Auris Health, Inc.

Subashini Srinivasan

David Paul Noonan

Ritwik Ummalaneni

Hedyeh Rafii-Tari

David Burdick Berman

Yuriy Malinin

Brian Matthew Patenaude

Chauncey F Graetzel

Prasanth Jeevan

Shyamprasad Konduri

Menglong Ye

Provided are systems and methods for path-based navigation of tubular networks. In one aspect, the method includes receiving location data from at least one of a set of location sensors and a set of robot command inputs, the location data being indicative of a location of an instrument configured to be driven through a luminal network. The method also includes determining a first estimate of the location of the instrument at a first time based on the location data, determining a second estimate of the location of the instrument at the first time based on the path, and determining the location of the instrument at the first time based on the first estimate and the second estimate.

Path-based navigation of tubular networks

Systems and methods for electromagnetic (EM) distortion detection and compensation are disclosed. In one aspect, the system includes an instrument, the system configured to: determine a reference position of the distal end of the instrument at a first time based on EM location data, determine that the distal end of the instrument at a second time is static, and determine that the EM location data at the second time is indicative of a position of the distal end of the instrument having changed from the reference position by greater than a threshold distance. The system is further configured to: determine a current offset based on the distance between the position at the second time and the reference position at the first time, and determine a compensated position of the distal end of the instrument based on the EM location data and the current offset.

Electromagnetic distortion detection and compensation

Provided are systems and methods for registration of location sensors. In one aspect, a system includes an instrument and a processor configured to provide a first set of commands to drive the instrument along a first branch of the luminal network, the first branch being outside a path to a target within a model. The processor is also configured to track a set of one or more registration parameters during the driving of the instrument along the first branch and determine that the set of registration parameters satisfy a registration criterion. The processor is further configured to determine a registration between a location sensor coordinate system and a model coordinate system based on location data received from a set of location sensors during the driving of the instrument along the first branch and a second branch.

Systems and methods for registration of location sensors

Provided are systems and methods for weight-based registration of location sensors. In one aspect, a system includes an instrument and a processor configured to provide a first set of commands to drive the instrument along a first branch of the luminal network, the first branch being outside a path to a target within a model. The processor is also configured to track a set of one or more registration parameters during the driving of the instrument along the first branch and determine that the set of registration parameters satisfy a registration criterion. The processor is further configured to determine a registration between a location sensor coordinate system and a model coordinate system based on location data received from a set of location sensors during the driving of the instrument along the first branch and a second branch.

Systems and methods for weight-based registration of location sensors

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San Carlos, CA, United States of America

Subashini Srinivasan