CPC A61B 17/00 (2013.01) [A61B 34/25 (2016.02); A61B 34/30 (2016.02); A61B 34/37 (2016.02); A61B 90/39 (2016.02); G06T 7/248 (2017.01); A61B 2017/00212 (2013.01); A61B 2034/105 (2016.02); A61B 2034/2059 (2016.02); A61B 2034/2061 (2016.02); A61B 2034/301 (2016.02); A61B 2090/3735 (2016.02); A61B 2090/3782 (2016.02); A61B 2090/3966 (2016.02); G06T 2207/30004 (2013.01)] | 20 Claims |
1. A robotic system for manipulating a tool with respect to a 3D model of an anatomical structure, where the tool comprises a shape sensor coupled thereto, the system comprising:
a robotic drive system comprising at least one actuator, the robotic drive system configured to couple with the tool to position the tool with respect to the 3D model, wherein the shape sensor on the tool senses a shape of the tool while in the anatomical structure, and wherein the sensed shape of the tool in the anatomical structure is correlated against features of the anatomical structure in the 3D model; and
a controller configured to compute a registration between a sensor reference frame and a 3D model reference frame such that the controller can direct the robotic drive system in the 3D model reference frame using the registration.
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