Patent ID: 11950898
Assignee: AURIS HEALTH, INC.
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 0:
1. A system, comprising:
a medical instrument configured to be inserted into a luminal network of a patient, the medical instrument comprising a shape sensor configured to generate shape data;
a robotic arm configured to control movement of the medical instrument;
one or more processors; and
at least one computer-readable memory in communication with the one or more processors and having stored thereon computer-executable instructions to cause the one or more processors to:
access a model of the luminal network, the model generated from at least one computerized tomography (CT) scan;
estimate a first location of a distal end of the medical instrument with respect to the model of the luminal network based on the shape data and a registration between the shape data and the model of the luminal network;
cause the estimated first location to be displayed on a display;
command the robotic arm, based on command data, to move the distal end of the medical instrument away from the estimated first location;
estimate, independent of the registration between the shape data and the model of the luminal network, a second location of the distal end of the medical instrument with respect to the model of the luminal network based on the first location and the command data related to the movement of the distal end; and
cause the estimated second location to be displayed.