Real-time estimation of electrode array pose during intra-cochlear insertion

A method comprising:

• accessing information characterizing states and transitions between states of a structure at least partially inserted into a body portion of a recipient;
• accessing expectation measurement values or ranges of values expected to be generated by at least one sensor of the structure;
• obtaining at least one first measurement value from the at least one sensor at a first time period;
• and
• determining, in response to a comparison of the at least one first measurement value to the expectation measurement values or ranges of values, a first state of the structure during the first time period.

A system comprising:

• at least one data input interface configured to receive data from a plurality of transducers during implantation of a medical device on or in a recipient;
• at least one controller in operative communication with the at least one data input interface, the at least one controller configured to access a probabilistic model of a parameterized description of a pose of the medical device relative to the body portion and to generate an estimate of a current pose of the medical device in response at least in part to the data and the probabilistic model;
• and
• at least one output interface in operative communication with the at least one controller, the at least one output interface configured to provide information regarding the estimated pose of the medical device.

A non-transitory computer readable storage medium having stored thereon a computer program that instructs a computer system to provide real-time information regarding a structure as the structure is being inserted into and/or retracted from a region by at least:

• receiving information regarding the structure while the structure is being inserted into the region and/or retracted from the region;
• accessing a parameterized description of the structure and/or the region;
• and
• using at least one processor to generate, based on the information and the parameterized description, an estimated pose of the structure relative to the region.