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System and methods for tracking robotically controlled medical instruments

  • US 10,130,345 B2
  • Filed: 07/13/2017
  • Issued: 11/20/2018
  • Est. Priority Date: 03/15/2013
  • Status: Active Grant
First Claim
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1. A robotic system configured to manipulate a tool within a patient'"'"'s anatomy, the system comprising:

  • the tool comprising a shape sensor that senses a shape of at least a portion of the tool while within the patient'"'"'s anatomy;

    a robotic drive system comprising at least one actuator, the robotic drive system coupled to the tool and configured to articulate the tool within the patient'"'"'s anatomy anda controller configured to register a sensor reference frame and a 3-dimensional (3D) model, reference frame based on the shape of the tool and features of a 3D model of the patient'"'"'s anatomy, the controller also being configured to direct the robotic drive system based on the registration.

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