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1. (WO2018085287) SYSTEMS AND METHODS OF CONTINUOUS REGISTRATION FOR IMAGE-GUIDED SURGERY

Pub. No.:    WO/2018/085287    International Application No.:    PCT/US2017/059358
Publication Date: Sat May 12 01:59:59 CEST 2018 International Filing Date: Wed Nov 01 00:59:59 CET 2017
IPC: A61B 34/20
A61B 90/00
A61M 25/01
Applicants: INTUITIVE SURGICAL OPERATIONS, INC.
Inventors: SOPER, Timothy D.
DUINDAM, Vincent
Title: SYSTEMS AND METHODS OF CONTINUOUS REGISTRATION FOR IMAGE-GUIDED SURGERY
Abstract:
Methods and systems of registering a model of one or more anatomic passageways of a patient to a patient space are provided herein. An exemplary method may include accessing a set of model points of the model of the passageways, the model points being associated with a model space, collecting measured points along a length of a catheter inserted into the passageways of the patient, the measured points determined by a shape of the catheter, and assigning points of the first set to a plurality of subsets. The exemplary method may further include registering each of the subsets with the model points to produce a plurality of registration candidates, comparing the candidates to identify an optimal subset associated with an optimal registration of the plurality of candidates that translates the set of model points and at least one set of the sets of measured points into a common space.