Systems and methods of registration for image guided surgery

A method, comprising:

• collecting, from an optical fiber shape sensor extending within an instrument coupled to a teleoperational system, spatial information as a reference point of a proximal portion of the instrument is positioned at a plurality of locations along an insertion path;
• receiving, from a position sensor for a drive system of the teleoperational system, position information when the reference point is at each of the plurality of locations along the insertion path;
• based on the position information from the position sensor and the spatial information from the optical fiber shape sensor, determining relative position data for the reference point;
• and
• based on the relative position data, determining an orientation of an insertion stage defining the insertion path along which the proximal portion of the instrument moves.

A teleoperational system comprising:

• a manipulator configured to move an instrument in a medical environment;
• and
• a processing unit operatively coupled to the manipulator, wherein the processing unit is configured to:
• collect, from an optical fiber shape sensor extending within the instrument, spatial information as a reference point of a proximal portion of the instrument is positioned at a plurality of locations along an insertion path;
• receive, from a position sensor for a drive system of the manipulator, position information when the reference point is at each of the plurality of locations along the insertion path;
• based on the position information from the position sensor and the spatial information from the optical fiber shape sensor, determine relative position data for the reference point;
• and
• based on the relative position data, determine an orientation of an insertion stage of the manipulator defining the insertion path along which the proximal portion of the instrument moves.

A non-transitory computer-readable medium storing instructions that, when executed by one or more processors of a teleoperational system, cause the one or more processors to:

• collect, from an optical fiber shape sensor extending within an instrument coupled to the teleoperational system, spatial information as a reference point of a proximal portion of the instrument is positioned at a plurality of locations along an insertion path;
• receive, from a position sensor for a drive system of the teleoperational system, position information when the reference point is at each of the plurality of locations along the insertion path;
• based on the position information from the position sensor and the spatial information from the optical fiber shape sensor, determine relative position data for the reference point;
• and
• based on the relative position data, determine an orientation of an insertion stage defining the insertion path along which the proximal portion of the instrument moves.