Three dimensional polyline registration using shape constraints

1. A system for registering a coordinate system for a shape sensing system to a coordinate system for pre-procedural or intra procedural imaging data, comprising:

at least one instrument incorporating an optical fiber having shape sensing sensors;

an optical console that interrogates the optical shape sensors; and determines the three-dimensional shape of the instrument; and

a processor that registers the coordinate system of the shape sensing fiber to a coordinate system of imaging data;

characterized in the processor coordinate system of the shape sensing fiber to the coordinate system of imaging data by identifying a stable curvature in the optical fiber and matching the stable curvature in the optical fiber with a curvature from a different source and aligning the matched curvatures.

2. The system of claim 1 , wherein the different source is a different imaging modality.

3. The system of claim 2 , wherein the different imaging modality is a calculated image from pre-procedural or intra-procedural imaging data.

4. The system of claim 3 , wherein the processor is also the processor that processes the pre-procedural or intra-procedural imaging data.

5. The system of claim 3 , wherein the different source is a centerline from segmented pre-procedural or intra-procedural imaging.

6. The system of claim 1 , wherein the different source is a shape reconstruction from a different time.

7. The system of claim 1 , wherein the different source is a shape reconstruction from a different shape sensing fiber.

8. A method for registering a coordinate system for a shape sensing system to a coordinate system for pre-procedural or intra procedural imaging data, characterized in the processor:

identifying a stable curvature in a reconstructed image of a shape sensing fiber equipped instrument;

matching the stable curvature to a curvature from a different source; and

aligning the matched curvatures.

9. The method of claim 8 , wherein the stable curvature and the curvature from a different source are matched by comparing bend radii.

10. The method of claim 8 , wherein the stable curvature and the curvature from a different source are matched by comparing gradients of coordinates in the curvature.

11. The method of claim 8 , wherein the step of identifying a stable curve comprises the steps of:

measuring the radius of at least one bend in the curve of the reconstructed image of a shape sensing fiber equipped instrument;

comparing the measured bend radius with a prior reconstructed image of a shape sensing fiber equipped instrument;

determining whether the bend radii meet a predefined matching criteria; and

saving the radius and location of the bend if the matching criteria is met.

12. The method of claim 8 , wherein the different source is a shape reconstruction from a different shape sensing fiber.

13. The method of claim 8 , wherein the different source is a different imaging modality.

14. The method of claim 13 wherein the different imaging modality is a calculated image from pre-procedural or intra-procedural imaging data.

15. A computer program product for registering a coordinate system for a shape sensing system to a coordinate system for pre-procedural or intra procedural imaging data, comprising a computer-readable storage device having encoded thereon on a non-transitory computer readable medium, a computer-executable program of instruction, the program instruction characterized in:

program instructions for identifying a stable curvature in a shape sensing fiber equipped instrument;

program instructions for matching the stable curvature to a curvature from a different source; and

program instructions for aligning the matched curvatures.