OPTICAL FIBER SHAPE SENSING SYSTEMS

• US 20110172680A1
• Filed: 03/28/2011
• Published: 07/14/2011
• Est. Priority Date: 04/20/2007
• Status: Active Grant

• Current Assignee: Koninklijke Philips Electronics N.V. (Koninklijke Philips N.V.)
• Original Assignee: Koninklijke Philips Electronics N.V. (Koninklijke Philips N.V.)
• Inventors: Tanner, Neal A., Ramamurthy, Bhaskar S., Udd, Eric, Younge, Robert G., Schlesinger, Randall L.
• Granted Patent: US 8,515,215 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• CPC Class Codes: A61B 1/009 with bending or curvature detection of the insertion part
• CPC Class Codes: A61B 2017/00039 Electric or electromagnetic phenomena other than conductivity, e.g. capacity, inductivity, Hall effect
• CPC Class Codes: A61B 2017/00053 Mapping
• CPC Class Codes: A61B 2034/2061 using shape-sensors, e.g. fiber shape sensors with Bragg gratings
• CPC Class Codes: A61B 2090/067 for measuring angles
• CPC Class Codes: A61B 5/1076 for measuring dimensions inside body cavities, e.g. using catheters A61B3/1005 takes precedence
• CPC Class Codes: A61B 5/6852 Catheters
• CPC Class Codes: G02B 6/022 using mechanical stress, e.g. tuning by compression or elongation, special geometrical shapes such as "dog-bone" or taper G02B6/02204 takes precedence; optical modulation using photo-elastic effect G02F1/0131

Abstract

A medical instrument system includes an elongate instrument body defining a longitudinal axis and capable of being twisted about its longitudinal axis and an optical fiber sensor coupled to the instrument body. A detector is operatively coupled to the optical fiber sensor and configured to detect respective light signals transmitted on the optical fiber sensor. A controller is operatively coupled to the detector and configured to determine a twist of a portion of the instrument body about its longitudinal axis based on an analysis of detected light signals.

Claims

1. A medical instrument system, comprising:

an elongate instrument body defining a longitudinal axis and capable of being twisted about its longitudinal axis;

an optical fiber sensor coupled to the instrument body;

a detector operatively coupled to the optical fiber sensor and configured to detect respective light signals transmitted on the optical fiber sensor; and

a controller operatively coupled to the detector and configured to determine a twist of a portion of the instrument body about its longitudinal axis based on an analysis of detected light signals.

2. The system of claim 1, wherein the elongate instrument body is robotically controlled.

3. The system of claim 1, wherein a portion of the optical fiber sensor traverses the instrument body to form one or more triangular rosettes, each of the one or more triangular rosettes comprising at least three, non-parallel sides.

4. The system of claim 3, wherein each side of each of the one or more triangular rosettes has a respective Bragg grating.

5. The system of claim 1, the optical fiber sensor comprising a plurality of spaced-apart Bragg gratings.

6. The system of claim 5, wherein the Bragg gratings are spaced approximately equidistantly along the optical fiber sensor.

7. The system of claim 5, wherein the Bragg gratings are more densely spaced along a distal portion of the optical fiber sensor than along a proximal portion.

8. The system of claim 1, wherein the optical fiber sensor comprises multiple fiber cores.

9. The system of claim 8, each fiber core including one or more Bragg gratings.

10. The system of claim 9, wherein the Bragg gratings are spaced approximately equidistantly along each of the optical fiber cores.

11. The system of claim 9, wherein the Bragg gratings are more densely spaced along a respective distal portion of each of the optical fiber cores than along a respective proximal portion of each of the optical fiber cores.

12. The system of claim 1, wherein the controller determines the twist of at least a portion of the instrument body based on a change in polarization of the detected light signals.

13. The system of claim 12, the optical fiber sensor comprising one or more polarization dependent Bragg gratings.

14. The system of claim 12, the optical fiber sensor comprising one or more polarization independent Bragg gratings.

15. The system of claim 12, the optical fiber sensor comprising at least first and second Bragg gratings, and wherein the controller determines the twist of at least a portion of the instrument body based at least in part on a change in polarization of detected portions of light signals reflected from the first Bragg grating and detected portions of light signals reflected from the second Bragg grating.

16. The system of claim 1, wherein at least a portion of the optical fiber is wound around the instrument body.

17. The system of claim 1, wherein at least a portion of the optical fiber is helically wound around the instrument body.

18. A medical instrument system, comprising:

an elongate instrument body defining a longitudinal axis and capable of being twisted about its longitudinal axis;

a plurality of optical fibers coupled to or encapsulated within a wall of the instrument body, each optical fiber including a plurality of spaced apart Bragg gratings;

a detector operatively coupled to the respective optical fibers and configured to detect light signals reflected by the respective Bragg gratings; and

a controller operatively coupled to the detector and configured to determine a twist of a portion of the catheter body based upon an analysis of detected light signals.

