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The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.

The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.

Patent No.:

US 11403759 B1

PDFFull Text
Date of Patent:
Aug. 02, 2022

Filed:

Aug. 27, 2020

Navigation of tubular networks

Applicant:

Auris Health, Inc., Redwood City, CA (US);

Inventors:

David S. Mintz, Mountain View, CA (US);

Atiyeh Ghoreyshi, Richmond, CA (US);

Prasanth Jeevan, San Mateo, CA (US);

Yiliang Xu, Cupertino, CA (US);

Gehua Yang, Wexford, PA (US);

Matthew Joseph Leotta, Clifton Park, NY (US);

Charles V. Stewart, Clifton Park, NY (US);

Assignee:

Auris Health, Inc., Redwood, CA (US);

Attorney:

Chang & Hale LLP

Primary Examiner:

James M Pontius

Int. Cl.
CPC ...
G06T 7/00 (2017.01); A61B 1/04 (2006.01); A61B 6/03 (2006.01); A61B 1/267 (2006.01); A61B 1/00 (2006.01); A61B 1/005 (2006.01); G06T 15/20 (2011.01); G06T 7/149 (2017.01); G06T 17/00 (2006.01); A61B 5/06 (2006.01); A61B 34/20 (2016.01); G06T 7/73 (2017.01); G06T 7/246 (2017.01); G06T 7/32 (2017.01); A61B 34/30 (2016.01); A61B 17/00 (2006.01); A61B 90/00 (2016.01); A61B 90/30 (2016.01); A61B 34/00 (2016.01); A61B 34/10 (2016.01);
U.S. Cl.
CPC ...
G06T 7/0012 (2013.01); A61B 1/005 (2013.01); A61B 1/00009 (2013.01); A61B 1/0016 (2013.01); A61B 1/00147 (2013.01); A61B 1/00149 (2013.01); A61B 1/04 (2013.01); A61B 1/2676 (2013.01); A61B 5/061 (2013.01); A61B 6/032 (2013.01); A61B 34/20 (2016.02); G06T 7/149 (2017.01); G06T 7/248 (2017.01); G06T 7/32 (2017.01); G06T 7/73 (2017.01); G06T 15/205 (2013.01); G06T 17/00 (2013.01); A61B 34/25 (2016.02); A61B 90/30 (2016.02); A61B 2017/00809 (2013.01); A61B 2034/105 (2016.02); A61B 2034/107 (2016.02); A61B 2034/2048 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/252 (2016.02); A61B 2034/301 (2016.02); A61B 2090/3614 (2016.02); G06T 2207/10068 (2013.01); G06T 2207/10081 (2013.01); G06T 2207/30061 (2013.01); G06T 2207/30196 (2013.01);
Abstract

Methods and apparatuses provide improved navigation through tubular networks such as lung airways by providing improved estimation of location and orientation information of a medical instrument (e.g., an endoscope) within the tubular network. Various input data such as image data, EM data, and robot data are used by different algorithms to estimate the state of the medical instrument, and the state information is used to locate a specific site within a tubular network and/or to determine navigation information for what positions/orientations the medical instrument should travel through to arrive at the specific site. Probability distributions together with confidence values are generated corresponding to different algorithms are used to determine the medical instrument's estimated state.

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