Patents by Inventor Subashini Srinivasan
Subashini Srinivasan 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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Publication number: 20240130802Abstract: Systems and methods for electromagnetic (EM) distortion detection and compensation are disclosed. In one aspect, the system includes an instrument, the system configured to: determine a reference position of the distal end of the instrument at a first time based on EM location data, determine that the distal end of the instrument at a second time is static, and determine that the EM location data at the second time is indicative of a position of the distal end of the instrument having changed from the reference position by greater than a threshold distance. The system is further configured to: determine a current offset based on the distance between the position at the second time and the reference position at the first time, and determine a compensated position of the distal end of the instrument based on the EM location data and the current offset.Type: ApplicationFiled: January 4, 2024Publication date: April 25, 2024Inventors: Chauncey F. GRAETZEL, Subashini SRINIVASAN, Yuriy MALININ, Shyamprasad KONDURI
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Patent number: 11864848Abstract: Systems and methods for electromagnetic (EM) distortion detection and compensation are disclosed. In one aspect, the system includes an instrument, the system configured to: determine a reference position of the distal end of the instrument at a first time based on EM location data, determine that the distal end of the instrument at a second time is static, and determine that the EM location data at the second time is indicative of a position of the distal end of the instrument having changed from the reference position by greater than a threshold distance. The system is further configured to: determine a current offset based on the distance between the position at the second time and the reference position at the first time, and determine a compensated position of the distal end of the instrument based on the EM location data and the current offset.Type: GrantFiled: May 9, 2022Date of Patent: January 9, 2024Assignee: Auris Health, Inc.Inventors: Chauncey F. Graetzel, Subashini Srinivasan, Yuriy Malinin, Shyamprasad Konduri
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Patent number: 11864850Abstract: 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: GrantFiled: January 22, 2021Date of Patent: January 9, 2024Assignee: Auris Health, Inc.Inventors: Subashini Srinivasan, Hedyeh Rafii-Tari, Ritwik Ummalaneni, David Paul Noonan, Prasanth Jeevan
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Publication number: 20230390002Abstract: 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: ApplicationFiled: June 6, 2023Publication date: December 7, 2023Inventors: Subashini Srinivasan, Hedyeh Rafii-Tari, Ritwik Ummalaneni, David Paul Noonan, Prasanth Jeevan
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Publication number: 20230270505Abstract: Provided are systems and methods for 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: ApplicationFiled: February 13, 2023Publication date: August 31, 2023Inventors: Subashini Srinivasan, David Paul Noonan, David Burdick Berman, Brian Matthew Patenaude
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Patent number: 11712311Abstract: 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: GrantFiled: January 22, 2021Date of Patent: August 1, 2023Assignee: Auris Health, Inc.Inventors: Subashini Srinivasan, Hedyeh Rafii-Tari, Ritwik Ummalaneni, David Paul Noonan, Prasanth Jeevan
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Patent number: 11576730Abstract: Provided are systems and methods for 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: GrantFiled: January 22, 2021Date of Patent: February 14, 2023Assignee: Auris Health, Inc.Inventors: Subashini Srinivasan, David Paul Noonan, David Burdick Berman, Brian Matthew Patenaude
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Publication number: 20220265368Abstract: Systems and methods for electromagnetic (EM) distortion detection and compensation are disclosed. In one aspect, the system includes an instrument, the system configured to: determine a reference position of the distal end of the instrument at a first time based on EM location data, determine that the distal end of the instrument at a second time is static, and determine that the EM location data at the second time is indicative of a position of the distal end of the instrument having changed from the reference position by greater than a threshold distance. The system is further configured to: determine a current offset based on the distance between the position at the second time and the reference position at the first time, and determine a compensated position of the distal end of the instrument based on the EM location data and the current offset.Type: ApplicationFiled: May 9, 2022Publication date: August 25, 2022Inventors: Chauncey F. GRAETZEL, Subashini SRINIVASAN, Yuriy MALININ, Shyamprasad KONDURI
