REDUCING INCREMENTAL MEASUREMENT SENSOR ERROR

摘要

For position sensors, e.g., a fiber-based system, that build a shape of an elongated member, such as a catheter, using a sequence of small orientation measurements, a small error in orientation at the proximal end of the sensor will cause large error in position at distal points on the fiber. Exemplary methods and systems are disclosed, which may provide full or partial registration along the length of the sensor to reduce the influence of the measurement error. Additional examples are directed to applying selective filtering at a proximal end of the elongated member to provide a more stable base for distal measurements and thereby reducing the influence of measurement errors.

主权项

1. A system for measuring a shape along a length of an elongate member, the system comprising:
a first sensing element coupled to the elongate member, wherein the first sensing element comprises an incremental measurement sensor and the elongate member comprises a fixed proximal end having at least one of a known first position and a known first orientation; a second sensing element positioned at a known location distal to the proximal end of the elongated member; and a processor configured to measure the shape of the elongate member by
measuring the shape of the elongate member using a first sensing element,measuring at least one of a second position and a second orientation using the second sensing element; and registering the first sensing element to the second sensing element.