COMBINING STRAIN-BASED SHAPE SENSING WITH CATHETER CONTROL

Provided are robotic systems and methods for navigation of luminal network that can improve strain-based shape sensing. In one aspect, the system can compare strain-based shape data to shape data determined based on robotic data (e.g., kinematic model data, torque measurements, mechanical model data...

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Bibliographic Details
Main Authors NOONAN DAVID P, GRAETZEL CHAUNCEY F
Format Patent
LanguageChinese
English
Published 14.05.2021
Subjects
DIAGNOSIS
HUMAN NECESSITIES
HYGIENE
IDENTIFICATION
MEDICAL OR VETERINARY SCIENCE
SURGERY
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Summary:Provided are robotic systems and methods for navigation of luminal network that can improve strain-based shape sensing. In one aspect, the system can compare strain-based shape data to shape data determined based on robotic data (e.g., kinematic model data, torque measurements, mechanical model data, command data, etc.) and adjust the strain-based shape data as necessary. Any portion of the strain-based shape data can be adjusted, weighted differently, or discarded based on the comparison. For example, data from trustworthy sources may indicate that the shape of an instrument exhibits or should exhibit one or more characteristics. If the system determines that any portion of the strain-based shape data is not in agreement with such characteristics, the system may adjust the portion of the strain-based shape data such that the adjusted strain-based shape data is in agreement with the characteristics of the instrument. 本发明提供了可改进基于应变的形状感测的用于导航管腔网络的机器人系统和方法。在一个方面，该系统可将基于应变的形状数据与基于机器人数据(例如，运动学模型数据、扭矩测量、机械模型数据、命令数据
Bibliography:Application Number: CN201980066136