AUTOMATED ALIGNMENT
First Claim
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.
2 Assignments
0 Petitions
Accused Products
Abstract
Systems and method are disclosed whereby elongate medical instruments may be registered to adjacent tissue structures and other structures, and may be navigated and operated in a coordinated fashion to maximize ranges of motion, ease of use, and other factors. A method for registering an instrument relative to nearby structures may comprise moving a portion of the instrument between two in situ positions, tracking movement during this movement with both a kinematic model and also a localization sensor based configuration, determining the orientation of the tracked portion relative to both the instrument coordinate system used in the kinematic modeling and also a localization coordinate reference frame, and adjusting the orientation of the instrument coordinate reference frame to minimize the difference between determined orientations using the kinematic model and localization sensors. Methods and configurations for navigating coupled and registered instrument sets are also disclosed.
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Citations
34 Claims
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1. A method for registering an elongate medical instrument relative to nearby anatomical structures, comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21)
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22. The method of claim 22, further comprising allowing for an operator adjustment of the orientation of the instrument coordinate reference frame, and synchronizing adjustment of an associated master input device coordinate reference frame to retain instinctiveness of the master input device relative to observed operation of the elongate medical device.
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23. A system for registering an elongate medical instrument relative to nearby anatomical structures, comprising:
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a. a remotely navigated working elongate medical instrument having a distal end, an elongate body, and one or more localization sensors coupled to the elongate body; b. a remotely navigated secondary instrument having a working lumen configured to slidably engage the elongate medical instrument; c. a localization system coupled to the one or more localization sensors and configured to determine the positions of such sensors relative to a localization coordinate reference frame; d. a processor operatively coupled to the working elongate medical instrument and secondary instrument, and configured to determine the position thereof relative to an instrument coordinate reference frame based upon kinematic models for the instruments; wherein the processor is configured to; 1) move a portion of the working elongate medical instrument between a first position in situ and a second position in situ relative to the instrument coordinate reference frame; 2) track 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; 3) determine the orientation of the portion relative to both the instrument coordinate reference frame and the localization coordinate reference frame; and 4) adjust the orientation of the instrument coordinate reference frame to minimize the difference between determined orientations using the kinematic model and localization sensors. - View Dependent Claims (24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34)
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Specification