公开(公告)号：US20230094574A1

公开(公告)日：2023-03-30

申请号：US17951036

申请日：2022-09-22

Applicant: Auris Health, Inc.

Inventor： Sarah PLEWE ,  Elif AYVALI

IPC: A61B17/34

Abstract: Techniques for aligning a medical instrument for percutaneous access to a location within the human anatomy can include determining an orientation of the medical instrument, determining a target location within the human anatomy, and determining a target trajectory for percutaneous access of the target location. Further, the techniques can include causing display of an interface that includes an instrument-alignment element indicative of an alignment of the orientation of the medical instrument to the target trajectory.

公开(公告)号：US20220061924A1

公开(公告)日：2022-03-03

申请号：US17412115

申请日：2021-08-25

Applicant: AURIS HEALTH, INC.

Inventor： Christopher SRAMEK ,  Elif AYVALI ,  David Burdick BERMAN

IPC: A61B34/20 ,  A61B34/30

Abstract: Certain aspects relate to systems with robotically controllable field generators and applications thereof. For example, a robotic medical system may include a first robotic arm that is configured to couple to an electromagnetic (EM) field generator. The first robotic arm be capable of moving the EM field generator. The robotic medical system may also include one or more processors. The processors may determine an EM position of an EM sensor within the EM field in an EM coordinate frame associated with the EM field generator. The processors also determine a position of the EM field generator in a robotic coordinate frame associated with the first robotic arm. The processors determine a registration between the EM coordinate frame and the robotic coordinate frame based on the position of the EM field generator. Based on the registration, the processors may determine a position of the EM sensor in the robotic coordinate frame.

公开(公告)号：US20210196399A1

公开(公告)日：2021-07-01

申请号：US17131117

申请日：2020-12-22

Applicant: AURIS HEALTH, INC.

Inventor： Elif AYVALI ,  Bulat IBRAGIMOV ,  Sarah PLEWE ,  Janet Zhen BONE ,  Miroslav DRAHOS ,  Yuriy MALININ

IPC: A61B34/20 ,  A61B34/30

Abstract: Techniques for aligning a medical instrument for percutaneous access to a location within the human anatomy can include determining an orientation of the medical instrument, determining a target location within the human anatomy, and determining a plane that includes the target location. Further, the techniques can include determining a projected position of the medical instrument on the plane and generating interface data indicating a distance between the projected position and the target location on the plane.

公开(公告)号：US20230363635A1

公开(公告)日：2023-11-16

申请号：US18221333

申请日：2023-07-12

Applicant: Auris Health, Inc.

Inventor： Elif AYVALI ,  Menglong YE ,  Bulat IBRAGIMOV ,  David Burdick BERMAN

IPC: A61B1/307 ,  A61B1/00 ,  A61B90/00 ,  A61B1/045 ,  A61B34/20 ,  A61B34/00

CPC classification number: A61B1/307 ,  A61B1/00045 ,  A61B1/045 ,  A61B90/37 ,  A61B2034/2051 ,  A61B34/25

Abstract: A method of localizing a target anatomy involves advancing a ureteroscope to a target calyx of a kidney of a patient through at least a portion of a urinary tract of the patient, determining a positional offset between one or more position sensors associated with the ureteroscope and a target papilla of the kidney that is at least partially exposed within the target calyx, and determining a percutaneous access target based at least in part on one or more of a present position of the one or more position sensors or the positional offset.

公开(公告)号：US20230225802A1

公开(公告)日：2023-07-20

申请号：US18186124

申请日：2023-03-17

Applicant: Auris Health, Inc.

Inventor： Elif AYVALI ,  Bulat IBRAGIMOV

IPC: A61B34/20 ,  G16H10/60 ,  G16H40/20 ,  A61B1/307 ,  A61B5/06 ,  A61B17/34 ,  A61B1/00

CPC classification number: A61B34/20 ,  G16H10/60 ,  G16H40/20 ,  A61B1/307 ,  A61B5/065 ,  A61B17/3478 ,  A61B1/00016 ,  A61B2034/303

Abstract: Techniques for segmenting a percutaneous medical procedure based on one or more determinable phases. The techniques may include obtaining a first set of features over a first time period. The first set of features may be derived from instrument telemetry data corresponding to an endoluminal scope instrument. The technique may also include obtaining a second set of features over the first time period. The second set of features may be derived from instrument telemetry data corresponding to a percutaneous needle instrument. Based on the first set of features and the second set of features, the techniques may classify at least a portion of the first time period as a first phase of the percutaneous medical procedure.

公开(公告)号：US20220296312A1

公开(公告)日：2022-09-22

申请号：US17716962

申请日：2022-04-08

Applicant: Auris Health, Inc.

Inventor： Menglong YE ,  Yanwei WANG ,  Elif AYVALI ,  David Paul NOONAN

IPC: A61B34/20 ,  A61B1/04 ,  A61B34/37 ,  A61B34/10 ,  G06N3/04 ,  G06N3/08

Abstract: Anatomical feature tracking involves advancing a medical instrument to a treatment site of a patient, the medical instrument comprising an imaging device, generating a first image of at least a portion of the treatment site using the imaging device of the medical instrument when a distal end of the medical instrument is in a first position, generating a first silhouette of a first target anatomical feature represented in the first image, generating a second image of at least a portion of the treatment site using the imaging device of the medical instrument when the distal end of the medical instrument is in a second position, generating a second silhouette of a second target anatomical feature represented in the second image, and determining a target position at the treatment site based at least in part on the first silhouette and the second silhouette.

公开(公告)号：US20220061925A1

公开(公告)日：2022-03-03

申请号：US17412121

申请日：2021-08-25

Applicant: AURIS HEALTH, INC.

Inventor： Christopher SRAMEK ,  Elif AYVALI ,  David Burdick BERMAN

IPC: A61B34/20 ,  A61B34/37 ,  A61B34/00

Abstract: Certain aspects relate to systems with robotically controllable field generators and applications thereof. A robotic medical system may include a robotic arm coupled to an electromagnetic (EM) field generator configured to generate an EM field, and the first robotic arm may be configured to move the EM field generator. The medical system may also include a medical instrument configured for insertion into a patient. The medical instrument may comprise an EM sensor and one or more processors. The processors may: determine a position of the EM sensor within the EM field; and adjust a position of the EM field generator by commanding movement of the first robotic arm based on the determined position of the EM sensor.

公开(公告)号：US20210298590A1

公开(公告)日：2021-09-30

申请号：US17208874

申请日：2021-03-22

Applicant: Auris Health, Inc.

Inventor： Elif AYVALI ,  Menglong YE ,  Bulat IBRAGIMOV ,  David Burdick BERMAN

IPC: A61B1/307 ,  A61B90/00 ,  A61B1/00 ,  A61B1/045

Abstract: Processes of localizing target papillas of renal anatomy involve advancing a ureteroscope to a target calyx of a kidney of a patient through at least a portion of a urinary tract of the patient, determining a positional offset between one or more position sensors associated with the ureteroscope and a target papilla of the kidney that is at least partially exposed within the target calyx, and determining a percutaneous access target based at least in part on one or more of a present position of the one or more position sensors and the offset.