US 10,376,321 B2
Shape sensor systems for localizing movable targets
Simon P. DiMaio, Sunnyvale, CA (US); Vincent Duindam, Mountain View, CA (US); and David Q. Larkin, Menlo Park, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Appl. No. 14/916,854
Filed by Intuitive Surgical Operations Inc., Sunnyvale, CA (US)
PCT Filed Sep. 11, 2014, PCT No. PCT/US2014/055137
§ 371(c)(1), (2) Date Mar. 4, 2016,
PCT Pub. No. WO2015/038740, PCT Pub. Date Mar. 19, 2015.
Claims priority of provisional application 61/876,992, filed on Sep. 12, 2013.
Prior Publication US 2016/0206384 A1, Jul. 21, 2016
Int. Cl. A61B 34/20 (2016.01); A61B 17/32 (2006.01); A61B 5/053 (2006.01); A61B 17/17 (2006.01); A61B 46/00 (2016.01); A61B 10/04 (2006.01); A61B 17/16 (2006.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01); A61B 17/08 (2006.01); A61B 18/00 (2006.01)
CPC A61B 34/20 (2016.02) [A61B 5/0538 (2013.01); A61B 10/04 (2013.01); A61B 17/1703 (2013.01); A61B 17/320016 (2013.01); A61B 46/00 (2016.02); A61B 17/16 (2013.01); A61B 34/30 (2016.02); A61B 2017/081 (2013.01); A61B 2018/00577 (2013.01); A61B 2034/2061 (2016.02); A61B 2090/0803 (2016.02); A61B 2562/0266 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
receiving first shape data from a first elongated optical fiber section in a first shape sensor, the first elongated optical fiber section extending between a reference fixture and a first anatomic fixture coupled to a patient anatomy;
determining a pose of the first anatomic fixture relative to the reference fixture from the first shape data;
tracking a pose change for the first anatomic fixture based on the pose from the first shape data;
receiving second shape data from a second shape sensor extending between the reference fixture and an instrument fixture coupled to a medical instrument;
determining a first pose of the instrument fixture relative to the reference fixture from the second shape data;
tracking a first pose change of the first pose for the instrument fixture;
receiving third shape data from a second elongated optical fiber section of the first shape sensor extending between the first anatomic fixture and the instrument fixture;
determining a second pose of the instrument fixture relative to the reference fixture from the third shape data and the first shape data;
tracking a second pose change of the second pose for the instrument fixture; and
evaluating an instrument fixture pose redundancy based on the first pose and the second pose of the instrument fixture.