Issued Patents 2021
| Patent # | Title | Co-Inventors | Date |
|---|---|---|---|
| 11160615 | Methods and systems for instrument tracking and navigation within luminal networks | Hedyeh Rafii-Tari | 2021-11-02 |
| 11058493 | Robotic system configured for navigation path tracing | Hedyeh Rafii-Tari | 2021-07-13 |
| 10898286 | Path-based navigation of tubular networks | Subashini Srinivasan, Hedyeh Rafii-Tari, Ritwik Ummalaneni, David Paul Noonan | 2021-01-26 |