Three dimensional polyline registration using shape constraints
AssigneeKoninklijke Philips N.V.
InventorSander Hans Denissen
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Abstract
A system and method are provided for registering a coordinate system for a shape sensing system to a coordinate system for pre-procedural or intra-procedural imaging data. A stable curvature in a shape reconstruction is identified and matched to another curvature, where the other curvature is from another shape construction from a subsequent time or from imaging data from another imaging modality. The matched curvatures are aligned, aligning the coordinate systems for the respective curvatures.
Claims15
A system for registering a coordinate system for a shape sensing system to a coordinate system for pre-procedural or intra procedural imaging data, comprising:
- at least one instrument incorporating an optical fiber having shape sensing sensors;
- an optical console that interrogates the optical shape sensors;
- and determines the three-dimensional shape of the instrument;
- and
- a processor that registers the coordinate system of the shape sensing fiber to a coordinate system of imaging data;
- characterized in the processor coordinate system of the shape sensing fiber to the coordinate system of imaging data by identifying a stable curvature in the optical fiber and matching the stable curvature in the optical fiber with a curvature from a different source and aligning the matched curvatures.
A method for registering a coordinate system for a shape sensing system to a coordinate system for pre-procedural or intra procedural imaging data, characterized in the processor:
- identifying a stable curvature in a reconstructed image of a shape sensing fiber equipped instrument;
- matching the stable curvature to a curvature from a different source;
- and
- aligning the matched curvatures.
A computer program product for registering a coordinate system for a shape sensing system to a coordinate system for pre-procedural or intra procedural imaging data, comprising a computer-readable storage device having encoded thereon on a non-transitory computer readable medium, a computer-executable program of instruction, the program instruction characterized in:
- program instructions for identifying a stable curvature in a shape sensing fiber equipped instrument;
- program instructions for matching the stable curvature to a curvature from a different source;
- and
- program instructions for aligning the matched curvatures.
Dependencies are inferred from the claim text.