Abstract: A medical instrument system comprises an elongate instrument body; an optical fiber coupled in a constrained manner to the elongate instrument body, the optical fiber including one or more Bragg gratings; a detector operably coupled to a proximal end of the optical fiber and configured to detect respective light signals reflected by the one or more Bragg gratings; and a controller operatively coupled to the detector, wherein the controller is configured to determine a geometric configuration of at least a portion of the elongate instrument body based on a spectral analysis of the detected reflected portions of the light signals.

Abstract: A robotic catheter system includes a controller with a master input device. An instrument driver is in communication with the controller and has a guide instrument interface including a plurality of guide instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate guide instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The guide instrument includes a plurality of guide instrument control elements operatively coupled to respective guide drive elements and secured to the distal end of the guide instrument. The guide instrument control elements are axially moveable relative to the guide instrument such that movement of the guide instrument distal end may be controlled by the master input device.

Abstract: A method and system for mapping surface data onto a geometrical representation of a structure for 3D imaging is provided. A boundary of a structure is determined from one type of data, such as Doppler energy data. Another type of data, such as B-mode data, representing the boundary or an area adjacent the boundary is extracted or identified. The B-mode data is then rendered as a function of the boundary, such as by texture mapping the B-mode data onto or adjacent the boundary. As the user examines the structure representation, the texture mapped data may provide texture details based on an optimally determined representation. The boundary may alternatively be used to select data for volume rendering.