Patents by Inventor Prasanth Jeevan

Prasanth Jeevan 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: 11403759
    Abstract: Methods and apparatuses provide improved navigation through tubular networks such as lung airways by providing improved estimation of location and orientation information of a medical instrument (e.g., an endoscope) within the tubular network. Various input data such as image data, EM data, and robot data are used by different algorithms to estimate the state of the medical instrument, and the state information is used to locate a specific site within a tubular network and/or to determine navigation information for what positions/orientations the medical instrument should travel through to arrive at the specific site. Probability distributions together with confidence values are generated corresponding to different algorithms are used to determine the medical instrument's estimated state.
    Type: Grant
    Filed: August 27, 2020
    Date of Patent: August 2, 2022
    Assignee: Auris Health, Inc.
    Inventors: David S. Mintz, Atiyeh Ghoreyshi, Prasanth Jeevan, Yiliang Xu, Gehua Yang, Matthew Joseph Leotta, Charles V. Stewart
  • 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
  • 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
  • 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: 20210076918
    Abstract: Provided are systems and methods for displaying an estimated location of an instrument. In one aspect, the method includes determining a first location of the instrument based on first location data generated by a set of one or more location sensors for the instrument, the first location data corresponding to a first time period, and after the first time period, receiving a user command to move the instrument during a second time period. The method also includes estimating a second location of the instrument based on the first location and the received user command, the estimated second location corresponding to the second time period, and confirming the estimated second location based on second location data generated by the set of location sensors. The method further includes causing the estimated second location to be displayed prior to the confirmation of the estimated second location.
    Type: Application
    Filed: November 6, 2020
    Publication date: March 18, 2021
    Inventors: Ritwik Ummalaneni, Prasanth Jeevan
  • Publication number: 20210076919
    Abstract: Provided are systems and methods for displaying an estimated location of an instrument. In one aspect, the method includes determining a first location of the instrument based on first location data generated by a set of one or more location sensors for the instrument, the first location data corresponding to a first time period, and after the first time period, receiving a user command to move the instrument during a second time period. The method also includes estimating a second location of the instrument based on the first location and the received user command, the estimated second location corresponding to the second time period, and confirming the estimated second location based on second location data generated by the set of location sensors. The method further includes causing the estimated second location to be displayed prior to the confirmation of the estimated second location.
    Type: Application
    Filed: November 6, 2020
    Publication date: March 18, 2021
    Inventors: Ritwik Ummalaneni, Prasanth Jeevan
  • 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
  • Publication number: 20210049762
    Abstract: Methods and apparatuses provide improved navigation through tubular networks such as lung airways by providing improved estimation of location and orientation information of a medical instrument (e.g., an endoscope) within the tubular network. Various input data such as image data, EM data, and robot data are used by different algorithms to estimate the state of the medical instrument, and the state information is used to locate a specific site within a tubular network and/or to determine navigation information for what positions/orientations the medical instrument should travel through to arrive at the specific site. Probability distributions together with confidence values are generated corresponding to different algorithms are used to determine the medical instrument's estimated state.
    Type: Application
    Filed: August 27, 2020
    Publication date: February 18, 2021
    Inventors: David S. Mintz, Atiyeh Ghoreyshi, Prasanth Jeevan, Yiliang Xu, Gehua Yang, Matthew Joseph Leotta, Charles V. Stewart
  • 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
  • Patent number: 10827913
    Abstract: Provided are systems and methods for displaying an estimated location of an instrument. In one aspect, the method includes determining a first location of the instrument based on first location data generated by a set of one or more location sensors for the instrument, the first location data corresponding to a first time period, and after the first time period, receiving a user command to move the instrument during a second time period. The method also includes estimating a second location of the instrument based on the first location and the received user command, the estimated second location corresponding to the second time period, and confirming the estimated second location based on second location data generated by the set of location sensors. The method further includes causing the estimated second location to be displayed prior to the confirmation of the estimated second location.
    Type: Grant
    Filed: March 26, 2019
    Date of Patent: November 10, 2020
    Assignee: Auris Health, Inc.
    Inventors: Ritwik Ummalaneni, Prasanth Jeevan
  • Patent number: 10796432
    Abstract: Methods and apparatuses provide improved navigation through tubular networks such as lung airways by providing improved estimation of location and orientation information of a medical instrument (e.g., an endoscope) within the tubular network. Various input data such as image data, EM data, and robot data are used by different algorithms to estimate the state of the medical instrument, and the state information is used to locate a specific site within a tubular network and/or to determine navigation information for what positions/orientations the medical instrument should travel through to arrive at the specific site. Probability distributions together with confidence values are generated corresponding to different algorithms are used to determine the medical instrument's estimated state.
    Type: Grant
    Filed: December 17, 2018
    Date of Patent: October 6, 2020
    Assignee: Auris Health, Inc.
    Inventors: David S. Mintz, Atiyeh Ghoreyshi, Prasanth Jeevan, Yiliang Xu, Gehua Yang, Matthew Joseph Leotta, Charles V. Stewart