| 摘要 |
A medical tool (26) includes a location sensor (241) at a distal end. While the tool (26) is being maneuvered to a desired region of interest, a control unit (12) records a first location reading (561) obtained according to an output from the sensor (241) when requested by a user, indicative of when a patient's anatomy constrains free movement of the tool (26) in at least one degree of freedom. Once the tool (26) has reached the region of interest, the control unit (12) records a second location reading (562) according to the sensor (241) output indicative of a current location (46). A relaxation shape of the tool (26) forms a shape constraint on the tool (26) shape reconstruction. The control unit (12) determines a reconstruction representing the current shape of the tool (26) based on the positional constraints and the shape constraint. The reconstruction is graphically superimposed on an image of the region of interest. |
