APPARATUS AND METHODS FOR FIBER INTEGRATION AND REGISTRATION

• US 20130028554A1
• Filed: 12/07/2011
• Published: 01/31/2013
• Est. Priority Date: 07/29/2011
• Status: Active Grant

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Hansen Medical Incorporated (Johnson & Johnson)
• Inventors: Macnamara, Francis, Reis, Gene, Schlesinger, Randall L., Tanner, Neal A., WONG, Serena H., Hsu, Jason J.
• Granted Patent: US 9,138,166 B2
• Time in Patent Office: Days
• US Class Current: 385/12
• CPC Class Codes: A61B 1/0051 with controlled bending of insertion part
• CPC Class Codes: A61B 1/009 with bending or curvature detection of the insertion part
• CPC Class Codes: A61B 2017/00292 mounted on or guided by flexible, e.g. catheter-like, means
• CPC Class Codes: A61B 2034/2061 using shape-sensors, e.g. fiber shape sensors with Bragg gratings
• CPC Class Codes: A61B 2562/12 Manufacturing methods specially adapted for producing sensors for in-vivo measurements
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 5/065 Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe
• CPC Class Codes: A61M 2025/0166 Sensors, electrodes or the like for guiding the catheter to a target zone, e.g. image guided or magnetically guided
• CPC Class Codes: A61M 25/0147 with movable mechanical means, e.g. pull wires
• CPC Class Codes: G01B 11/24 for measuring contours or curvatures
• CPC Class Codes: G01L 1/242 the material being an optical fibre

Abstract

Systems and methods for integrating and/or registering a shape sensing fiber in or to various instruments are described herein. Registration fixtures and registration techniques for matching the coordinate system of a fiber to the coordinate system of an elongate instrument or other device are provided. Various systems and methods for integrating a shape sensing fiber into an elongate instrument or other device are also described herein.

Claims

1. A system comprising:

an elongate instrument having a proximal end, a distal end and at least one lumen defined therein; and

a shape sensing fiber, wherein at least a first portion of the fiber is positioned in the lumen of the elongate instrument, and wherein at least a second portion of the fiber is fixed in a known location or position relative to the elongate instrument or to another structure such that the coordinate system of the fiber can be matched to the coordinate system of the elongate instrument to register the fiber to the elongate instrument.

2. The system of claim 1, wherein the second portion of the fiber is fixed such that one or more degrees of freedom of the fixed portion the fiber may be measured or ascertained relative to the elongate instrument or other structure.

3. The system of claim 1, wherein the second portion of the fiber has a known shape.

4. The system of claim 1, further comprising a registration fixture, wherein the second portion of the fiber is fixed in a known location on the registration fixture and the registration fixture is in a known location relative to the elongate instrument.

5. The system of claim 1, further comprising a registration fixture having grooves for holding at least a portion of the fiber in a known shape, orientation or position.

6. The system of claim 1, further comprising a registration fixture having groves for holding at least a portion of the fiber and at least a portion of the elongate instrument in a known shape or position.

7. The system of claim 1, wherein a housing is coupled to a proximal portion of the elongate instrument, wherein the housing comprises an interface for receiving an actuating force and transferring the actuating force to the elongate instrument to articulate a distal portion of the elongated instrument, and wherein the housing comprises a registration fixture.

8. The system of claim 7, wherein a portion of the fiber is positioned within the housing, wherein the portion includes a service loop which allows for sliding of the fiber within the lumen of the elongate instrument when the distal portion of the elongate instrument is articulated.

9. The system of claim 1, wherein the system is removably coupled to an instrument driver and a controller which controls actuation of the elongate instrument, wherein actuation motion is transferred from the controller to the system via the instrument driver to articulate the distal end of the elongate instrument in at least one degree of freedom.

10. The system of claim 1, wherein the system is disposable.

11. The system of claim 1, wherein the second portion of the fiber is configured in a known position or orientation in a registration fixture such that data can be collected regarding the position or orientation of at least a partial length of the second portion of the fiber, wherein the collected data is used to calculate a transform between the coordinate system of the fiber and the coordinate system of the elongate instrument or other structure.

12. A method for detecting the shape of an elongate instrument comprising

operating an assembly having an elongate instrument and a shape sensing fiber, the elongate instrument having a proximal end, a distal end and at least one lumen defined therein, wherein at least a first portion of the fiber is positioned in the lumen of the elongate instrument and wherein at least a second portion of the fiber is fixed in a known location or position relative to the elongate instrument or to another structure;

and

measuring or ascertaining a position of the fixed portion of the fiber relative to the elongate instrument to match the coordinate system of the fiber with the coordinate system of the elongate instrument to register the fiber to the elongate instrument.

13. The method of claim 12, wherein measuring or ascertaining a position of the fiber comprises measuring or ascertaining one or more degrees of freedom of the fixed portion the fiber relative to the elongate instrument.

