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

Claim 19:
20. 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 three-dimensional model of an anatomy of a patient by:
(i) tracking a location of the tool in a patient using the one or more sensors,
(ii) comparing the one or more distinctive elements of the tool in a three-dimensional model to one or more corresponding measured points of the tool to generate a registration of the tool to the three-dimensional model, the three-dimensional model including anatomy of the patient, 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 three-dimensional model, based on the registration of the tool to the three-dimensional model, and
(iv) displaying a location of the tool in three-dimensional model, based on the registration of the tool to the three-dimensional model.