Shape sensor systems for tracking interventional instruments and mehods of use
AssigneeIntuitive Surgical Operations, Inc.
InventorsPrashant Chopra, Vincent Duindam, Tao Zhao, John A. Cole
Life of this patent
Estimating the term…
Abstract
A medical tracking system comprises a fiducial apparatus that includes a sensor docking feature configured to mate with a mating portion of a sensor device. The sensor docking feature retains the mating portion in a known configuration. The fiducial apparatus also includes at least one imageable fiducial marker and a surface configured for attachment to an anatomy of a patient.
Claims40
A medical tracking system comprising:
- a fiducial apparatus including
- a sensor docking feature configured to mate with a mating portion of a sensor device and to retain the mating portion in a known configuration;
- at least one imageable fiducial marker;
- and
- a surface configured for attachment to an anatomy of a patient.
A method for medical instrument tracking, the method comprising:
- receiving a model of an anatomic structure, the model defining an image reference frame and including an image of at least one fiducial marker;
- registering a reference portion of a first shape sensor device to the plurality of fiducial markers when a fiducial apparatus including the at least one fiducial marker is coupled to the first shape sensor device such that the reference portion of the first shape sensor device is retained in a known configuration relative to the at least one fiducial marker;
- receiving first shape sensor information in a first sensor reference frame from a first shape sensor of the first shape sensor device;
- and
- determining a pose of the first shape sensor in the image reference frame based on a correlation between the image reference frame and the first sensor reference frame.
A method for medical instrument tracking, the method comprising:
- receiving a model of an anatomic structure, the model defining an image reference frame and including a model of at least one fiducial marker;
- receiving first shape sensor information in a first reference frame from a first shape sensor including a reference portion held in a known configuration with respect to the at least one fiducial marker;
- receiving second shape sensor information in a second reference frame from a second shape sensor positioned within the anatomic structure;
- and
- determining a pose of the second shape sensor in the image reference frame based on a correlation between the first reference frame, the second reference frame, and the image reference frame.
A system comprising:
- a memory for storing a model data set representing an anatomic structure, the model data set having a plurality of model data points for the anatomic structure with a known relation to one or more fiducials;
- and
- a processor configured to receive shape data from an optical fiber sensor in an instrument interacting with the anatomic structure, and register the instrument with the model data set based on the shape data, the shape data having a known relation to the one or more fiducials.
A medical system comprising:
- a fiducial apparatus for attachment to a patient;
- and
- a coupling for holding a first portion of a fiber optic shape sensor in a predetermined configuration relative to the fiducial apparatus.
Dependencies are inferred from the claim text.