Reducing incremental measurement sensor error
First Claim
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1. A system comprising:
- an elongate member extending between a proximal end and a distal end;
one or more sensing elements positioned on the elongate member, the one or more sensing elements configured to provide at least;
proximal data associated with a proximal region of the elongate member, anddistal data associated with a distal region of the elongate member;
at least one non-transitory computer readable medium having stored thereon executable instructions; and
at least one processor in communication with the at least one non-transitory computer readable medium and configured to execute the instructions to;
receive the proximal data and the distal data from the one or more sensing elements,filter the proximal data to reduce orientation error associated with the proximal region, anddetermine a shape of the elongate member based on the filtered proximal data.
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Abstract
For position sensors, e.g., a fiber-based system, that build a shape of an elongated member, such as a catheter, using a sequence of small orientation measurements, a small error in orientation at the proximal end of the sensor will cause large error in position at distal points on the fiber. Exemplary methods and systems are disclosed, which may provide full or partial registration along the length of the sensor to reduce the influence of the measurement error. Additional examples are directed to applying selective filtering at a proximal end of the elongated member to provide a more stable base for distal measurements and thereby reducing the influence of measurement errors.
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Citations
19 Claims
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1. A system comprising:
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an elongate member extending between a proximal end and a distal end; one or more sensing elements positioned on the elongate member, the one or more sensing elements configured to provide at least; proximal data associated with a proximal region of the elongate member, and distal data associated with a distal region of the elongate member; at least one non-transitory computer readable medium having stored thereon executable instructions; and at least one processor in communication with the at least one non-transitory computer readable medium and configured to execute the instructions to; receive the proximal data and the distal data from the one or more sensing elements, filter the proximal data to reduce orientation error associated with the proximal region, and determine a shape of the elongate member based on the filtered proximal data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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Specification