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    POSITIONING SYSTEM REGISTRATION USING MECHANICAL LINKAGES
    1.
    发明公开
    POSITIONING SYSTEM REGISTRATION USING MECHANICAL LINKAGES 审中-公开

    公开(公告)号：US20230210604A1

    公开(公告)日：2023-07-06

    申请号：US18083292

    申请日：2022-12-16

    Applicant: Auris Health, Inc.

    Inventor： David Burdick BERMAN ,  Elif AYVALI ,  Christopher K. SRAMEK

    IPC: A61B34/20 ,  A61B6/00 ,  A61B6/12

    CPC classification number: A61B34/20 ,  A61B6/4441 ,  A61B6/12 ,  A61B2090/3966

    Abstract: A positioning system includes a group of positioning devices including a first device comprising a first positioning source associated with a first positioning modality, the first positioning source being configured to view a first field, a second device comprising a second positioning source associated with a second positioning modality that is of a different type than the first positioning modality, the second positioning source being configured to view a second field, a third device comprising one or more first markers detectable within the first field using the first positioning modality, and a fourth device comprising one or more second markers detectable within the second field using the second positioning modality. A linking structure physically links two of the group of positioning devices to one another in a fixed, rigid relative position and orientation.

    ROBOTICALLY CONTROLLABLE FIELD GENERATORS FOR ALIGNING A GUIDE WITH A TARGET
    3.
    发明申请
    ROBOTICALLY CONTROLLABLE FIELD GENERATORS FOR ALIGNING A GUIDE WITH A TARGET 有权

    公开(公告)号：US20220061926A1

    公开(公告)日：2022-03-03

    申请号：US17412136

    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 a medical system that includes a robotically controllable field generator and an instrument guide. The instrument guide may guide a percutaneously insertable instrument along an insertion axis. The instrument guide may also be positioned on an electromagnetic (EM) field generator, where the EM field generator can generate an EM field. A first robotic arm may be coupled to the EM field generator and it may move the EM field generator and the instrument guide. The system then determines: an EM target positioned within a patient, and a registration that maps positions within an EM coordinate frame associated with the EM field to positions within a robotic coordinate frame. The system may also determine, based on the registration, a position of the EM target within the robotic coordinate frame. Based on the position of the EM target within the robotic coordinate frame, move the first robotic arm may move to align the insertion axis of the instrument guide with the EM target.

    ANATOMICAL FEATURE IDENTIFICATION AND TARGETING
    4.
    发明申请
    ANATOMICAL FEATURE IDENTIFICATION AND TARGETING 有权

    公开(公告)号：US20210196398A1

    公开(公告)日：2021-07-01

    申请号：US17120790

    申请日：2020-12-14

    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: Methods of positioning a surgical instrument can involve advancing a first medical instrument to a treatment site of a patient, the first medical instrument comprising a camera, recording a target position associated with a target anatomical feature at the treatment site, generating a first image of the treatment site using the camera of the first medical instrument, identifying the target anatomical feature in the first image using a pretrained neural network, and adjusting the target position based at least in part on a position of the identified target anatomical feature in the first image.

    ALIGNMENT INTERFACES FOR PERCUTANEOUS ACCESS
    5.
    发明申请
    ALIGNMENT INTERFACES FOR PERCUTANEOUS ACCESS 有权

    公开(公告)号：US20210196312A1

    公开(公告)日：2021-07-01

    申请号：US17130700

    申请日：2020-12-22

    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.

    ROBOTICALLY CONTROLLABLE FIELD GENERATORS FOR DETECTING DISTORTIONS
    9.
    发明申请
    ROBOTICALLY CONTROLLABLE FIELD GENERATORS FOR DETECTING DISTORTIONS 有权

    公开(公告)号：US20220061927A1

    公开(公告)日：2022-03-03

    申请号：US17412144

    申请日：2021-08-25

    Applicant: AURIS HEALTH, INC.

    Inventor： Christopher SRAMEK ,  Elif AYVALI ,  David Burdick BERMAN

    IPC: A61B34/20 ,  A61B34/32 ,  A61B34/00 ,  B25J9/16 ,  B25J19/02

    Abstract: Certain aspects relate to systems with robotically controllable field generators and applications thereof. In one application, a robotic medical system, comprising a first robotic arm coupled to an electromagnetic (EM) field generator configured to generate an EM field, an EM sensor, and a processor. The processor may be configured to transmit a command to the first robotic arm to cause movement of the EM field generator along a robotic trajectory while the EM sensor remains at a location. An EM sensor trajectory of the EM sensor within the EM field corresponding to a period of time in which the EM field generator moved along the robotic trajectory may be detected. The robotic trajectory and the EM sensor trajectory may be analyzed to determine a difference between the robotic trajectory and the EM sensor trajectory; and EM distortion at the location may be detected comparing the difference and a threshold.

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