Systems and methods for anatomic motion compensation
US10912523B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Mar 23, 2015 |
| Grant date | Feb 9, 2021 |
| Priority date | — |
| Expiry date | Feb 16, 2038 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY02A90/10
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A method includes receiving a first set of image data representing passageways at a first cyclical motion state, receiving a second set of image data representing the passageways at a second cyclical motion state, receiving pose data for points describing a shape of an instrument, and comparing the shape of the instrument to the first and second sets of image data. The comparing includes assigning match scores to the sets of image data by comparing each to the shape of the instrument and determining a selected set of image data that matches the shape. The method further includes identifying a phase of a cyclical anatomical motion, generating a command signal indicating an intended movement of the instrument, adjusting the command signal to include an instruction for a cyclical instrument motion of the instrument based on the phase of the cyclical anatomical motion, and causing the intended movement of the instrument.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.