Patents by Inventor Elif Ayvali
Elif Ayvali has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Patent number: 11832898Abstract: Certain aspects relate to a medical system that includes a robotically controllable field generator and an instrument guide. The instrument guide may guide a percutaneously insertable instrument along an insertion axis. The instrument guide may also be positioned on an electromagnetic (EM) field generator, where the EM field generator can generate an EM field. A first robotic arm may be coupled to the EM field generator and it may move the EM field generator and the instrument guide. The system then determines: an EM target positioned within a patient, and a registration that maps positions within an EM coordinate frame associated with the EM field to positions within a robotic coordinate frame. The system may also determine, based on the registration, a position of the EM target within the robotic coordinate frame. Based on the position of the EM target within the robotic coordinate frame, move the first robotic arm may move to align the insertion axis of the instrument guide with the EM target.Type: GrantFiled: August 25, 2021Date of Patent: December 5, 2023Assignee: Auris Health, Inc.Inventors: Christopher Sramek, Elif Ayvali, David Burdick Berman
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Publication number: 20230372028Abstract: Techniques for aligning a medical instrument for percutaneous access to a location within the human anatomy can include determining an orientation of the medical instrument, determining a target location within the human anatomy, and determining a plane that includes the target location. Further, the techniques can include determining a projected position of the medical instrument on the plane and generating interface data indicating a distance between the projected position and the target location on the plane.Type: ApplicationFiled: May 22, 2023Publication date: November 23, 2023Inventors: Elif AYVALI, Bulat IBRAGIMOV, Sarah PLEWE, Janet Zhen BONE, Miroslav DRAHOS, Yuriy MALININ
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Publication number: 20230363635Abstract: A method of localizing a target anatomy involves advancing a ureteroscope to a target calyx of a kidney of a patient through at least a portion of a urinary tract of the patient, determining a positional offset between one or more position sensors associated with the ureteroscope and a target papilla of the kidney that is at least partially exposed within the target calyx, and determining a percutaneous access target based at least in part on one or more of a present position of the one or more position sensors or the positional offset.Type: ApplicationFiled: July 12, 2023Publication date: November 16, 2023Inventors: Elif AYVALI, Menglong YE, Bulat IBRAGIMOV, David Burdick BERMAN
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Patent number: 11786316Abstract: Certain aspects relate to a medical system that includes a robotically controllable field generator and an instrument guide. The instrument guide may guide a percutaneously insertable instrument along an insertion axis. The instrument guide may also be positioned on an electromagnetic (EM) field generator, where the EM field generator can generate an EM field. A first robotic arm may be coupled to the EM field generator and it may move the EM field generator and the instrument guide. The system then determines: an EM target positioned within a patient, and a registration that maps positions within an EM coordinate frame associated with the EM field to positions within a robotic coordinate frame. The system may also determine, based on the registration, a position of the EM target within the robotic coordinate frame. Based on the position of the EM target within the robotic coordinate frame, move the first robotic arm may move to align the insertion axis of the instrument guide with the EM target.Type: GrantFiled: August 25, 2021Date of Patent: October 17, 2023Assignee: Auris Health, Inc.Inventors: Christopher Sramek, Elif Ayvali, David Burdick Berman
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Patent number: 11737663Abstract: Processes of localizing target papillas of renal anatomy involve advancing a ureteroscope to a target calyx of a kidney of a patient through at least a portion of a urinary tract of the patient, determining a positional offset between one or more position sensors associated with the ureteroscope and a target papilla of the kidney that is at least partially exposed within the target calyx, and determining a percutaneous access target based at least in part on one or more of a present position of the one or more position sensors and the offset.Type: GrantFiled: March 22, 2021Date of Patent: August 29, 2023Assignee: Auris Health, Inc.Inventors: Elif Ayvali, Menglong Ye, Bulat Ibragimov, David Burdick Berman
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Publication number: 20230225802Abstract: Techniques for segmenting a percutaneous medical procedure based on one or more determinable phases. The techniques may include obtaining a first set of features over a first time period. The first set of features may be derived from instrument telemetry data corresponding to an endoluminal scope instrument. The technique may also include obtaining a second set of features over the first time period. The second set of features may be derived from instrument telemetry data corresponding to a percutaneous needle instrument. Based on the first set of features and the second set of features, the techniques may classify at least a portion of the first time period as a first phase of the percutaneous medical procedure.Type: ApplicationFiled: March 17, 2023Publication date: July 20, 2023Inventors: Elif AYVALI, Bulat IBRAGIMOV
