Patents by Inventor Hedyeh Rafii-Tari

Hedyeh Rafii-Tari 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).

  • Publication number: 20220330808
    Abstract: An object sizing system sizes an object positioned within a patient. The object sizing system identifies a presence of the object. The object sizing system navigates an elongate body of an instrument to a position proximal to the object within the patient. An imaging sensor coupled to the elongate body captures one or more sequential images of the object. The instrument may be further moved around within the patient to capture additional images at different positions/orientations relative to the object. The object sizing system also acquires robot data and/or EM data associated with the positions and orientations of the elongate body. The object sizing system analyzes the captured images based on the acquired robot data to estimate a size of the object.
    Type: Application
    Filed: May 2, 2022
    Publication date: October 20, 2022
    Inventors: David S. Mintz, David M. Schummers, Prasanth Jeevan, Hedyeh Rafii-Tari, Ritwik Ummalaneni
  • Patent number: 11395703
    Abstract: Systems and methods for electromagnetic distortion detection are disclosed. In one aspect, the system includes an electromagnetic (EM) sensor configured to generate an EM sensor signal in response to detection of the EM field. The system may also include a processor configured to calculate a baseline value of a metric indicative of a position of the EM sensor at a first time and calculate an updated value of the metric during a time period after the first time. The processor may be further configured to determine that a difference between the updated value and the baseline value is greater than a threshold value and determine that the EM field has been distorted in response to the difference being greater than the threshold value.
    Type: Grant
    Filed: June 25, 2018
    Date of Patent: July 26, 2022
    Assignee: Auris Health, Inc.
    Inventors: David Burdick Berman, Christopher K. Sramek, Hedyeh Rafii-Tari, Prasanth Jeevan, Nicolas E. Robert
  • Publication number: 20220160433
    Abstract: A robotic system is configured to automatically identify surgical instruments used during a bronchoscopy procedure. The robotic system can include a video capture device, a robotic manipulator, sensors configured to detect a configuration of the robotic manipulator, and control circuitry communicatively coupled to the robotic manipulator. The control circuitry is configured to perform, using a machine learning classifier, a first analysis of a bronchoscopy video of a patient site to track a medical instrument in the bronchoscopy video. The control circuitry can then identify a set of possible instrument identifications for the medical instrument in the bronchoscopy video based on the first analysis and an identified phase of the bronchoscopy procedure. The control circuitry can then track a motion of the medical instrument in the bronchoscopy video and select an identification from the set of possible instrument identification for the medical instrument based at least on the tracked motion.
    Type: Application
    Filed: November 22, 2021
    Publication date: May 26, 2022
    Inventors: Hedyeh Rafii-Tari, Menglong Ye, Mingyi Zheng
  • Patent number: 11337602
    Abstract: An object sizing system sizes an object positioned within a patient. The object sizing system identifies a presence of the object. The object sizing system navigates an elongate body of an instrument to a position proximal to the object within the patient. An imaging sensor coupled to the elongate body captures one or more sequential images of the object. The instrument may be further moved around within the patient to capture additional images at different positions/orientations relative to the object. The object sizing system also acquires robot data and/or EM data associated with the positions and orientations of the elongate body. The object sizing system analyzes the captured images based on the acquired robot data to estimate a size of the object.
    Type: Grant
    Filed: November 2, 2018
    Date of Patent: May 24, 2022
    Inventors: David S. Mintz, David M. Schummers, Prasanth Jeevan, Hedyeh Rafii-Tari, Ritwik Ummalaneni
  • Publication number: 20220117677
    Abstract: Provided are systems and methods for weight-based registration of location sensors. In one aspect, a system includes an instrument and a processor configured to provide a first set of commands to drive the instrument along a first branch of the luminal network, the first branch being outside a path to a target within a model. The processor is also configured to track a set of one or more registration parameters during the driving of the instrument along the first branch and determine that the set of registration parameters satisfy a registration criterion. The processor is further configured to determine a registration between a location sensor coordinate system and a model coordinate system based on location data received from a set of location sensors during the driving of the instrument along the first branch and a second branch.
