System for progressive registration

Abstract

A system receives a first set of points corresponding to an anatomical feature. Each point in the first set of points represents a location 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 location in a second frame. The system identifies a first subset of the first set of points and determines a first transform 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 transform. The system identifies a second subset of the first set of points and determines a second transform to align the first and second subsets of the first set of points with the second set of points. The first set of points is transformed based on the second transform.

Description

TECHNICAL FIELD

[0001] This application claims the benefit of U.S. Provisional Application 62 / 951,835, filed December 20, 2019, which is incorporated by reference herein in its entirety. BACKGROUND

[0002] Minimally invasive medical techniques aim to reduce the amount of tissue that is compromised during a medical procedure, thereby reducing patient recovery time, discomfort, and deleterious side effects. Such minimally invasive techniques can be performed through natural orifices in the patient’s anatomy or through one or more surgical incisions. Through these natural orifices or incisions, an operator can insert a minimally invasive medical tool to reach a target tissue location. The minimally invasive medical tools include instruments such as therapeutic, diagnostic, biopsy, and surgical instruments. The medical tools can be inserted into an anatomical passageway and navigated toward a region of interest within the patient’s anatomy. Image assistance can be used to navigate the anatomical passageway. Improved systems and methods are needed to accurately perform registration between the medical tools and images of the anatomical passageway. SUMMARY

[0003] Consistent with some embodiments, a system can receive a first set of points corresponding to an anatomical feature. Each point of the first set of points represents a location in a first frame. The system receives a second set of points corresponding to the anatomical feature. Each point of the second set of points represents a location in a second frame. The system identifies a first subset of the first set of points and determines a first transform 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 transform. The system identifies a second subset of the first set of points and determines a second transform to align the first and second subsets of the first set of points with the second set of points. The first set of points is transformed based on the second transform.

[0004] Consistent with some embodiments, a non-transitory machine-readable medium includes a plurality of machine-readable instructions that, 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. The method includes receiving a first set of points corresponding to an anatomical feature. Each point of the first set of points represents a location in a first reference frame. The method also includes receiving a second set of points corresponding to the anatomical feature. Each point of the second set of points represents a location in a second reference frame. The method also includes identifying a first subset of the first set of points and determining a first transform to align the first subset of the first set of points with the second set of points. The method also includes transforming the first set of points based on the first transform and identifying a second subset of the first set of points. The method also includes determining a second transform 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 transform.

[0005] Other embodiments include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the methods.

[0006] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are intended to provide a further explanation of the present disclosure as claimed. In this regard, additional aspects, features, and advantages of the present disclosure will be apparent from the following detailed description when considered in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0007] Figure 1A An exploration instrument extending within a patient anatomy is illustrated in accordance with some embodiments.

[0008] Figure 1B An image of a patient anatomy generated by an imaging system is illustrated.

[0009] Figure 2 A method for determining a registration between models of an anatomical structure is illustrated in accordance with some embodiments.

[0010] Figure 3 A model of an anatomical structure including a plurality of exploration points acquired by an exploration instrument is illustrated in accordance with some embodiments.

[0011] Figure 4 A model of an anatomical structure including a plurality of points generated from image data is illustrated in accordance with some embodiments.

[0012] Figure 5 A plurality of exploration points of an anatomical structure are illustrated in accordance with some embodiments, the plurality of exploration points being grouped into subsets for progressive registration. Figure 3

[0013] A model of an anatomical structure is illustrated in accordance with some embodiments. Figure 6 Figure 4 A subset of the plurality of exploration points is illustrated in accordance with some embodiments, the subset being used in a transformation to align with the model of the anatomical structure. Figure 5

[0014] Figure 7 A method for determining a transformation is illustrated in accordance with some embodiments.

[0015] Figure 8 A simplified diagram of a robotic or teleoperated medical system is illustrated in accordance with some embodiments.

[0016] Figure 9 A simplified diagram of a medical instrument system is illustrated in accordance with some embodiments.

