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 method for reducing sensor error while measuring a shape along a length of an elongate member, the method comprising:
measuring the shape of the elongate member using a first sensor, wherein the first sensor comprises an incremental measurement sensor, and wherein the elongate member comprises a proximal end that is fixed in a known first position and a known first orientation; measuring at least one of a second position or a second orientation along a length of the elongate member using a second sensor; and reducing incremental measurement sensor error propagated along the first sensor to a distal portion of the elongate member by registering the first sensor to the second sensor.