    Type: Application
    Filed: December 27, 2021
    Publication date: April 21, 2022
    Inventors: Hedyeh Rafii-Tari, Menglong Ye, Ritwik Ummalaneni, Subashini Srinivasan, Yuriy Malinin
  • Patent number: 11207141
    Abstract: Provided are systems and methods for weight-based registration of location sensors. In one aspect, a system includes an instrument and a processor configured to provide a first set of commands to drive the instrument along a first branch of the luminal network, the first branch being outside a path to a target within a model. The processor is also configured to track a set of one or more registration parameters during the driving of the instrument along the first branch and determine that the set of registration parameters satisfy a registration criterion. The processor is further configured to determine a registration between a location sensor coordinate system and a model coordinate system based on location data received from a set of location sensors during the driving of the instrument along the first branch and a second branch.
    Type: Grant
    Filed: August 26, 2020
    Date of Patent: December 28, 2021
    Assignee: Auris Health, Inc.
    Inventors: Hedyeh Rafii-Tari, Menglong Ye, Ritwik Ummalaneni, Subashini Srinivasan, Yuriy Malinin
  • Patent number: 11160615
    Abstract: Methods and systems for instrument tracking and navigation are described. In one embodiment, the system may be configured to receive position sensor data from at least one position sensor tracking an instrument positioned within a luminal network and determine a position sensor-based estimated state derived from the sensor data. The system may be configured to determine a combined estimated state for the instrument based on the position sensor data and at least one other type of position data. The system may be configured to determine a location transform based on the combined estimated state and the position sensor-based estimated state and output an estimated state of the instrument based on the position sensor-based estimated state adjusted by the location transform.
    Type: Grant
    Filed: December 14, 2018
    Date of Patent: November 2, 2021
    Assignee: Auris Health, Inc.
    Inventors: Hedyeh Rafii-Tari, Prasanth Jeevan
  • Publication number: 20210322110
    Abstract: Methods and systems for instrument tracking and navigation are described. In one embodiment, a non-transitory computer readable storage medium has stored thereon instructions that, when executed, cause a processor of a device to at least receive position sensor data from at least one position sensor tracking an instrument positioned within a luminal network, determine a first estimated state of the instrument derived from the position sensor data, determine a second estimated state of the instrument based on the position sensor data and at least one other type of position data, determine a location transform based on the second estimated state and the first estimated state, adjust the first estimated state based on the location transform to determine a third estimated state of the instrument, and output the third estimated state of the instrument.
    Type: Application
    Filed: July 1, 2021
    Publication date: October 21, 2021
    Inventors: Hedyeh Rafii-Tari, Prasanth Jeevan
  • Publication number: 20210282863
    Abstract: Certain aspects relate to systems and techniques for navigation path tracing. In one aspect, a system displays a preoperative model of a luminal network is displayed. The system determines a position of an instrument within the luminal network relative to the preoperative model. Based on the position of the instrument relative to the preoperative model, the system determines whether to enter a path tracing mode. In path tracing mode the system displays visual indicia indicative of a path of the instrument with respect to the displayed preoperative model. The visual indicia may be used to visual the navigation path of the instrument and/or to extend the preoperative model.
    Type: Application
    Filed: June 2, 2021
    Publication date: September 16, 2021
    Inventors: Hedyeh Rafii-Tari, Prasanth Jeevan
  • Patent number: 11058493
    Abstract: Certain aspects relate to systems and techniques for navigation path tracing. In one aspect, a system displays a preoperative model of a luminal network is displayed. The system determines a position of an instrument within the luminal network relative to the preoperative model. Based on the position of the instrument relative to the preoperative model, the system determines whether to enter a path tracing mode. In path tracing mode the system displays visual indicia indicative of a path of the instrument with respect to the displayed preoperative model. The visual indicia may be used to visual the navigation path of the instrument and/or to extend the preoperative model.
    Type: Grant
    Filed: September 26, 2018
    Date of Patent: July 13, 2021
    Assignee: Auris Health, Inc.
