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 of determining a position of an elongated member, comprising:
providing an incremental measurement sensor at a distal position on an elongated member; applying registration data at one or more proximal locations along the elongated member; and determining a position of the incremental measurement sensor based at least upon the registration data from the one or more proximal locations.