Auris Health, Inc.

Han Sen Medical, Inc.

Sean Paul Walker

June Gyu Park

Serena H Wong

Neal A Tanner

Christopher M Sewell

Jason Joseph Hsu

Kiran Murthy

Richard W Henderson

Aditya Koolwal

Kamini Balaji

Dave Camarillo

Teresa Miller

Terence Welsh

Federico Barbagli

Arkady Kokish

Jeffery B Alvarez

Enrique Romo

Gregory J Stahler

Neha Virmani

Francis T Macnamara

Gene Reis

Francis MacNamara

Curtis James Caton

Aaron M Weiss

Yu Chiu

Prabu Ravindran

Matt Roelle

Ray D'Ambrosio

Leena Kadakia

Jeffrey B Alvarez

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

A robotic catheter system may include a flexible catheter having a proximal end, a distal end, and an articulating portion at the distal end, it may further include a sensor coupled with the flexible catheter at or near the distal end, a visual display for displaying an image of at least part of the flexible catheter, a processor for generating a virtual indicator displayed on the image of the flexible catheter, where the virtual indicator indicates a direction of articulation and/or an amount of articulation of the articulating portion of the catheter, and a controller coupled with the proximal end of the flexible catheter to receive a user input and articulate the articulating portion of the catheter in response to the user input.

Systems and devices for catheter driving instinctiveness

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 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 device may operate a guide wire and be operable by a single operator digit. The device may include an insertion control device for advancing the guide wire in a forward and in a reverse direction and along a longitudinal axis of the guide wire; and a rotary device for rolling a guide wire about the longitudinal axis. A robotic instrument driver may be operatively coupled to the device and configured to control axial movement of the guide wire along the longitudinal axis according to input received from the insertion control device and to control rotational movement of the guide wire according to input received from the rotary device.

Integrated catheter and guide wire controller

The present application is related to devices, systems, and methods for controlling active drive systems. In one embodiment, the drive system may include a first surface and a second surface for engaging an elongate member. The first and second surfaces may be attached to a drive mechanism to move the elongate member. The first surface may be slidable relative to the drive mechanism and may have a clearance between the drive mechanism and an end of the first surface during movement of the elongate member in a non-slip condition. A sensor may be associated with the first surface and may be configured to detect movement of the first surface in a slip condition.

Devices, systems, and methods for controlling active drive systems

Systems and methods for driving a flexible medical instrument to a target in an anatomical space with robotic assistance are described herein. The flexible instrument may have a tracking sensor embedded therein. An associated robotic control system may be provided, which is configured to register the flexible instrument to an anatomical image using data from the tracking sensor and identify one or more movements suitable for navigating the instrument towards an identified target. In some embodiments, the robotic control system drives or assists in driving the flexible instrument to the target.

Robot-assisted driving systems and methods

Growing community of inventors

Fremont, CA, United States of America

Sean Paul Walker