Patent ID: 11883121
Assignee: AURIS HEALTH, INC.
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 18:
19. A medical instrument system, comprising:
an elongate sheath having a lumen;
a working instrument positioned inside the sheath lumen, having a distal end configured to advance out of a distal end opening of the sheath lumen;
at least one sensor coupled to at least one of the elongate sheath or the working instrument, the at least one sensor configured to determine a contact of at least one of the elongate sheath or the working instrument with an object;
a processor in communication with the at least one sensor, wherein the processor is configured to determine a direction of the contact based at least in part upon a direction of an error between a predicted instrument position and a measured instrument position; and
a display in communication with the processor and configured to provide a graphical representation of the contact.