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Patent number: 11324558Abstract: Systems and methods for electromagnetic (EM) distortion detection and compensation are disclosed. In one aspect, the system includes an instrument, the system configured to: determine a reference position of the distal end of the instrument at a first time based on EM location data, determine that the distal end of the instrument at a second time is static, and determine that the EM location data at the second time is indicative of a position of the distal end of the instrument having changed from the reference position by greater than a threshold distance. The system is further configured to: determine a current offset based on the distance between the position at the second time and the reference position at the first time, and determine a compensated position of the distal end of the instrument based on the EM location data and the current offset.Type: GrantFiled: September 1, 2020Date of Patent: May 10, 2022Assignee: Auris Health, Inc.Inventors: Chauncey F. Graetzel, Subashini Srinivasan, Yuriy Malinin, Shyamprasad Konduri
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Publication number: 20220117677Abstract: 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: ApplicationFiled: December 27, 2021Publication date: April 21, 2022Inventors: Hedyeh Rafii-Tari, Menglong Ye, Ritwik Ummalaneni, Subashini Srinivasan, Yuriy Malinin
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Patent number: 11207141Abstract: 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: GrantFiled: August 26, 2020Date of Patent: December 28, 2021Assignee: Auris Health, Inc.Inventors: Hedyeh Rafii-Tari, Menglong Ye, Ritwik Ummalaneni, Subashini Srinivasan, Yuriy Malinin
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Publication number: 20210137617Abstract: 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: ApplicationFiled: January 22, 2021Publication date: May 13, 2021Inventors: Subashini Srinivasan, Hedyeh Rafii-Tari, Ritwik Ummalaneni, David Paul Noonan, Prasanth Jeevan
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Publication number: 20210137609Abstract: Provided are systems and methods for 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: ApplicationFiled: January 22, 2021Publication date: May 13, 2021Inventors: Subashini Srinivasan, David Paul Noonan, David Burdick Berman, Brian Matthew Patenaude
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Publication number: 20210059766Abstract: Systems and methods for electromagnetic (EM) distortion detection and compensation are disclosed. In one aspect, the system includes an instrument, the system configured to: determine a reference position of the distal end of the instrument at a first time based on EM location data, determine that the distal end of the instrument at a second time is static, and determine that the EM location data at the second time is indicative of a position of the distal end of the instrument having changed from the reference position by greater than a threshold distance. The system is further configured to: determine a current offset based on the distance between the position at the second time and the reference position at the first time, and determine a compensated position of the distal end of the instrument based on the EM location data and the current offset.Type: ApplicationFiled: September 1, 2020Publication date: March 4, 2021Inventors: Chauncey F. Graetzel, Subashini Srinivasan, Yuriy Malinin, Shyamprasad Konduri
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Publication number: 20210059764Abstract: 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: ApplicationFiled: August 26, 2020Publication date: March 4, 2021Inventors: Hedyeh Rafii-Tari, Menglong Ye, Ritwik Ummalaneni, Subashini Srinivasan, Yuriy Malinin
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Patent number: 10898286Abstract: 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: GrantFiled: May 28, 2019Date of Patent: January 26, 2021Assignee: Auris Health, Inc.Inventors: Subashini Srinivasan, Hedyeh Rafii-Tari, Ritwik Ummalaneni, David Paul Noonan, Prasanth Jeevan
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Patent number: 10898277Abstract: Provided are systems and methods for 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: GrantFiled: January 6, 2020Date of Patent: January 26, 2021Assignee: Auris Health, Inc.Inventors: Subashini Srinivasan, David Paul Noonan, David Burdick Berman, Brian Matthew Patenaude
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Publication number: 20200205903Abstract: Provided are systems and methods for 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: ApplicationFiled: January 6, 2020Publication date: July 2, 2020Inventors: Subashini Srinivasan, David Paul Noonan, David Burdick Berman, Brian Matthew Patenaude
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Patent number: 10684344Abstract: Improved motion correction for magnetic resonance imaging is provided. An MR imaging method provides a first sequence of MR images and a second sequence of MR images where: 1) the two sequences are inherently spatially co-registered and synchronous with each other; 2) the first sequence includes signal variation due to one or more causes other than motion or deformation; and 3) the second sequence does not include the signal variation of the first sequence. In this situation, the second sequence can be used to perform motion correction for the first sequence. One example of this approach is Dixon MR imaging, where the water images are the first sequence and the fat images are the second sequence.Type: GrantFiled: March 31, 2017Date of Patent: June 16, 2020Assignee: The Board of Trustees of the Leland Stanford Junior UniversityInventors: Bruce L. Daniel, Brian A. Hargreaves, Subashini Srinivasan
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Patent number: 10524866Abstract: Provided are systems and methods for 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: GrantFiled: March 26, 2019Date of Patent: January 7, 2020Assignee: Auris Health, Inc.Inventors: Subashini Srinivasan, David Paul Noonan, David Burdick Berman, Brian Matthew Patenaude