19. The system of claim 18, wherein a respective portion of each optical fiber traverses the instrument body to form one or more triangular rosettes, each of the one or more triangular rosettes comprising at least three, non-parallel sides, each side having a respective Bragg grating.

20. The system of claim 18, wherein the elongate instrument body is robotically controlled.

21. A medical instrument system, comprising:

a robotically controlled elongate flexible instrument body;

an optical fiber substantially encapsulated in a wall of the instrument body, the optical fiber including a plurality of Bragg gratings unevenly spaced along the optical fiber;

a detector operatively coupled to the optical fiber and configured to detect respective light signals reflected by the Bragg gratings; and

a controller operatively coupled to the detector and configured to determine both a bending and a twist of at least a portion of the instrument body based upon an analysis of detected reflected light signals from the unevenly spaced gratings.

22. An instrument system, comprising:

a robotically controlled elongate body;

an optical fiber coupled to the elongate body, the optical fiber including one or more Bragg gratings;

a localization sensor coupled to the elongate body;

a detector operatively coupled to the optical fiber and configured to detect respective light signals reflected by the one or more Bragg gratings; and

a controller operatively coupled to the detector and configured to determine both a bending and a twist of at least a portion of the elongate body based on detected reflected light signals and on a relative position of the localization sensor.

23. The system of claim 22, wherein the elongate body is a flexible medical guide instrument having an annular wall.

24. The system of claim 23, wherein the optical fiber is substantially encapsulated in the wall of the guide instrument.

25. The system of claim 22, wherein at least a portion of the optical fiber is wound around the elongate body.

26. A robotic system, comprising:

an elongate instrument body defining a longitudinal axis and capable of being twisted about its longitudinal axis;

an optical fiber sensor coupled to the instrument body;

a detector operatively coupled to the optical fiber sensor and configured to detect respective light signals transmitted on the optical fiber sensor;

a controller operatively coupled to the detector and configured to determine

(i) a twist of a portion of the instrument body about its longitudinal axis based on an analysis of detected light signals, and

(ii) a position of a distal tip of the elongated instrument body.

27. The system of claim 26, wherein the controller is further configured to cause movement of the elongated instrument body in response to received user commands.

28. The system of claim 27, wherein a portion of the optical fiber sensor traverses the instrument body to form one or more triangular rosettes, each of the one or more triangular rosettes comprising at least three, non-parallel sides.

29. The system of claim 27, wherein the optical fiber sensor comprises multiple fiber cores.

30. The system of claim 29, each fiber core including one or more Bragg gratings.

31. The system of claim 30, wherein the Bragg gratings are spaced approximately equidistantly along each of the optical fiber cores.

32. The system of claim 30, wherein the Bragg gratings are more densely spaced along a respective distal portion of each of the optical fiber cores than along a respective proximal portion of each of the optical fiber cores.

33. The system of claim 29, the optical fiber sensor comprising a plurality of spaced-apart Bragg gratings.

34. The system of claim 33, wherein the Bragg gratings are more densely spaced along a distal portion of the optical fiber sensor than along a proximal portion.

35. The system of claim 26, wherein the controller determines the twist of at least a portion of the instrument body based on a change in polarization of the detected light signals.

36. A method of controlling an elongated robotic medical instrument in a patient'"'"'s body, comprising:

inserting a distal portion of an elongated instrument body into the patient'"'"'s body;

receiving a light signal from an optical fiber sensor coupled to the instrument body;

detecting a twist of at least a portion of the instrument body based on the received light signal; and

determining a position of a distal tip of the instrument body in the patient'"'"'s body.

37. The method of claim 36, further comprising sending a user command to a controller upon receipt of which the controller causes movement of the distal tip of the instrument body to a location in the body.

38. The method of claim 37, wherein the controller causes movement of the distal tip of the instrument body by sending signals to an actuator coupled to the instrument body.

39. The method of claim 36, the optical fiber sensor comprising a plurality of spaced-apart Bragg gratings.

40. The method of claim 36, wherein the optical fiber sensor comprises multiple fiber cores.

41. The method of claim 40, each fiber core comprising a plurality of spaced-apart Bragg gratings.

42. The method of claim 36, wherein the controller determines the twist of at least a portion of the instrument body based on a change in polarization of the detected light signals.

43. The method of claim 42, the optical fiber sensor comprising one or more polarization dependent Bragg gratings.

44. The method of claim 42, the optical fiber sensor comprising one or more polarization independent Bragg gratings.

45. The method of claim 42, the optical fiber sensor comprising at least first and second Bragg gratings, and wherein the controller determines the twist of at least a portion of the instrument body based at least in part on a change in polarization of detected portions of light signals reflected from the first Bragg grating and detected portions of light signals reflected from the second Bragg grating.