Patent ID: 9014851
Filing Date: 2015-04-21
Classification: A61B,G06T

Abstract:
1. A robotic system for manipulating a tool with respect to a 3D model of a blood vessel, where the tool comprises a shape sensor coupled thereto, the system comprising: a robotic drive system comprising at least one actuator, the robotic drive system configured to couple with the tool to position the tool with respect to the 3D model, wherein the shape sensor on the tool senses a shape of the tool while in the blood vessel, and wherein the sensed shape of the tool in the blood vessel is correlated against features of the blood vessel in the 3D model; and a controller configured to compute a registration between a sensor reference frame and a 3D model reference frame such that the controller can direct the robotic drive system in the 3D model reference frame using the registration.