Patent ID: 11969157
Assignee: AURIS HEALTH, INC.
Field: Medical technology (Instruments)
Classification: CPC A  G | IPC A  G

Claim 9:
10. A robotic drive system comprising:
(a) a tool having one or more distinctive elements;
(b) one or more sensors coupled to the tool;
(c) an input device; and
(d) a controller, the input device being coupled with the controller, the controller being configured to register the tool to a fluoroscopy image of an anatomy of a patient by:
(i) tracking a location of the tool using the one or more sensors,
(ii) comparing the one or more distinctive elements of the tool in the fluoroscopy image to one or more corresponding measured points of the tool to generate a registration of the tool to the fluoroscopy image, the registration being generated by determining a transformation matrix that transforms one or more reference frames corresponding to the one or more sensors into a fluoroscopy reference frame,
(iii) determining a location of the tool in the fluoroscopy image of the anatomy, based on the registration of the tool to the fluoroscopy image, and
(iv) displaying a location of the tool in the fluoroscopy image of the anatomy, based on the registration of the tool to the fluoroscopy image.