Systems and methods of continuous registration for image-guided surgery

    公开(公告)号:US12245833B2

    公开(公告)日:2025-03-11

    申请号:US18521863

    申请日:2023-11-28

    Abstract: A method includes collecting a set of measured points with a flexible catheter as the flexible catheter is inserted into one or more anatomic passageways of a patient in which the measured points are based on a position of the flexible catheter in a patient space, assigning each measured point of the set of measured points to a respective subset of a plurality of subsets of measured points based upon a depth of each measured point within the one or more anatomic passageways, comparing the plurality of subsets to identify an optimal subset of the plurality of subsets, and registering a model of the one or more anatomic passageways to the patient space based on a set of model points of the model and the optimal subset.

    SYSTEMS AND METHODS FOR DEFORMATION COMPENSATION USING SHAPE SENSING

    公开(公告)号:US20240389882A1

    公开(公告)日:2024-11-28

    申请号:US18793090

    申请日:2024-08-02

    Abstract: A non-transitory machine-readable media storing instructions that, when run by one or more processors, cause the one or more processors to store a deformable model of anatomic passageways of a patient anatomy. The deformable model comprises a plurality of model passageway links connected at connection points, and each of the model passageway links includes a centerline. At each respective connection point, the corresponding passageway links include an orientation. The instructions further cause the one or more processors to modify the deformable model by modifying relative orientations of one or more model passageway links of the plurality of model passageway links. The modifying is based on one or more modeling parameters that affect a shape of the plurality of model passageway links.

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