Auris Health, Inc.

Han Sen Medical, Inc.

Dave Camarillo

Sean Paul Walker

Aditya Koolwal

Christopher M Sewell

Federico Barbagli

June Gyu Park

Prabu Ravindran

Matt Roelle

Neal A Tanner

Francis T Macnamara

Francis MacNamara

J Scot Hart, Jr

Kamini Balaji

Teresa Miller

Greg Stahler

Chris Carlson

Jeff Alvarez

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

A robotic surgical system configured for the articulation of a catheter comprises an input device, a control computer, and an instrument driver having at least one motor for displacing the pull-wire of a steerable catheter wherein the control computer is configured to determine the desired motor torque or tension of the pull-wire of a catheter based on user manipulation of the input device. The control computer is configured to output the desired motor torque or tension of the pull-wire to the instrument driver, whereby at least one motor of the instrument driver implements the desired motor torque to cause the desired pull-wire tension to articulate the distal tip of the catheter. The present embodiment further contemplates a robotic surgical method for the articulation of a steerable catheter wherein an input device is manipulated to communicate a desired catheter position to a control computer and motor torque commands are outputted to an instrument driver. The robotic system may further comprise a torque sensor. The robotic system may also incorporate closed loop feedback in which data from the torque measuring device is used to ensure that the torque in the motor or tension in the pull-wire closely matches the motor torque command from the control computer.

Torque-based catheter articulation

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Aptos, CA, United States of America

Dave Camarillo