Systems and methods for using tracking in image-guided medical procedure
US12011232B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Feb 7, 2022 |
| Grant date | Jun 18, 2024 |
| Priority date | — |
| Expiry date | Feb 7, 2042 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B2090/3983
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A system includes a medical instrument, a teleoperation manipulator, an optical tracking sensor, and a control system. The medical instrument includes an elongated flexible body, a rigid proximal body comprising a reference portion, and a shape sensor having a reference point. The control system is configured to: track, with the optical tracking sensor, a first set of optical fiducials on a patient anatomy and a second set of optical fiducials on the reference portion; determine, using the second set of optical fiducials, a position of the reference point for a plurality of insertion measurements of a position measuring device; receive shape information from the shape sensor; and determine a pose of a portion of the elongated flexible body with respect to the patient anatomy using the first set of optical fiducials, the position of the reference point as indicated by the position measuring device, and the shape information.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.