×

System and method for sensing shape of elongated instrument

  • US 9,500,472 B2
  • Filed: 09/04/2012
  • Issued: 11/22/2016
  • Est. Priority Date: 08/14/2007
  • Status: Active Grant
First Claim
Patent Images

1. An instrument system comprising:

  • an elongate body;

    an optical fiber operatively coupled to the elongate body and having a strain sensor provided on the optical fiber, the optical fiber associated with a first coordinate system;

    a localization sensor associated with a second coordinate system; and

    a controller operatively coupled to the optical fiber and the localization sensor and adapted to receive a first signal from the strain sensor and a second signal from the localization sensor, wherein the first signal is associated with the first coordinate system and the second signal is associated with the second coordinate system, wherein the controller is adapted to;

    determine first information indicative of a location of the elongate body based on the first signal from the strain sensor;

    determine second information indicative of the same location of the elongate body based on the second signal from the localization sensor; and

    spatially associate the first coordinate system and the second coordinate system based on the first information and the second information,wherein the second information indicates the location of the elongate body in only two dimensions of a three dimensional coordinate system, and wherein the controller is configured to determine the same location of theelongate body in a third dimension based on the first information, and wherein the third dimension of the three dimensional coordinate system is the depth.

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