[0017] ​​Embodiments of the present disclosure and their advantages are best understood by referring to the following detailed description along with the accompanying drawings. It should be understood that like reference numerals are used to identify like elements throughout the several views of the drawings in which the same or similar elements are identified throughout. The purpose of the drawings is to illustrate embodiments of the present disclosure and not to limit the same. DETAILED DESCRIPTION

[0018] The technology disclosed in this document can be used to register a medical instrument reference frame to an anatomical image reference frame. A set of position points collected by a survey instrument in a medical instrument reference frame can be matched to a set of points representing a structure, such as a branching passageway, in an anatomical image reference frame. Point matching registration techniques, such as Iterative Closest Point (ICP), can be used to register the survey instrument point set to the anatomical image point set. The registration can be performed by rotating, translating, or otherwise manipulating the points associated with the image data and the points associated with the surveyed instrument position data so that they are optimally aligned. While iterative registration approaches, such as ICP, generally guarantee convergence to a locally optimal solution in the least squares sense, such a solution can not be globally optimal, or not a "true" optimal solution. The occurrence of these false local minima is common for point-based models of dense and complex branching passageways, as the registration algorithm is more likely to converge to a false local minimum. As described in detail below, a progressive iterative point matching technique has been developed that can initially anchor the registration around anatomical regions with fewer, larger, and more rigid passageways, and continue the registration by progressively matching anatomical regions further from the initial region, which can include smaller, denser, more deformable passageways. The technique for first registering the more stable portions of the model and progressively expanding outward toward the more complex or variable portions of the model can be used for any form of registration, including point-based or image-based registration.

[0019] Figure 1A An elongate survey instrument 100 extending within branching anatomical passageways 102 of an anatomical feature, such as an anatomical site, such as a human lung, is illustrated. These anatomical passageways 102 include a trachea 104 and bronchial tubes 106. The survey instrument 100 can be advanced through the trachea 104 and bronchial tubes 106 to survey the anatomical passageways 102 by collecting position information of the survey instrument 100 in a survey instrument reference frame. The surveyed position information can be recorded as a set of coordinate points in a coordinate system X S , Y S , Z S of the survey instrument reference frame. The survey points can represent the position of a distal end 108 of the survey instrument 100 or a location along the length of the survey instrument 100. The survey points can form a survey model for registration with different models of the branching anatomical passageways 102.

[0020] Figure 1BAn image 120 of a branching anatomical passageway 102 (including a trachea 104 and bronchial tubes 106) is illustrated in an image reference frame coordinate system X I , Y I , Z I . The image 120 can be generated from preoperative or intraoperative image data obtained from an imaging technique such as computed tomography (CT), magnetic resonance imaging (MRI), fluoroscopy, thermal imagery, ultrasound, optical coherence tomography (OCT), thermal imaging, impedance imaging, laser imaging, or nanotube x-ray imaging. The preoperative or intraoperative image data can correspond to two-dimensional, three-dimensional, or four-dimensional (including, for example, time-based or velocity-based information) images.

[0021] Figure 2 A method 200 for registering a first set of points of an anatomical structure (such as points acquired by a survey instrument 100 within an anatomical feature such as a branching passageway 102) to a second set of points of the anatomical structure (such as those extracted from an image 120 of the anatomical body) is illustrated. The method 200 is illustrated as a set of operations or processes 202 through 216 and is described with continuing reference to Figures 3-7 .

[0022] At process 202, a control system (see Figure 8 , control system 612) receives a first set of points for a first anatomical coordinate frame. As Figure 3 illustrated, the plurality of points 302 can be survey or measurement points in a survey instrument reference frame X S , Y S , Z S acquired by a survey instrument (e.g., survey instrument 100). In some embodiments, the plurality of measurement points 302 can be collectively considered a model 300 of an anatomical structure or feature (e.g., a branching anatomical passageway 102). As the instrument is passed through the passageway 102, the measurement points 302 can be recorded positions of a distal end 108 of the survey instrument 100 during the survey procedure. In alternative embodiments, as the instrument is passed through the passageway 102, the measurement points 302 can be recorded positions along a length of the survey instrument 100.

[0023] At process 204, the control system receives a second set of points for a second anatomical coordinate frame. For example, the second set of points can be model points from a model of an anatomical body generated from an image (e.g., image 120). As Figure 4 illustrated, a model 400 of an anatomical structure (e.g., a branching anatomical passageway 102) includes a coordinate system X I , Y I , Z IThe model 400 can be generated, for example, from the image 120 generated from preoperative or intraoperative image data obtained from an imaging technique such as computed tomography (CT), magnetic resonance imaging (MRI), fluoroscopy, thermography, ultrasound, optical coherence tomography (OCT), thermography, impedance imaging, laser imaging, or nanotube X-ray imaging. The preoperative or intraoperative image data can correspond to two-dimensional, three-dimensional, or four-dimensional (including, for example, time-based or velocity-based information) images. For example, the image data can be CT image data of a lung having the anatomical passageway 102. Computer software, alone or in combination with manual input, can be used to convert the recorded images into a segmented two- or three-dimensional composite representation or model of a portion or the entire anatomical organ or anatomical region. The composite representation and image data set describe the various orientations and shapes of the passageways and the connectivity of the passageways. More specifically, during the segmentation process, the images are divided into segments or elements (e.g., pixels or voxels) that share certain characteristics or computed properties such as color, density, intensity, and texture. This segmentation process results in a two- or three-dimensional reconstruction that forms a model of the target anatomical body based on the obtained images. The model can include a centerline model that includes a set of interconnected line segments or points that extend through the center of the modeled passageways. The structure of the model or the line segments of the centerline model can be converted to an image model point cloud or set 402.

