Systems and methods for progressive registration
A system receives a first set of points corresponding to an anatomical feature. Each point in the first set of points represents a position in a first frame. The system receives a second set of points corresponding to the anatomical feature. Each point in the second set of points represents a position in a second frame. The system identifies a first subset of the first set of points and determines a first transformation to align the first subset of the first set of points with the second set of points. The first set of points is transformed based on the first transformation. The system identifies a second subset of the first set of points and determines a second transformation to align the first and second subsets of the first set of points with the second set of points. The first set of points are transformed based on the second transformation.
1. A system comprising:
a processor; and
a memory having computer readable instructions stored thereon, the computer readable instructions, when executed by the processor, cause the system to:
receive a first set of points from one or more sensors of a medical instrument as the medical instrument traverses an anatomical feature, the first set of points corresponding to the anatomical feature, each point in the first set of points representing a position in a first reference frame;
receive a second set of points from an imaging system, the second set of points corresponding to the anatomical feature, each point in the second set of points representing a position in a second reference frame;
identify a first subset of the first set of points;
determine a first transformation to align the first subset of the first set of points with the second set of points;
transform the first set of points based on the first transformation;
identify a second subset of the first set of points;
determine a second transformation to align the first and second subsets of the first set of points with the second set of points; and
transform the first set of points based on the second transformation.
2. The system of claim 1 , wherein the first set of points is generated by an instrument survey of the anatomical feature.
3. The system of claim 1 , wherein the second set of points is generated from image data of the anatomical feature.
4. The system of claim 1 , wherein the second set of points is disposed along a centerline model of the anatomical feature.
5. The system of claim 1 , wherein the second subset of the first set of points is adjacent to the first subset.
6. The system of claim 1 , wherein the first subset of the first set of points corresponds to a first region of the anatomical feature, the first region having a first depth from a central bifurcation of the anatomical feature and wherein the second subset of the first set of points correspond to a second region of the anatomical feature, the second region extending from the first depth to a second depth from the central bifurcation.
7. The system of claim 6 , wherein the second depth is approximately 2 cm. greater than the first depth.
8. The system of claim 6 , wherein the first region of the anatomical feature has a greater rigidity than the second region.
9. The system of claim 6 , wherein the first region of the anatomical feature includes fewer branches than the second region.
10. The system of claim 1 , wherein the first transformation includes a rotation and translation for the first set of points.
11. The system of claim 1 , wherein the computer readable instructions, when executed by the processor, further cause the system to add noise at a first magnitude to the first subset of the first set of points to determine the first transformation.
12. The system of claim 11 , wherein the computer readable instructions, when executed by the processor, further cause the system to add noise at a second magnitude to the first and second subsets of the first set of points to determine the second transformation, wherein the first magnitude is greater than the second magnitude.
13. The system of claim 11 , wherein the noise is random Gaussian noise.
14. The system of claim 1 , wherein the computer readable instructions, when executed by the processor, further cause the system to identify a seed point in the first set of points, the seed point corresponding to a known position and orientation in the second reference frame.
15. The system of claim 14 , wherein the known position and orientation is a central bifurcation of the anatomical feature.
16. The system of claim 1 , wherein the anatomical feature includes a branched structure.
17. A non-transitory machine-readable medium comprising a plurality of machine-readable instructions which when executed by one or more processors associated with a computer-assisted medical system device are adapted to cause the one or more processors to perform a method comprising:
receiving a first set of points from one or more sensors of a medical instrument as the medical instrument traverses an anatomical feature, the first set of points corresponding to the anatomical feature, each point in the first set of points representing a position in a first reference frame;
receiving a second set of points from an imaging system, the second set of points corresponding to the anatomical feature, each point in the second set of points representing a position in a second reference frame;
identifying a first subset of the first set of points;
determining a first transformation to align the first subset of the first set of points with the second set of points;
transforming the first set of points based on the first transformation;
identifying a second subset of the first set of points;
determining a second transformation to align the first and second subsets of the first set of points with the second set of points; and
transforming the first set of points based on the second transformation.
18. The non-transitory machine-readable medium of claim 17 , wherein the first set of points is generated by an instrument survey of the anatomical feature.
19. The non-transitory machine-readable medium of claim 17 , wherein the second set of points is generated from image data of the anatomical feature.
20. The non-transitory machine-readable medium of claim 17 , wherein the first subset of the first set of points corresponds to a first region of the anatomical feature, the first region having a first depth from a central bifurcation of the anatomical feature and wherein the second subset of the first set of points correspond to a second region of the anatomical feature, the second region extending from the first depth to a second depth from the central bifurcation.