Abstract: A registration system for medical navigation includes a shape sensing device (SSD) (104, 504) having at least one sensor (450, 505) for providing corresponding sensor information (SI) indicative of at least one of a position of the at least one sensor (450, 505); a registration fixture (106) having a channel (130) configured to receive at least part of the SSD and defining a registration path (P). The registration fixture may be configured to be attached to a registrant object (RO) (119) defining a workspace. A controller (110) may be configured to: sense a shape of a path traversed by the SSD based upon the SI when the at least one sensor is situated within the channel (130), determine whether the sensed shape of the path corresponds with a known shape selected from one or more known shapes, and perform a coordinate registration based upon the determination.

Abstract: A system and method for tracking and determining characteristics of an inflatable medical instrument that is configured for interventional deployment. The system includes a guidewire that is positioned within a lumen of the inflatable medical instrument. The guidewire includes an optical fiber for a FORS system. The FORS system is configured to measure a shape of the guidewire during the interventional deployment of the inflatable medical instrument. A shape analysis module is configured to analyze the FORS data from the FORS system and determine characteristics of the inflatable medical instrument, including the diameter of the inflatable instrument, the pressurization of the instrument, whether the instrument has ruptured and the position of the inflatable instrument during an interventional procedure.

Abstract: A registration system and method includes a configurable device (104) having one or more moveable features (122) such that movement of the moveable features can be determined relative to a reference to define a specific configuration of the configurable device. An imaging system (110) has a display on which the configurable device is viewable. A processing device (112) is configured to register the configurable device with a coordinate system of the imaging system based on the specific configuration of the configurable device.

Abstract: An optical shape sensing system includes an attachment device (130) coupled at an anatomical position relative to a bone. An optical shape sensing fiber (102) is coupled to the attachment device and configured to identify a position and orientation of the attachment device. An optical shape sensing module (115) is configured to receive feedback from the optical shape sensing fiber and register the position and orientation of the attachment device relative to an anatomical map.

Abstract: A triggering device includes an optical fiber (126) configured for optical shape sensing. A supporting element (104) is configured to support a portion of the optical fiber. An interface element (106) is configured to interact with the optical fiber associated with the supporting element to cause a change in a property of the fiber. A sensing module (115) is configured to interpret an optical signal to determine changes in the property of the fiber and accordingly generate a corresponding trigger signal.

Abstract: A robotic control system and method include a camera having an optical view and a robot having an end-effector and one or more joints for maneuvering end-effector. A digital video frame is acquired illustrating an image as optically viewed by the camera, and a visual servoing is executed for controlling a pose of end-effector relative to an image feature within the digital video frame. The visual servoing involves an identification of a tracking vector within an image coordinate system of the digital video frame extending from a tracking point to a target point associated with the image feature, a mapping of the tracking vector within a configuration space constructed from a robotic coordinate system associated with the end-effector, and a derivation of a pose of the end-effector within the robotic coordinate system from the mapping of the tracking vector within the configuration space.

Abstract: A robotic control method for a camera (30) having an optical view and a robot (40) having an end-effector (42) and one or more joints (41) for maneuvering end-effector (42). The robotic control method involves an acquisition of a digital video frame (32) illustrating an image as optically viewed by the camera (30), and an execution of a visual servoing for controlling a pose of end-effector (42) relative to an image feature within the digital video frame (32).

Abstract: A robotic control method for a camera (30) having an optical view and a robot (40) having an end-effector (42) and one or more joints (41) for maneuvering end-effector (42). The robotic control method involves an acquisition of a digital video frame (32) illustrating an image as optically viewed by the camera (30), and an execution of a visual servoing for controlling a pose of end-effector (42) relative to an image feature within the digital video frame (32).

Abstract: A registration system and method includes a configurable device (104) having one or more moveable features (122) such that movement of the moveable features can be determined relative to a reference to define a specific configuration of the configurable device. An imaging system (110) has a display on which the configurable device is viewable. A processing device (112) is configured to register the configurable device with a coordinate system of the imaging system based on the specific configuration of the configurable device.

Abstract: A robotic control method for a camera (30) having an optical view and a robot (40) having an end-effector (42) and one or more joints (41) for maneuvering end-effector (42). The robotic control method involves an acquisition of a digital video frame (32) illustrating an image as optically viewed by the camera (30), and an execution of a visual servoing for controlling a pose of end-effector (42) relative to an image feature within the digital video frame (32).