[0024] At a process 206, a first subset of points from the first coordinate frame is identified. For example, Figure 5 A plurality of measurement points 302 (e.g., survey points) are illustrated grouped into subsets 304-310. The subsets 304-310 can be defined based on a distance or insertion depth of the survey instrument from a predetermined point 312. The point 312 can be identified by a user or can correspond to a natural orientation such as a top of a patient’s trachea or a main carina. In Figure 5In embodiments, a subset 304 of the measurement points 302 corresponds to a relatively uncomplicated region of the branching anatomy having a small number of large and stable passageways. The subset 304 is located in a region extending a distance Di from the point 312. An additional subset of the measurement points 302 is defined at progressively greater distances from the point 312, which can correspond to a progressively greater extension length of the survey instrument. For example, a subset 306 of the measurement points 302 extends distally from the subset 304 and is located at a greater distance range from the predetermined point 312 than the subset 304. The subset 306 is located in a region extending between a distance Di and a distance D2 from the point 312. In some embodiments, the distance D2 is approximately 2 cm greater than the distance Di. In other embodiments, the distance D2 can be less than or greater than 2 cm. The subset 306 corresponds to a region of the branching anatomy that is more complicated than the subset 304, having a greater number and smaller passageways. A subset 308 of the measurement points 302 extends distally from the subset 306 and is located at a greater distance range from the predetermined point 312 than the subset 306. The subset 308 corresponds to a region of the branching anatomy that is more complicated than the subset 306, having a greater number and smaller passageways. A subset 310 of the measurement points 302 extends distally from the subset 308 and is located at a greater distance range from the predetermined point 312 than the subset 308. The subset 310 corresponds to a region of the branching anatomy that is more complicated than the subset 308, having a greater number and smaller passageways. In this deepest, most distal region of the anatomy, the passageways can also have a lower resistance to deformation than the passageways in the higher regions. Each of the regions 306-310 can have a depth of approximately 2 cm, although the depth of each region can vary. The first subset selected in the process 206 can be the subset 304 having a few easily identifiable passageways.

[0025] Referring again to Figure 2 At the process 208, a first transformation is determined to align or provide an initial registration of the first subset points in the first coordinate frame with the second set of model points in the second coordinate frame. For example, as shown in FIG. 4, the subset 304 of the measurement points 302 is transformed to align with the image model 400. The transformation can be a rigid transformation including a three-dimensional rotation component R and a three-dimensional translation component T. In some embodiments, the subset 304 includes one or more seed points having known reference positions and orientations in both the image reference frame and the instrument reference frame. In the lung, the main carina can be associated with a seed point. Figure 6

[0026] At the process 210, a first set of measurement points 302 (e.g., survey points) including the subset 304 can be transformed based on the first transformation determined at the process 208.

[0027] ​At process 212, a second subset of the first set of measurement points 302 is identified. The second subset can be the next adjacent subset after the initial subset in the distal progression of measurement points 302. For example, with reference to Figure 5 The second subset can be subset 306 located distally adjacent to subset 304 between depths D1 and D2 in the branching anatomy. The second subset 306 can represent a region of the anatomy with more and denser passageways than the first subset 304.

[0028] At process 214, a second transformation is determined to align or provide a registration iteration of the first and second subsets of the first set of model points with the second set of model points. For example, subsets 304 and 306 of measurement points 302 can be transformed to align with image model 400. The second transformation can include a three-dimensional rotational component and a three-dimensional translational component.

[0029] At process 216, the first set of measurement points 302 (e.g., survey points) including subsets 304 and 306 can be transformed based on the second transformation determined at process 214.

