Systems and methods for tracking and displaying endoscope shape and distal end orientation

Systems and methods for tracking shape and orientation of an endoscope employ motion tracking sensors to track locations on the endoscope for use in determining real time shape and distal end orientation for display during navigation of the endoscope. An example system includes sensor units distributed along the endoscope and a control unit. The sensor units track motion of the endoscope locations and transmit resulting tracking data to a control unit. The control unit processes the tracking data to determine shape of the endoscope and orientation of the distal end of the endoscope. The control unit generates output to a display unit that causes the display unit to display one or more representations indicative of the shape of the endoscope and orientation of the distal end of the endoscope for reference by an endoscope operator during an endoscopic procedure. 用于跟踪内窥镜的形状和取向的系统和方法采用运动跟踪传感器来跟踪内窥镜上的位置，以用于确定用于在内窥镜的导航过程中显示的实时形状和远端取向。种示例系统包括沿着内窥镜分布的传感器单元和控制单元。传感器单元跟踪内窥镜位置的运动并且将所产生的跟踪数据发送至控制单元。控制单元处理跟踪数据以确定内窥镜的形状和内窥