Flexible instrument localization from both remote and elongation sensors
AssigneeAuris Health, Inc.
InventorsSean Walker, Dave Camarillo, Matt Roelle, Christopher Sewell, Aditya Koolwal
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Abstract
A system and method of tracking a flexible elongate instrument within a patient is disclosed herein. The system is configured to obtain remote localization measurement data of the flexible elongate instrument and obtain elongation measurement data of the flexible elongate instrument. This data is combined and transformed to a coordinate reference frame to produce a localization of the flexible elongate instrument that is more accurate than the remote localization measurements or elongation measurement data alone. The combined localization is then provided to a localization consumer.
Claims20
A method of tracking a flexible elongate instrument, the method comprising:
- obtaining a first time history of remote localization measurement data of the flexible elongate instrument;
- obtaining a second time history of elongation measurement data of the flexible elongate instrument;
- and
- combining the first time history of the remote localization measurement data with the second time history of the elongation measurement data to produce a localization of the flexible elongate instrument in a single coordinate frame.
A method of tracking a flexible elongate instrument, the method comprising:
- acquiring, via a remote system, time course localization data of the flexible elongate instrument;
- obtaining time course elongation data of the flexible elongate instrument along a longitudinal axis of the flexible elongate instrument;
- and
- combining the time course localization data with the time course elongation data to produce a localization of the flexible elongate instrument in a single coordinate frame.
A method of tracking a flexible elongate instrument, the method comprising:
- obtaining a first time history of remote localization measurement data of the flexible elongate instrument;
- obtaining a second time history of elongation measurement data of the flexible elongate instrument;
- combining the first time history of the remote localization measurement data with the second time history of the elongation measurement data to produce a localization of the flexible elongate instrument in a single coordinate frame;
- outputting the localization of the flexible elongate instrument to a localization consumer;
- and
- determining roll of the flexible elongate instrument based on the elongation measurement data.
Dependencies are inferred from the claim text.