[0030] Processes 212-216 can be repeated for each of the remaining subsets 308, 310 until full registration of the survey instrument points 302 to the image model points 402 is complete. In some embodiments, the survey points 302 can be grouped into fewer or more number of subsets. In some embodiments, the registration can be performed with 10 subsets of points. In other embodiments, the registration can be performed with 5 subsets of points, 20 subsets of points, or any number of subsets of points.

[0031] In some embodiments, determining the transformation (e.g., processes 208 and / or 214) can include introducing noise into the data set including measurement points 302, model points 402, or both model points 302 and 402. The noise can be generated by perturbing the points 302, 402. In some embodiments, the noise can be random Gaussian noise. In some embodiments, the noise varies on each iteration of the registration algorithm and decreases as the algorithm converges closer to the final solution. Introducing noise into one or more of the data sets can be used to reduce false minima and decrease the likelihood of converging to a non-optimal registration. In another embodiment, the degree of noise can vary from subset to subset, with earlier points containing less noise and later points containing greater noise. Figure 7The illustration shows a method 500 that can be used to determine the transformation in processes 208 and 214. At process 502, a noise component can be added to a first subset of the model points. For example, a noise component can be introduced into a subset 304 of points 302. Noise can be generated by perturbing the measurement points 302 to effectively create more points for matching in ICP or other point-matching registration techniques. In some embodiments, a noise component can also be added to a second set of model points 402.

[0032] At process 504, the three-dimensional rotational component of the transformation can be determined, and at process 506, the three-dimensional transformation component of the transformation can be determined. In some embodiments, the amount or magnitude of the noise component can vary based on registration iterations. For example, during the determination of the first transformation at process 208, the magnitude of the noise component applied to subset 304 to determine the first transformation can be greater than the magnitude of the noise component applied to subsets 304, 306 to determine the second transformation at process 214. Furthermore, a reduced noise component can be applied to subsets 304, 306, 308 to determine a third transformation iteration. In some embodiments, the magnitude of the noise component applied during iterative registration can be reduced for each subsequent transformation because more subsets (and therefore more points) are included in the transformation determination. In other embodiments, the magnitude of the noise component can be the same in each iteration of the transformation determination. In other embodiments, the magnitude of the noise component can be changed, selected, or determined by a user, or in response to known or sensed factors in each iteration of the transformation determination.

[0033] In some embodiments, the registration techniques of this disclosure can be used in image-guided medical procedures performed using a remotely operated medical system, as described in further detail below. Figure 8As shown, a remotely operated medical system 600 typically includes a manipulator assembly 602 for operating a medical device 604 to perform various procedures on a patient P positioned on an operating table T in a surgical setting 601. The medical device 604 may correspond to device 100. The manipulator assembly 602 may be a remotely operated, non-remotely operated, or hybrid remotely operated assembly having selected degrees of freedom of motion, which may be motorized and / or remotely operated, and selected degrees of freedom of motion, which may be non-motorized and / or non-remotely operated. A main assembly 606, which may be inside or outside the surgical setting 601, typically includes one or more control devices for controlling the manipulator assembly 602. The manipulator assembly 602 supports the medical device 604 and may optionally include a plurality of actuators or motors driven on the medical device 604 in response to commands from a control system 612. The actuators may optionally include a drive system that, when coupled to the medical device 604, can advance the medical device 604 into an anatomical opening created by natural or surgical procedures. Other actuation systems can move the distal end of the medical device 604 with multiple degrees of freedom, which may include three linear degrees of freedom (e.g., linear motion along the X, Y, Z Cartesian axes) and three rotational degrees of freedom (e.g., rotation about the X, Y, Z Cartesian axes). Furthermore, actuators may be used to actuate the articulated end effector of the medical device 604 for grasping tissue in the jaws of a biopsy device and / or the like.

[0034] The remote-operated medical system 600 also includes a display system 610 for displaying images or representations of the surgical site and medical device 604 generated by the sensor system 608 and / or the endoscopic imaging system 609. The display system 610 and the main component 606 can be oriented such that an operator O can remotely perceive and control the medical device 604 and the main component 606.

[0035] In some embodiments, medical device 604 may include components for surgical procedures, biopsies, excisions, illumination, irrigation, or aspiration. Optionally, medical device 604, together with sensor system 608, may be used to collect (e.g., measure or survey) a set of data points corresponding to orientation within an anatomical passage of a patient (e.g., patient P). In some embodiments, medical device 604 may include components of imaging system 609, which may include an imaging range component or imaging instrument that records momentary or real-time images of the surgical site and provides the images to an operator or operator O via display system 610. The momentary images may be, for example, two-dimensional or three-dimensional images captured by an imaging instrument positioned within the surgical site. In some embodiments, imaging system components may be integrally or removably coupled to medical device 604. However, in some embodiments, a separate endoscope attached to a separate manipulator assembly may be used with medical device 604 to image the surgical site. The imaging system 609 may be implemented as hardware, firmware, software, or a combination thereof that interacts with or is otherwise executed by one or more computer processors, which may include the processor of the control system 612.

