Distortion modeling and compensation in a curve-tracked detector array

Abstract

A system for position and/or shape-tracking of an elongated device including a shape sensor to estimate a position and orientation of the device at a plurality of points along the device, and a processor configured to: obtain a plurality of predetermined points along a tracked portion of the device; allocate, for each of the plurality of the predetermined points, a local energy function dependent on the estimated position and orientation of device that incorporates relevant mechanical and sensor measurement constraints; generate a resultant unified energy function for the full shape and position of the entire tracked portion of the device with respect to relative locations and orientation of adjacent plurality of the predetermined points, the unified energy function is constructed based on the allocated local energy functions and segmental energy functions; and calculate a fully localized curve along the tracked portion of the device by minimizing the energy function.

Dependencies are inferred from the claim text.