Auris Health, Inc.

Koninklijke Philips Corporation N.v.

Han Sen Medical, Inc.

Leland Stanford Junior University

Neal A Tanner

Robert G Younge

Randall L Schlesinger

Sean Paul Walker

Serena H Wong

Bhaskar S Ramamurthy

June Gyu Park

Jason Joseph Hsu

Kiran Murthy

Teresa Miller

Matthew J Roelle

Eric Udd

Christopher M Sewell

Federico Barbagli

Christopher R Carlson

David B Camarillo

Francis T Macnamara

Gene Reis

Gregory J Stahler

Travis C Covington

Francis MacNamara

Nicola Diolaiti

Gunter D Niemeyer

Jeffery B Alvarez

Enrique Romo

J Scot Hart, Jr

Dave Camarillo

Kamini Balaji

Aaron M Weiss

Günter D Niemeyer

Greg Stahler

Jeffrey B Alvarez

Jeff Alvarez

Chris Carlson

William K Yee

Casey Lewis

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 an elongate instrument or other medical instrument in an image.

Systems and methods for tracking robotically controlled medical instruments

For position sensors, e.g., a fiber-based system, that build a shape of an elongated member, such as a catheter, using a sequence of small orientation measurements, a small error in orientation at the proximal end of the sensor will cause large error in position at distal points on the fiber. Exemplary methods and systems are disclosed, which may provide full or partial registration along the length of the sensor to reduce the influence of the measurement error. Additional examples are directed to applying selective filtering at a proximal end of the elongated member to provide a more stable base for distal measurements and thereby reducing the influence of measurement errors.

Reducing measurement sensor error

Systems and methods are described herein that improve control of a shapeable or steerable instrument using shape data. Additional methods include preparing a robotic medical system for use with a shapeable instrument and controlling advancement of a shapeable medical device within an anatomic path. Also described herein are methods for altering a data model of an anatomical region.

Methods and devices for controlling a shapeable medical device

Systems and methods for integrating and/or registering a shape sensing fiber in or to various instruments are described herein. Registration fixtures and registration techniques for matching the coordinate system of a fiber to the coordinate system of an elongate instrument or other device are provided. Various systems and methods for integrating a shape sensing fiber into an elongate instrument or other device are also described herein.

Apparatus and methods for fiber integration and registration

An instrument system that includes an elongate instrument body and an optical fiber sensor is provided. The optical fiber sensor includes an elongate optical fiber that is coupled to the elongate instrument body, wherein a portion of the optical fiber is coupled to the elongate instrument body in a manner to provide slack in the fiber to allow for axial extension of the elongate instrument body relative to the optical fiber.

Instrument systems and methods utilizing optical fiber sensor

A method for mapping an internal structure of a patient with an elongate body is provided. The method includes detecting, at a plurality of instances, contact between a distal portion of an elongate body and an internal structure of the patient; determining a plurality of geometric configurations of the distal portion, the plurality of geometric configurations corresponding to the plurality of instances of contact between the distal portion and the internal structure; determining a plurality of positions of the distal portion, the plurality of positions corresponding to the plurality of geometric configurations; and generating a map of the internal structure based on the plurality of positions of the distal portion.

Growing community of inventors

Mountain View, CA, United States of America

Neal A Tanner