[0036] The sensor system 608 may include a position / orientation sensor system (e.g., an electromagnetic (EM) sensor system) and / or a shape sensor system for determining the position, orientation, speed, rate, attitude and / or shape of the medical device 604.

[0037] The remotely operated medical system 600 may also include a control system 612. The control system 612 includes at least one memory 616 and at least one computer processor 614 for implementing control between the medical device 604, main component 606, sensor system 608, endoscopic imaging system 609, and display system 610. The control system 612 also includes programming instructions (e.g., a non-transitory machine-readable medium storing the instructions) to implement some or all of the methods described according to the aspects disclosed herein, including instructions for providing information to the display system 610.

[0038] The control system 612 may optionally further include a virtual visualization system to provide navigational assistance to the operator O when controlling the medical device 604 during an image-guided surgical procedure. Virtual navigation using the virtual visualization system may be based on a reference to a set of preoperative or intraoperative data on the acquired anatomical access. The virtual visualization system processes images of the surgical site imaged using imaging techniques such as computed tomography (CT), magnetic resonance imaging (MRI), fluorescein scanning, thermography, ultrasound, optical coherence tomography (OCT), thermal imaging, impedance imaging, laser imaging, nanotube X-ray imaging, and / or the like.

[0039] Figure 9 The illustration depicts a surgical environment 700, in which patient P is positioned on an operating table T. Patient P may remain stationary within the surgical environment because overall patient movement is restricted by sedation, restraint, and / or other means. Periodic anatomical movements, including respiratory and cardiac movements of patient P, may continue unless the patient is instructed to hold their breath to temporarily halt these movements. Within the surgical environment 700, an instrument reference frame (X) is present. S Y S Z S A medical device 704 (e.g., device 100, 604) is coupled to a device holder 706. In this embodiment, the medical device 704 includes an elongated device 710, such as a flexible catheter, coupled to a device body 712. The device holder 706 is mounted to an insertion stage 708 fixed within a surgical environment 700. Alternatively, the insertion stage 708 may be movable but have a known orientation within the surgical environment 700 (e.g., via a tracking sensor or other tracking device). In these alternatives, a medical device reference frame is fixed relative to a surgical reference frame or is otherwise known. The device holder 706 may be a component of a remotely operated manipulator assembly (e.g., remotely operated manipulator assembly 602) coupled to the medical device 704 to control insertion movement (i.e., movement along axis A), and optionally, to control movement of the distal end 718 of the elongated device 710 in multiple directions (including yaw, pitch, and roll). The instrument holder 706 or insertion stage 708 may include an actuator, such as a servo motor (not shown), for controlling the movement of the instrument holder 706 along the insertion stage 708.

[0040] In this embodiment, the sensor system (e.g., sensor system 608) includes a shape sensor 714. The shape sensor 714 may include an optical fiber extending within and aligned with the elongated device 710. In one embodiment, the optical fiber has a diameter of approximately 200 μm. In other embodiments, the size may be larger or smaller. The optical fiber of the shape sensor 714 forms an optical fiber bending sensor for determining the shape of the elongated device 710. In an alternative, an optical fiber including a fiber Bragg grating (FBG) is used to provide strain measurements in one-dimensional or multi-dimensional structures. Various systems and methods for monitoring the shape and relative position of optical fibers in three dimensions are described in U.S. Patent Application No. 11 / 180,389 (filed July 13, 2005) (disclosing "Fiber optic position and shape sensing device and method relating thereto"), U.S. Patent Application No. 12 / 047,056 (filed July 16, 2004) (disclosing "Fiber-optic shape and relative position sensing"), and U.S. Patent No. 6,389,187 (filed June 17, 1998) (disclosing "Optical Fibre Bend Sensor"), all of which are incorporated herein by reference in their entirety. In some embodiments, the sensor may employ other suitable strain sensing techniques, such as Rayleigh scattering, Raman scattering, Brillouin scattering, and fluorescence scattering. In some embodiments, the shape of the conduit may be determined using other techniques. For example, the history of the distal attitude of the elongated device 710 may be used to reconstruct the shape of the elongated device 710 over time intervals.