    Inventors: Hedyeh Rafii-Tari, Prasanth Jeevan
  • Patent number: 11051887
    Abstract: Methods and systems for instrument tracking and navigation are described. In one embodiment, the system may be configured to receive position sensor data from at least one position sensor tracking an instrument positioned within a luminal network and determine a position sensor-based estimated state derived from the sensor data. The system may be configured to determine a combined estimated state for the instrument based on the position sensor data and at least one other type of position data. The system may be configured to determine a location transform based on the combined estimated state and the position sensor-based estimated state and output an estimated state of the instrument based on the position sensor-based estimated state adjusted by the location transform.
    Type: Grant
    Filed: December 14, 2018
    Date of Patent: July 6, 2021
    Assignee: Auris Health, Inc.
    Inventors: Hedyeh Rafii-Tari, Prasanth Jeevan
  • Patent number: 11026748
    Abstract: Certain aspects relate to systems and techniques for navigation path tracing. In one aspect, a system displays a preoperative model of a luminal network is displayed. The system determines a position of an instrument within the luminal network relative to the preoperative model. Based on the position of the instrument relative to the preoperative model, the system determines whether to enter a path tracing mode. In path tracing mode the system displays visual indicia indicative of a path of the instrument with respect to the displayed preoperative model. The visual indicia may be used to visual the navigation path of the instrument and/or to extend the preoperative model.
    Type: Grant
    Filed: September 26, 2018
    Date of Patent: June 8, 2021
    Assignee: Auris Health, Inc.
    Inventors: Hedyeh Rafii-Tari, Prasanth Jeevan
  • Publication number: 20210161603
    Abstract: Systems and methods for electromagnetic field generator alignment are disclosed. In one aspect, the system includes an electromagnetic (EM) sensor configured to generate, when positioned in a working volume of the EM field, one or more EM sensor signals based on detection of the EM field, the EM sensor configured for placement on a patient. The system may also include a processor and a memory storing computer-executable instructions to cause the processor to: determine a position of the EM sensor with respect to the field generator based on the one or more EM sensor signals, encode a representation of the position of the EM sensor with respect to the working volume of the EM field, and provide the encoded representation of the position to a display configured to render encoded data.
    Type: Application
    Filed: February 4, 2021
    Publication date: June 3, 2021
    Inventors: David Burdick Berman, Hedyeh Rafii-Tari, Prasanth Jeevan, Nicolas E. Robert
  • Publication number: 20210137617
    Abstract: Provided are systems and methods for path-based navigation of tubular networks. In one aspect, the method includes receiving location data from at least one of a set of location sensors and a set of robot command inputs, the location data being indicative of a location of an instrument configured to be driven through a luminal network. The method also includes determining a first estimate of the location of the instrument at a first time based on the location data, determining a second estimate of the location of the instrument at the first time based on the path, and determining the location of the instrument at the first time based on the first estimate and the second estimate.
    Type: Application
    Filed: January 22, 2021
    Publication date: May 13, 2021
    Inventors: Subashini Srinivasan, Hedyeh Rafii-Tari, Ritwik Ummalaneni, David Paul Noonan, Prasanth Jeevan
  • Publication number: 20210113279
    Abstract: Provided are systems and methods for location sensor-based branch prediction. In one aspect, the method includes determining a first orientation of an instrument based on first location data generated by a set of one or more location sensors for the instrument and determining a second orientation of the instrument at a second time based on second location data. A distal end of the instrument is located within a first segment of a model at the first time and the second time and the first segment branches into two or more child segments. The method also includes determining data indicative of a difference between the first orientation and the second orientation and determining a prediction that the instrument will advance into a first one of the child segments based on the data indicative of the difference.
    Type: Application
    Filed: December 30, 2020
    Publication date: April 22, 2021
    Inventor: Hedyeh Rafii-Tari
  • Publication number: 20210059764
    Abstract: Provided are systems and methods for weight-based registration of location sensors. In one aspect, a system includes an instrument and a processor configured to provide a first set of commands to drive the instrument along a first branch of the luminal network, the first branch being outside a path to a target within a model. The processor is also configured to track a set of one or more registration parameters during the driving of the instrument along the first branch and determine that the set of registration parameters satisfy a registration criterion. The processor is further configured to determine a registration between a location sensor coordinate system and a model coordinate system based on location data received from a set of location sensors during the driving of the instrument along the first branch and a second branch.
