Systems and methods for robotic bronchoscopy navigation

US12193640B2 · kind B2 · utility

Assignee

• NOAH MEDICAL CORPORATION · US

Inventors

• Kyle Ross Danna · Scotts Valley, US
• Jian Zhang · Brookline, US
• Carol Kayee Hung · Palo Alto, US
• Michael Shawver · Mill Valley, US
• Piotr Robert Slawinski · Lincoln, US
• Hendrik Thompson · San Francisco, US
• Liya K. Abraha · San Francisco, US

Key dates

• Filing date: Jun 13, 2022
• Grant date: Jan 14, 2025
• Expiry date: Jul 28, 2043

Classification

• Technology area (CPC A): Human Necessities
• CPC primary: A61B2090/376
• WIPO field: Medical technology
• WIPO sector: Instruments

Abstract

A method is provided for auto registration for a robotic endoscopic apparatus. The method comprises: (a) generate a first transformation between an orientation of the robotic endoscopic apparatus and an orientation of a location sensor based at least in part on a first set of sensor data collected using the location sensor; (b) generating a second transformation between a coordinate frame of the robotic endoscopic apparatus and a coordinate frame of a model representing an anatomical luminal network based at least in part on the first transformation and a second set of sensor data; and (c) updating, based at least in part on a third set of sensor data, the second transformation using an updating algorithm.