Patent ID: 9710921
Date: 2017-07-18
CPC Classifications: A61B,G06T

Claim:
1. A method of registering an elongate instrument of a robotic drive system to a fluoroscopy image of an anatomy of a patient, the method comprising: mounting a splayer to a robotic manipulator of a robotic drive system, the splayer operatively connected to a proximal end of an elongate instrument; tracking a location of the splayer of the robotic drive system using one or more splayer sensors coupled to the splayer, wherein a location of the elongate instrument with respect to the splayer is known; tracking a position of a patient; comparing a splayer reference frame to a patient reference frame to generate a registration of the splayer to the patient; comparing the patient reference frame to a fluoroscopy reference frame to generate a registration of the patient to the fluoroscopy image; and determining a location of the elongate instrument in the fluoroscopy image of the anatomy, based on the registration of the patient to the fluoroscopy image, the registration of the splayer to the patient, and the known location of the elongate instrument with respect to the splayer.