    Type: Application
    Filed: August 26, 2020
    Publication date: March 4, 2021
    Inventors: Hedyeh Rafii-Tari, Menglong Ye, Ritwik Ummalaneni, Subashini Srinivasan, Yuriy Malinin
  • Publication number: 20210059559
    Abstract: Certain aspects relate to systems and techniques for medical instrument navigation and targeting. In one aspect, a system includes a medical instrument having an elongate body and at least one sensor, a display, a processor, and a memory storing a model of a mapped portion of a luminal network and a position of a target with respect to the model. The processor may be configured to: determine, based on data from the at least one sensor, a position and orientation of a distal end of the medical instrument with respect to the model, and cause, on at least a portion of the display, a rendering of the model, the position of the target, and the position and orientation of the distal end of the medical instrument.
    Type: Application
    Filed: November 13, 2020
    Publication date: March 4, 2021
    Inventors: Hedyeh Rafii-Tari, Prasanth Jeevan, Douglas T. Boyd, Melissa A. Teran, Alexander James Sheehy, Nicolas E. Robert, Miroslav Drahos, Jeffery D. Howard, Andrew Esbenshade Zeldis, René Ango Mambembe
  • Patent number: 10905499
    Abstract: Provided are systems and methods for location sensor-based branch prediction. In one aspect, the method includes determining a first orientation of an instrument based on first location data generated by a set of one or more location sensors for the instrument and determining a second orientation of the instrument at a second time based on second location data. A distal end of the instrument is located within a first segment of a model at the first time and the second time and the first segment branches into two or more child segments. The method also includes determining data indicative of a difference between the first orientation and the second orientation and determining a prediction that the instrument will advance into a first one of the child segments based on the data indicative of the difference.
    Type: Grant
    Filed: May 28, 2019
    Date of Patent: February 2, 2021
    Assignee: Auris Health, Inc.
    Inventor: Hedyeh Rafii-Tari
  • Patent number: 10898286
    Abstract: Provided are systems and methods for path-based navigation of tubular networks. In one aspect, the method includes receiving location data from at least one of a set of location sensors and a set of robot command inputs, the location data being indicative of a location of an instrument configured to be driven through a luminal network. The method also includes determining a first estimate of the location of the instrument at a first time based on the location data, determining a second estimate of the location of the instrument at the first time based on the path, and determining the location of the instrument at the first time based on the first estimate and the second estimate.
    Type: Grant
    Filed: May 28, 2019
    Date of Patent: January 26, 2021
    Assignee: Auris Health, Inc.
    Inventors: Subashini Srinivasan, Hedyeh Rafii-Tari, Ritwik Ummalaneni, David Paul Noonan, Prasanth Jeevan
  • Patent number: 10835153
    Abstract: Certain aspects relate to systems and techniques for medical instrument navigation and targeting. In one aspect, a system includes a medical instrument having an elongate body and at least one sensor, a display, a processor, and a memory storing a model of a mapped portion of a luminal network and a position of a target with respect to the model. The processor may be configured to: determine, based on data from the at least one sensor, a position and orientation of a distal end of the medical instrument with respect to the model, and cause, on at least a portion of the display, a rendering of the model, the position of the target, and the position and orientation of the distal end of the medical instrument. The rendering may be based on a viewpoint directed at the target and different from a viewpoint of the medical instrument.
    Type: Grant
    Filed: December 6, 2018
    Date of Patent: November 17, 2020
    Assignee: Auris Health, Inc.
    Inventors: Hedyeh Rafii-Tari, Prasanth Jeevan, Douglas T. Boyd, Melissa A. Teran, Alexander James Sheehy, Nicolas E. Robert, Miroslav Drahos, Jeffery D. Howard, Andrew Esbenshade Zeldis, René Ango Mambembe