument in an image or patient.

Systems and methods for localizing, tracking and/or controlling medical instruments

A system and method of tracking a flexible elongate instrument within a patient is disclosed herein. The system is configured to obtain remote localization measurement data of the flexible elongate instrument and obtain elongation measurement data of the flexible elongate instrument. This data is combined and transformed to a coordinate reference frame to produce a localization of the flexible elongate instrument that is more accurate than the remote localization measurements or elongation measurement data alone. The combined localization is then provided to a localization consumer.

Flexible instrument localization from both remote and elongation sensors

Systems and method are disclosed whereby elongate medical instruments may be registered to adjacent tissue structures and other structures, and may be navigated and operated in a coordinated fashion to maximize ranges of motion, ease of use, and other factors. A method for registering an instrument relative to nearby structures may comprise moving a portion of the instrument between two in situ positions, tracking movement during this movement with both a kinematic model and also a localization sensor based configuration, determining the orientation of the tracked portion relative to both the instrument coordinate system used in the kinematic modeling and also a localization coordinate reference frame, and adjusting the orientation of the instrument coordinate reference frame to minimize the difference between determined orientations using the kinematic model and localization sensors. Methods and configurations for navigating coupled and registered instrument sets are also disclosed.

Automated alignment

Growing community of inventors

Los Alamos, NM, United States of America

Christopher M Sewell