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Publication number: 20230230263Abstract: The present disclosure relates to systems, devices, and methods to augment a two-dimensional image.Type: ApplicationFiled: December 16, 2022Publication date: July 20, 2023Applicant: Auris Health, Inc.Inventors: Elif AYVALI, Bulat Ibragimov
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Publication number: 20230210604Abstract: A positioning system includes a group of positioning devices including a first device comprising a first positioning source associated with a first positioning modality, the first positioning source being configured to view a first field, a second device comprising a second positioning source associated with a second positioning modality that is of a different type than the first positioning modality, the second positioning source being configured to view a second field, a third device comprising one or more first markers detectable within the first field using the first positioning modality, and a fourth device comprising one or more second markers detectable within the second field using the second positioning modality. A linking structure physically links two of the group of positioning devices to one another in a fixed, rigid relative position and orientation.Type: ApplicationFiled: December 16, 2022Publication date: July 6, 2023Inventors: David Burdick BERMAN, Elif AYVALI, Christopher K. SRAMEK
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Publication number: 20230215059Abstract: The present disclosure relates to systems, devices, and methods to reconstruct a three-dimensional model of an anatomy using two-dimensional images.Type: ApplicationFiled: December 16, 2022Publication date: July 6, 2023Applicant: Auris Health, Inc.Inventors: Elif AYVALI, Bulat Ibragimov
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Publication number: 20230210627Abstract: The present disclosure relates to systems, devices, and methods for augmenting a two-dimensional image with three-dimensional pose information of instruments shown in the two-dimensional image.Type: ApplicationFiled: December 16, 2022Publication date: July 6, 2023Applicant: Auris Health, Inc.Inventors: Elif AYVALI, Bulat Ibragimov, Jialu Li
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Patent number: 11660147Abstract: Techniques for aligning a medical instrument for percutaneous access to a location within the human anatomy can include determining an orientation of the medical instrument, determining a target location within the human anatomy, and determining a plane that includes the target location. Further, the techniques can include determining a projected position of the medical instrument on the plane and generating interface data indicating a distance between the projected position and the target location on the plane.Type: GrantFiled: December 22, 2020Date of Patent: May 30, 2023Assignee: Auris Health, Inc.Inventors: Elif Ayvali, Bulat Ibragimov, Sarah Plewe, Janet Zhen Bone, Miroslav Drahos, Yuriy Malinin
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Publication number: 20230094574Abstract: Techniques for aligning a medical instrument for percutaneous access to a location within the human anatomy can include determining an orientation of the medical instrument, determining a target location within the human anatomy, and determining a target trajectory for percutaneous access of the target location. Further, the techniques can include causing display of an interface that includes an instrument-alignment element indicative of an alignment of the orientation of the medical instrument to the target trajectory.Type: ApplicationFiled: September 22, 2022Publication date: March 30, 2023Inventors: Sarah PLEWE, Elif AYVALI
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Publication number: 20230093555Abstract: A robotic system is configured to automatically identify phases of a medical procedure. The robotic system includes a video capture device, a robotic manipulator, one or more sensors, an input device, and control circuitry. The control circuitry is configured to: determine a first position of the robotic manipulator based on sensor data; determine a first procedure from a set of procedures based on a user input and the sensor data; narrow a set of procedure phases to a subset of the procedure phases based on the determined first procedure; perform a first analysis of a captured video of a patient site; identify a first phase of the medical procedure from the subset of the procedure phases based on the first position of the robotic manipulator and the first analysis of the video; and generate a first video marker indicating a beginning of the first phase of the medical procedure.Type: ApplicationFiled: November 26, 2022Publication date: March 23, 2023Inventors: Elif Ayvali, Hedyeh Rafii-Tari
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Publication number: 20230082310Abstract: A robotic system is configured to automatically trigger a robotic action based on an identified phase of a medical procedure. The robotic system includes a video capture device; a robotic manipulator; one or more sensors; an input device; and control circuitry. The control circuitry is configured to: determine a first status of the robotic manipulator based on sensor data from the one or more sensors; identify a first input from the input device for initiating a first action of the robotic manipulator; perform a first analysis of a video of a patient site captured by the video capture device; identify a first phase of the medical procedure based at least in part on the first status of the robotic manipulator, the first input, and the first analysis of the video; and trigger a first automatic robotic action of the robotic manipulator based on the identified first phase.Type: ApplicationFiled: November 26, 2022Publication date: March 16, 2023Inventors: Elif Ayvali, Hedyeh Rafii-Tari
