×

Automated alignment

  • US 8,317,746 B2
  • Filed: 07/22/2009
  • Issued: 11/27/2012
  • Est. Priority Date: 11/20/2008
  • Status: Active Grant
First Claim
Patent Images

1. A method for registering an elongate medical instrument relative to nearby anatomical structures, comprising:

  • moving a distal portion of a robotically controlled elongate medical instrument between a first position in situ and a second position in situ relative to an instrument coordinate reference frame, wherein the elongate medical instrument is coaxially positioned through a working lumen of a robotically-controlled sheath instrument, and wherein respective robotic movement of the medical and sheath instruments is controlled by a processor operatively coupled to the respective medical and sheath instruments, wherein the processortracks movement of the distal portion of the medical instrument relative to the instrument coordinate reference frame using respective kinematic models for the medical and sheath instruments,tracks movement of the distal portion of the medical instrument relative to a localization coordinate reference frame using one or more localization sensors coupled to the distal portion of the medical instrument,determines the orientation of the instrument distal end portion relative to both the instrument coordinate reference frame and the localization coordinate reference frame, andadjusts the orientation of the instrument coordinate reference frame to minimize the difference between determined orientations using the kinematic models and localization sensors.

View all claims
  • 2 Assignments
Timeline View
Assignment View
    ×
    ×