US Patent No. 10,169,875

NAVIGATION OF TUBULAR NETWORKS


Patent No. 10,169,875
Issue Date January 01, 2019
Title Navigation Of Tubular Networks
Inventorship 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 City, CA (US)

Claim of US Patent No. 10,169,875

1. A system comprising:a set of one or more processors; and
a computer readable-medium that includes computer program instructions that, when executed, cause the set of processors to:
access a first set of sensor data regarding physical manipulation of an elongated medical instrument inserted into a tubular network of a patient, the first set of sensor data being derived from at least a first set of one or more sensors located at a proximal portion of the of the elongated medical instrument;
access a second set of sensor data regarding the positioning of the medical elongated medical instrument, the second set of sensor data being derived from at least a second set of one or more sensors located within the elongated medical instrument, the second set of sensors being different from the first set of sensors;
determine a first estimated state regarding the physical manipulation of the elongated medical instrument based on the first set of sensor data;
determine a second estimate state regarding the physical manipulation of the elongated medical instrument based on the second set of sensor data; and
determine an estimated state of the elongated medical instrument based on the first estimated state and the second estimated state.