SYSTEM AND METHODS FOR TRACKING ROBOTICALLY CONTROLLED MEDICAL INSTRUMENTS
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Abstract
Systems and methods are described herein for tracking an elongate instrument or other medical instrument in an image.
30 Citations
39 Claims
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1-20. -20. (canceled)
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21. A robotic system configured to manipulate a tool within a patient'"'"'s anatomy, the system comprising:
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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 and a 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. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29, 30)
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31. A system configured to control a medical device within in a patient'"'"'s anatomy for performing a procedure in the patient'"'"'s anatomy, the system comprising:
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a user input device; an actuator configured to articulate the medical device with respect to the patient'"'"'s anatomy, and a controller configured to receive a signal from a shape sensor positioned on the medical device that can sense a shape of at least a portion of the medical device while in the patient'"'"'s anatomy, the controller also configured to register a sensor reference frame and a 3-dimensional (3D) model reference frame based on the shape of the medical device and features of a 3D model of the patient'"'"'s anatomy. - View Dependent Claims (32, 33, 34, 35, 36, 37, 38, 39)
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Specification