| Automated calibration of endoscopes with pull wires CF Graetzel, R Ummalaneni US Patent 9,931,025, 2018 | 431 | 2018 |
| Robotic systems for navigation of luminal networks that compensate for physiological noise H Rafii-Tari, R Ummalaneni, CF Graetzel US Patent 11,490,782, 2022 | 297 | 2022 |
| Endolumenal object sizing DS Mintz, DM Schummers, P Jeevan, H Rafii-Tari, R Ummalaneni US Patent 10,136,959, 2018 | 289 | 2018 |
| Automatically-initialized robotic systems for navigation of luminal networks R Ummalaneni US Patent 10,022,192, 2018 | 267 | 2018 |
| System and method for estimating instrument location H Rafii-Tari, R Ummalaneni, SWQ Lim, P Jeevan US Patent 11,510,736, 2022 | 261 | 2022 |
| Automated calibration of surgical instruments with pull wires CF Graetzel, R Ummalaneni US Patent 10,813,539, 2018 | 254 | 2018 |
| Systems and methods for displaying estimated location of instrument R Ummalaneni, P Jeevan US Patent 10,827,913, 2019 | 250 | 2019 |
| Path-based navigation of tubular networks S Srinivasan, H Rafii-Tari, R Ummalaneni, DP Noonan, P Jeevan US Patent 10,898,286, 2021 | 243 | 2021 |
| Robotic systems for determining a roll of a medical device in luminal networks R Ummalaneni US Patent 10,159,532, 2018 | 237 | 2018 |
| Image-based branch detection and mapping for navigation R Ummalaneni US Patent 10,555,778, 2020 | 227 | 2020 |
| Systems and methods to correct for uncommanded instrument roll R Ummalaneni, A Jiang US Patent 10,987,179, 2021 | 222 | 2021 |
| Co-manipulation surgical system having multiple operational modes for use with surgical instruments for performing laparoscopic surgery DP Noonan, N Linard, E Basafa, JB Alvarez, R Ummalaneni, J Fayad US Patent 11,504,197, 2022 | 7 | 2022 |
| Systems and methods for weight-based registration of location sensors H Rafii-Tari, YE Menglong, R Ummalaneni, S Srinivasan, Y Malinin US Patent 11,207,141, 2021 | 5 | 2021 |
| Image-based airway analysis and mapping YE Menglong, R Ummalaneni US Patent 10,898,275, 2021 | 2 | 2021 |
| Co-manipulation surgical system having an instrument centering mode for automatic scope movements YE Menglong, E Basafa, R Ummalaneni, DP Noonan US Patent 11,844,583, 2023 | 1 | 2023 |
| Vector-based luminal network branch mapping R Ummalaneni US Patent App. 18/505,993, 2024 | | 2024 |
| Robotic systems for determining a roll of a medical device in luminal networks R Ummalaneni US Patent App. 18/237,411, 2024 | | 2024 |
| Automated calibration of surgical instruments with pull wires CF Graetzel, R Ummalaneni US Patent App. 18/214,415, 2023 | | 2023 |
| Co-manipulation surgical system having a robot arm removeably attachable to surgical instruments for performing laparoscopic surgery DP Noonan, N Linard, E Basafa, JB Alvarez, R Ummalaneni, J Fayad US Patent App. 18/456,365, 2023 | | 2023 |
| Path-based navigation of tubular networks S Srinivasan, H Rafii-Tari, R Ummalaneni, DP Noonan, P Jeevan US Patent App. 18/206,410, 2023 | | 2023 |
