CPC A61B 34/20 (2016.02) [A61B 17/3403 (2013.01); A61B 34/35 (2016.02); A61B 90/96 (2016.02); A61B 1/00193 (2013.01); A61B 2010/045 (2013.01); A61B 2017/00477 (2013.01); A61B 2017/00876 (2013.01); A61B 17/29 (2013.01); A61B 2017/306 (2013.01); A61B 2017/3413 (2013.01); A61B 2018/00577 (2013.01); A61B 2034/2055 (2016.02); A61B 2034/2061 (2016.02); A61B 2034/2063 (2016.02); A61B 2034/2065 (2016.02); A61B 2034/2072 (2016.02); A61B 2034/302 (2016.02); A61B 2090/364 (2016.02); A61B 2090/3941 (2016.02); A61B 2090/3945 (2016.02)] | 20 Claims |
1. A medical imaging system comprising:
a teleoperated assembly including a medical instrument;
a first imaging instrument for generating a first image of a field of view of the first imaging instrument;
a second imaging instrument for generating a second image; a tracking fixture engageable along at least a portion of the second imaging instrument, the tracking fixture including one or more features wherein the medical instrument is attachable to an attachment feature of the tracking fixture to maintain a known configuration of the medical instrument relative to the second imaging instrument; and
a processor configured to determine a pose of the tracking fixture based on the one or more features of the tracking fixture and the first image.
|