[0041] like Figure 9 As shown, the instrument body 712 is coupled and fixed relative to the instrument holder 706. In some embodiments, a fiber optic shape sensor 714 is fixed at a proximal point 716 on the instrument body 712. In some embodiments, the proximal point 716 of the fiber optic shape sensor 714 may move with the instrument body 712, but the orientation of the proximal point 716 may be known (e.g., via a tracking sensor or other tracking device). The shape sensor 714 measures the shape from the proximal point 716 to another point (such as the distal end 718 of the elongated device 710).

[0042] The elongated device 710 includes a passage (not shown) sized and shaped to receive a medical device 722. In some embodiments, the medical device 722 can be used for procedures such as surgery, biopsy, excision, illumination, irrigation, or aspiration. The medical device 722 can be deployed through the elongated device 710 and used at a target location within the anatomy. The medical device 722 may include, for example, an image-capturing probe, a biopsy instrument, a laser-removed fibromac, and / or other surgical, diagnostic, or therapeutic tools. The medical device 722 can be advanced from the distal end 718 of the elongated device 710 to perform a procedure and then retracted into the passage when the procedure is complete. The medical device 722 can be removed from the proximal end of the elongated device 710 or from another optional instrument port (not shown) along the elongated device 710.

[0043] The elongated device 710 may also accommodate cables, linkages, or other steering controls (not shown) to controllably bend the distal end 718. In some examples, at least four cables are used to provide independent "up-down" steering to control the pitch of the distal end 718 and "left-right" steering to control the yaw of the distal end 718.

[0044] The position measuring device 720 can provide information about the position of the instrument body 712 as it moves along the insertion axis A on the insertion stage 708. The position measuring device 720 may include a resolver, encoder, potentiometer, and / or other sensors that determine the rotation and / or orientation of an actuator that controls the movement of the instrument carrier 706 and thus the movement of the instrument body 712. In some embodiments, the insertion stage 708 is linear, while in other embodiments, the insertion stage 708 may be curved or have a combination of curved and linear segments.

[0045] In the description, specific details describing some embodiments have been set forth. Numerous specific details have been set forth to provide a thorough understanding of the embodiments. However, it will be apparent to those skilled in the art that some embodiments may be practiced without some or all of these specific details. The specific embodiments disclosed herein are illustrative and not restrictive. Those skilled in the art will recognize other elements within the scope and spirit of this disclosure, although not specifically described herein.

[0046] In other embodiments, implementations, or applications not specifically shown or described, elements described in detail with reference to one embodiment, implementation, or application may optionally be included, as long as practicable. For example, if an element is described in detail with reference to one embodiment but not with reference to a second embodiment, that element may still be required to be included in the second embodiment. Therefore, to avoid unnecessary repetition in the following description, one or more elements shown and described in association with one embodiment, implementation, or application may be incorporated into other embodiments, implementations, or aspects unless otherwise specifically described, unless the one or more elements would render the embodiment or implementation ineffective, or unless two or more of the elements provide conflicting functionality. Not all described processes can be performed in all embodiments of the method. Additionally, one or more processes not explicitly described may be included before, after, between, or as part of the described processes. In some embodiments, one or more of the processes may be executed by a control system or may be implemented at least in part in the form of executable code stored on a non-transitory, tangible, machine-readable medium, which, when run by one or more processors, causes one or more processors to execute one or more of the processes.

[0047] Any changes and modifications to the described devices, apparatus, methods, and principles of this disclosure are fully considered, as would normally occur to those skilled in the art to which this disclosure pertains. Furthermore, the dimensions provided herein are for specific examples, and it is contemplated that the concepts of this disclosure may be implemented using different sizes, dimensions, and / or ratios. To avoid unnecessary descriptive repetition, one or more components or actions described according to one illustrative embodiment may be used or omitted where applicable to other illustrative embodiments. For brevity, numerous iterations of these combinations will not be described separately. For simplicity, in some cases, the same reference numerals are used throughout the drawings to refer to the same or similar parts.