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Publication number: 20230080060Abstract: A robotic system is configured to evaluate an identified phase of a medical procedure. The robotic system includes a video capture device; a robotic manipulator; one or more sensors; an input device; a data store; and control circuitry. The control circuitry is configured to: determine a first status of the robotic manipulator based on sensor data from the one or more sensors; identify a first input from the input device for initiating a first action of the robotic manipulator; perform a first analysis of a video of a patient site captured by the video capture device; identify a first phase of the medical procedure based at least in part on the first status of the robotic manipulator, the first input, and the first analysis of the video; and generate an evaluation of the first phase of the medical procedure based on one or more metrics associated with the first phase.Type: ApplicationFiled: November 26, 2022Publication date: March 16, 2023Inventors: Elif Ayvali, Hedyeh Rafii-Tari
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Patent number: 11602372Abstract: Techniques for aligning a medical instrument for percutaneous access to a location within the human anatomy can include determining an orientation of the medical instrument, determining a target location within the human anatomy, and determining a target trajectory for percutaneous access of the target location. Further, the techniques can include causing display of an interface that includes an instrument-alignment element indicative of an alignment of the orientation of the medical instrument to the target trajectory.Type: GrantFiled: December 22, 2020Date of Patent: March 14, 2023Assignee: Auris Health, Inc.Inventors: Sarah Plewe, Elif Ayvali
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Patent number: 11471185Abstract: Techniques for aligning a medical instrument for percutaneous access to a location within the human anatomy can include determining an orientation of the medical instrument, determining a target location within the human anatomy, and determining a target trajectory for percutaneous access of the target location. Further, the techniques can include causing display of an interface that includes an instrument-alignment element indicative of an alignment of the orientation of the medical instrument to the target trajectory.Type: GrantFiled: December 22, 2020Date of Patent: October 18, 2022Assignee: Auris Health, Inc.Inventors: Sarah Plewe, Elif Ayvali
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Publication number: 20220296312Abstract: Anatomical feature tracking involves advancing a medical instrument to a treatment site of a patient, the medical instrument comprising an imaging device, generating a first image of at least a portion of the treatment site using the imaging device of the medical instrument when a distal end of the medical instrument is in a first position, generating a first silhouette of a first target anatomical feature represented in the first image, generating a second image of at least a portion of the treatment site using the imaging device of the medical instrument when the distal end of the medical instrument is in a second position, generating a second silhouette of a second target anatomical feature represented in the second image, and determining a target position at the treatment site based at least in part on the first silhouette and the second silhouette.Type: ApplicationFiled: April 8, 2022Publication date: September 22, 2022Inventors: Menglong YE, Yanwei WANG, Elif AYVALI, David Paul NOONAN
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Patent number: 11298195Abstract: Methods of positioning a surgical instrument can involve advancing a first medical instrument to a treatment site of a patient, the first medical instrument comprising a camera, recording a target position associated with a target anatomical feature at the treatment site, generating a first image of the treatment site using the camera of the first medical instrument, identifying the target anatomical feature in the first image using a pretrained neural network, and adjusting the target position based at least in part on a position of the identified target anatomical feature in the first image.Type: GrantFiled: December 14, 2020Date of Patent: April 12, 2022Assignee: Auris Health, Inc.Inventors: Menglong Ye, Yanwei Wang, Elif Ayvali, David Paul Noonan
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Publication number: 20220061927Abstract: Certain aspects relate to systems with robotically controllable field generators and applications thereof. In one application, a robotic medical system, comprising a first robotic arm coupled to an electromagnetic (EM) field generator configured to generate an EM field, an EM sensor, and a processor. The processor may be configured to transmit a command to the first robotic arm to cause movement of the EM field generator along a robotic trajectory while the EM sensor remains at a location. An EM sensor trajectory of the EM sensor within the EM field corresponding to a period of time in which the EM field generator moved along the robotic trajectory may be detected. The robotic trajectory and the EM sensor trajectory may be analyzed to determine a difference between the robotic trajectory and the EM sensor trajectory; and EM distortion at the location may be detected comparing the difference and a threshold.Type: ApplicationFiled: August 25, 2021Publication date: March 3, 2022Inventors: Christopher SRAMEK, Elif AYVALI, David Burdick BERMAN