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AUTOMATED ALIGNMENT

  • US 20100125285A1
  • Filed: 07/22/2009
  • Published: 05/20/2010
  • Est. Priority Date: 11/20/2008
  • Status: Active Grant
First Claim
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1. A method for registering an elongate medical instrument relative to nearby anatomical structures, comprising:

  • a. moving a portion of an elongate medical instrument between a first position in situ and a second position in situ relative to an instrument coordinate reference frame;

    b. tracking movement of the portion relative to the instrument coordinate reference frame using a kinematic model, and also tracking movement of the portion relative to a localization coordinate reference frame using one or more localization sensors coupled to the portion;

    c. determining the orientation of the portion relative to both the instrument coordinate reference frame and the localization coordinate reference frame; and

    d. adjusting the orientation of the instrument coordinate reference frame to minimize the difference between determined orientations using the kinematic model and localization sensors.

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