[0048] The systems and methods described herein can be applied to navigating and treating anatomical tissues via naturally or surgically created access pathways in any of a variety of anatomical systems, including the lungs, colon, intestines, kidneys and renal calyces, brain, heart, and the circulatory system, including the vascular system. While some embodiments of medical procedures are provided herein, any references to medical or surgical instruments and methods are non-limiting. For example, the instruments, systems, and methods described herein can be used for non-medical purposes, including industrial use, general robotic use, and sensing or manipulating non-tissue artifacts. Other example applications relate to cosmetic improvements, imaging of human or animal anatomy, collecting data from human or animal anatomy, and training medical or non-medical personnel. Additional example applications include procedures for handling tissues removed from human or animal anatomy (without returning the human or animal anatomy) and performing procedures on human or animal cadavers. Furthermore, these techniques can also be used in surgical and non-surgical medical treatment or diagnostic procedures.

[0049] One or more elements of the embodiments of this disclosure can be implemented in software to execute on a processor of a computer system (e.g., a control processing system). When implemented in software, elements of the embodiments of this disclosure can be code segments that perform various tasks. Programs or code segments can be stored in a processor-readable storage medium or device, which may have been downloaded via a computer data signal embodied on a carrier wave over a transmission medium or communication link. Processor-readable storage devices can include any medium capable of storing information, including optical media, semiconductor media, and / or magnetic media. Examples of processor-readable storage devices include electronic circuits, semiconductor devices, semiconductor storage devices, read-only memory (ROM), flash memory, erasable programmable read-only memory (EPROM); floppy disks, CD-ROMs, optical disks, hard disks, or other storage devices. Code segments can be downloaded via a computer network (e.g., the Internet, intranet, etc.). Any of a variety of centralized or distributed data processing architectures can be employed. Programming instructions can be implemented as multiple separate programs or subroutines, or programming instructions can be integrated into multiple other aspects of the system described herein. In some examples, the control system may support wireless communication protocols such as Bluetooth, Infrared Data Communication (IrDA), HomeRF, IEEE 802.11, Digital Enhanced Wireless Communication (DECT), Ultra Wideband (UWB), ZigBee, and wireless telemetry.

[0050] Please note that the presented processes and displays may not inherently relate to any particular computer or other device. Various general-purpose systems may be used with the programs taught herein, or it may prove convenient to construct more specialized devices to perform the described operations. The structures required for various such systems will appear as elements in the claims. Furthermore, embodiments of the invention are not described with reference to any particular programming language. It should be understood that the teachings of the invention as described herein can be implemented using a variety of programming languages.

[0051] This disclosure describes various instruments, instrument parts, and anatomical structures in three-dimensional space based on their states. As used herein, the term "position" refers to the orientation of an object or part of an object in three-dimensional space (e.g., three translational degrees of freedom along Cartesian x, y, and z coordinates). As used herein, the term "orientation" refers to the rotational placement of an object or part of an object (three rotational degrees of freedom—e.g., roll, pitch, and yaw). As used herein, the term "attitude" refers to the position of an object or part of an object in at least one translational degree of freedom and the orientation of the object or part of an object in at least one rotational degree of freedom (up to six total degrees of freedom). As used herein, the term "shape" refers to a set of attitudes, positions, or orientations measured along an object.

[0052] While certain exemplary embodiments of the invention have been described and illustrated in the accompanying drawings, it should be understood that such embodiments are merely illustrative of the invention in a broad sense and not limiting, and that embodiments of the invention are not limited to the specific constructions and arrangements shown and described, as various other modifications will be apparent to those skilled in the art.

Claims

1. A system comprising: processor; as well as It has a memory storing computer-readable instructions, which, when executed by the processor, cause the system to: Receive a first set of points corresponding to anatomical features and generated by instrumental surveying of the anatomical features, each point in the first set of points representing a position in a first reference frame; Receive a second set of points corresponding to the anatomical feature and generated from image data of the anatomical feature, each point in the second set of points representing a position in a second reference frame; Identify the 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 group of points based on the first transformation; Identify the second subset of the first set of points; Determine a second transformation to align the first subset and the second subset of the first set of points with the second set of points; and The first set of points is transformed based on the second transformation.

2. The system of claim 1, wherein the second set of points is arranged along the centerline model of the anatomical feature.

3. The system according to claim 1, wherein the second subset of the first set of points is adjacent to the first subset.

4. The system of claim 1, wherein the first subset of the first set of points corresponds to a first part of the anatomical feature having a first depth from the center bifurcation of the anatomical feature, and wherein the second subset of the first set of points corresponds to a second part of the anatomical feature extending from the first depth to a second depth from the center bifurcation.

5. The system according to claim 4, wherein the second depth is approximately 2 cm, which is greater than the first depth.

6. The system of claim 4, wherein the first portion of the anatomical feature has greater stiffness than the second portion.

