ADAPTIVE INSTRUMENT KINEMATIC MODEL OPTIMIZATION FOR OPTICAL SHAPE SENSED INSTRUMENTS

摘要

A shape sensing system includes a processor (303) coupled to a memory storage device (116) A predictive model module (150) is stored in the memory storage device and is configured to receive shape sensing measurements and predict next shape sensing measurements based upon current state data for a shape sensing enabled device. The predictive model module includes a Kalman filter (326) and a reference model (306). The Kalman filter employs the at least one reference model and the current state data to predict new shape data by weighting the at least one reference model versus the current state data to Improve shape data measurements.