System and method for estimating instrument location
US11510736B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 13, 2018 |
| Grant date | Nov 29, 2022 |
| Priority date | — |
| Expiry date | Dec 13, 2038 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B2217/007
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
Systems and methods for estimating instrument location are described. The methods and systems can obtain a first motion estimate based on robotic data and a second motion estimate based on position sensor data. The methods and systems can determine a motion estimate disparity based on a comparison of the first and second motion estimates. Based on the motion estimate disparity, the methods and systems can update a weighting factor for a location derivable from the robotic data or a weighting factor for a location derivable from the position sensor data. Based on the updated weighting factor, the methods and systems can determine a location/position estimate for the instrument. The methods and systems can provide increased accuracy for a position estimate in cases where the instrument experiences buckling or hysteresis.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.