SYSTEM AND METHOD FOR SENSING SHAPE OF ELONGATED INSTRUMENT
An instrument system that includes an elongate body, an optical fiber, and a controller is provided. The optical fiber is operatively coupled to the elongate body and has a strain sensor and a localization sensor provided thereon. The controller is operatively coupled to the elongate body and to the optical fiber and adapted to receive a first signal from the strain sensor, receive a second signal from the localization sensor, and determine a position of the elongate body based on the first signal and the second signal.
1 . An instrument system comprising:
an elongate body;
an optical fiber operatively coupled to the elongate body and having a strain sensor and a localization sensor provided thereon; and
a controller operatively coupled to the elongate body and to the optical fiber and adapted to:
receive a first signal from the strain sensor;
receive a second signal from the localization sensor; and
determine a position of the elongate body based on the first signal and the second signal.
2 . The instrument system of claim 1 , wherein the localization sensor comprises a beacon adapted to emit an ultrasound signal or an optical signal.
3 . The instrument system of claim 1 , wherein the controller is adapted to determine the position of the elongate body relative to a coordinate system of the localization sensor.
4 . The instrument system of claim 1 , wherein the optical fiber is attached to or located within the elongate body.
5 . A method for tracking an elongate body, comprising:
receiving a first signal from a strain sensor provided on an optical fiber that is operatively coupled to an elongate body;
receiving a second signal from a localization sensor operatively coupled to the elongate body; and
determining a position of the elongate body based on the first signal and based on the second signal.
6 . The method of claim 5 , wherein the localization sensor comprises a beacon adapted to emit an ultrasound signal or an optical signal.
7 . The method of claim 5 , wherein the determining the position of the elongate body comprises determining the position relative to a coordinate system of the localization sensor.
8 . The method of claim 5 , wherein the optical fiber is attached to or located within the elongate body.