System and method for sensing shape of elongated instrument

摘要

An instrument system that includes an elongate body, an optical fiber, a localization sensor and a controller is provided. The optical fiber is operatively coupled to the elongate body and has a strain sensor provided on the optical fiber. The localization sensor is operatively coupled to the elongate body. The controller is operatively coupled to the optical fiber and to the localization sensor and is adapted to receive a first signal from the strain sensor, receive a second signal from the localization sensor, and determine a position or orientation of the elongate body based on the first signal and the second signal.

主权项

1. An instrument system, comprising:
an elongate body; an optical fiber coupled to the elongate body and having a strain sensor provided on the optical fiber; a localization sensor positioned upon the elongate body; and a controller operatively coupled to the optical fiber and to the localization sensor and adapted to:
receive a first signal from the strain sensor;receive a second signal from the localization sensor; anddetermine shape, position and orientation of the elongate body based on both the first signal from the strain sensor and the second signal from the localization sensor.