Automatic tracking and registration of ultrasonic probes using optical shape detection without tip fixation

摘要

The registration apparatus includes an attachment piece 106 that is adapted and adapted to be coupled to an imaging probe. A path 105 formed in or on the attachment piece is adapted to receive the optical shape detection device so that the optical shape detection device can freely float to allow longitudinal twist in the path. Composed. The path is such that the geometric geometry provides a template pattern 107 in the image collected using the imaging probe to allow registration between the imaging coordinate system and the optical shape detection coordinate system. Includes characteristic geometries for forming a detection device.