×

Automated alignment

  • US 8,657,781 B2
  • Filed: 11/15/2012
  • Issued: 02/25/2014
  • 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;

    tracking movement of the distal portion of the medical instrument relative to the instrument coordinate reference frame using a kinematic model;

    tracking 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;

    determining an orientation of the instrument distal end portion relative to both the instrument coordinate reference frame and the localization coordinate reference frame; and

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

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