7. The system of claim 4, wherein the first portion of the anatomical feature comprises fewer branches than the second portion.

8. The system of claim 1, wherein the first transformation comprises rotation and translation of the first set of points.

9. The system of claim 1, wherein the computer-readable instructions, when executed by the processor, further cause the system to add noise of a first amplitude to the first subset of the first set of points to determine the first transformation.

10. The system of claim 9, wherein the computer-readable instructions, when executed by the processor, further cause the system to add noise of a second amplitude to the first subset and the second subset of the first set of points to determine the second transformation, wherein the first amplitude is greater than the second amplitude.

11. The system of claim 9, wherein the noise is random Gaussian noise.

12. The system of claim 1, wherein the computer-readable instructions, when executed by the processor, further enable the system to identify seed points in the first set of points, the seed points corresponding to known positions and orientations in the second reference frame.

13. The system of claim 12, wherein the known location and orientation is the central bifurcation of the anatomical feature.

14. The system of claim 1, wherein the first set of points comes from a first model of the anatomical feature, and the second set of points comes from a second model of the anatomical feature.

15. The system of claim 1, wherein the anatomical features include branching structures.

16. A non-transitory machine-readable medium comprising a plurality of machine-readable instructions, said plurality of machine-readable instructions, when executed by one or more processors associated with a computer-assisted medical system device, being adapted to cause said one or more processors to perform a method, said method comprising: Receive a first set of points corresponding to anatomical features and generated by instrumental surveying of the anatomical features, each point in the first set of points representing a position in a first reference frame; Receive a second set of points corresponding to the anatomical feature and generated from image data of the anatomical feature, each point in the second set of points representing a position in a second reference frame; Identify the 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 group of points based on the first transformation; Identify the second subset of the first set of points; Determine a second transformation to align the first subset and the second subset of the first set of points with the second set of points; and The first set of points is transformed based on the second transformation.

17. The non-transitory machine-readable medium of claim 16, wherein the second set of points is arranged along the centerline model of the anatomical feature.

18. The non-transitory machine-readable medium of claim 16, wherein the second subset of the first set of points is adjacent to the first subset.

19. The non-transitory machine-readable medium of claim 16, wherein the first subset of the first set of points corresponds to a first portion of the anatomical feature having a first depth at a central bifurcation of the anatomical feature, and wherein the second subset of the first set of points corresponds to a second portion of the anatomical feature extending from the first depth to a second depth at a central bifurcation.

20. The non-transitory machine-readable medium of claim 19, wherein the second depth is approximately 2 cm, greater than the first depth.

21. The non-transitory machine-readable medium of claim 19, wherein the first portion of the anatomical feature has greater stiffness than the second portion.

22. The non-transitory machine-readable medium of claim 19, wherein the first portion of the anatomical feature comprises fewer branches than the second portion.

23. The non-transitory machine-readable medium of claim 16, wherein the first transformation comprises rotation and translation of the first set of points.

24. The non-transitory machine-readable medium of claim 16, wherein the machine-readable instructions perform the method when executed by the one or more processors, the method further comprising adding noise of a first amplitude to a first subset of the first set of points to determine the first transformation.

25. The non-transitory machine-readable medium of claim 24, wherein the machine-readable instructions perform the method when executed by the one or more processors, the method further comprising adding noise of a second amplitude to the first subset and the second subset of the first set of points to determine the second transformation, wherein the first amplitude is greater than the second amplitude.

26. The non-transitory machine-readable medium of claim 24, wherein the noise is random Gaussian noise.

27. The non-transitory machine-readable medium of claim 16, wherein the machine-readable instructions perform the method when executed by the one or more processors, the method further comprising identifying a seed point in the first set of points, the seed point corresponding to a known location and orientation in the second reference frame.

28. The non-transitory machine-readable medium of claim 27, wherein the known location and orientation is the central bifurcation of the anatomical feature.

29. The non-transitory machine-readable medium of claim 16, wherein the first set of points comes from a first model of the anatomical feature and the second set of points comes from a second model of the anatomical feature.

30. The non-transitory machine-readable medium of claim 16, wherein the anatomical features include branching structures.

31. The non-transitory machine-readable medium of claim 16, wherein the machine-readable instructions perform the method when executed by the one or more processors, the method further comprising: Identify the third subset of the first set of points; A third transformation is determined to align the first subset, the second subset, and the third subset of the first set of points with the second set of points; as well as The first set of points is transformed based on the third transformation.

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