14. The method of claim 12, wherein measuring or ascertaining a position of the fixed portion of the fiber relative to the elongate instrument is performed while the elongate instrument is positioned within an anatomical region.

15. The method of claim 12, further comprising accessing saved registration data regarding registration between the coordinate system of the fiber and the coordinate system of the elongate instrument from a memory component to determine the shape of the elongate instrument.

16. The method of claim 12, further comprising measuring or ascertaining one or more degrees of freedom of a portion of the fiber configured in a known shape, plane or other orientation, relative to the elongate instrument.

17. The method of claim 12, wherein the assembly is removably coupled to an instrument driver and a controller which controls actuation of the elongate instrument, wherein actuation motion is transferred from the controller to the elongate instrument via the instrument driver to articulate the distal end of the elongate instrument in at least one degree of freedom.

18. The method of claim 12, wherein the assembly is disposable.

19. The method of claim 12, wherein the assembly further comprises a registration fixture wherein the second portion of the fiber is fixed in a known location on the registration fixture and the registration fixture is in a known location relative to the elongate instrument, wherein one or more degrees of freedom of the second portion of the fiber are measured or ascertained relative to the registration fixture and the elongate instrument.

20. The method of claim 12, wherein the assembly further comprises a registration fixture having grooves for holding at least a portion of the fiber in a known shape, orientation or position.

21. The method of claim 12, wherein measuring or ascertaining a position of the fixed portion of the fiber relative to the elongate instrument to match the coordinate systems comprises collecting data regarding the position or orientation of at least a partial length of the fixed portion of the fiber configured in a known position or orientation in a registration fixture;

and using the collected data to calculate a transform between the coordinate system of the fiber and the coordinate system of the elongate instrument or other structure.

22. A system comprising:

an elongate instrument having a proximal end, a distal end and at least one lumen defined therein; and

a shape sensing fiber, wherein at least a first portion of the fiber is positioned in the lumen of the elongate instrument, and wherein at least a second portion of the fiber is configured in a known shape, plane or other orientation relative to the elongate instrument or to another structure such that the coordinate system of the fiber can be matched to the coordinate system of the elongate instrument to register the fiber to the elongate instrument.

23. The system of claim 22, wherein one or more degrees of freedom of the second portion of the fiber may be measured or ascertained relative to the elongate instrument.

24. The system of claim 22, wherein the second portion of the fiber is positioned between a distal end of the fiber and a service loop located at a proximal end of the fiber.

25. The system of claim 22, wherein the second portion of the fiber is held within a registration fixture associated with the elongate instrument.

26. The system of claim 25, wherein the second portion of the fiber has a u-turn configuration with a large bend radius to minimize measurement error and fit within a registration fixture associated with the elongate instrument.

27. The system of claim 22, wherein the second portion of the fiber is configured in a known position or orientation in a registration fixture such that data can be collected regarding the position or orientation of at least a partial length of the second portion of the fiber, wherein the collected data is used to calculate a transform between the coordinate system of the fiber and the coordinate system of the elongate instrument or other structure.

28. The system of claim 22, wherein the system is disposable.

29. A method of detecting the shape of an elongate instrument comprising

operating an assembly having an elongate instrument and a shape sensing fiber, the elongate instrument having a proximal end, a distal end and at least one lumen defined therein, wherein at least a first portion of the fiber is positioned in the lumen of the elongate instrument and wherein at least a second portion of the fiber is configured in a known shape, plane or other orientation;

and

measuring or ascertaining a position of the second portion of the fiber relative to the elongate instrument to match the coordinate system of the fiber with the coordinate system of the elongate instrument to register the fiber to the elongate instrument.

30. The method of claim 29, comprising measuring or ascertaining one or more degrees of freedom of the second portion of the fiber relative to the elongate instrument.

31. The method of claim 29, wherein the second portion of the fiber is positioned between a distal end of the fiber and a service loop located at a proximal end of the fiber.

32. The method of claim 29, wherein the second portion of the fiber is positioned on a portion of the fiber fixed to an operating table or bed.

33. The method of claim 29, wherein the second portion of the fiber is held within a registration fixture associated with the elongate instrument.

34. The method of claim 29, wherein measuring or ascertaining a position of the second portion of the fiber relative to the elongate instrument to match the coordinate systems comprises collecting data regarding the position or orientation of the second portion of the fiber configured in a known shape, plane or other orientation in a registration fixture;

and using the collected data to calculate a transform between the coordinate system of the fiber and the coordinate system of the elongate instrument or other structure.

35. A method for detecting the shape of an elongate instrument comprising

operating an assembly having an elongate instrument and a shape sensing fiber, the elongate instrument having a proximal end, a distal end and at least one lumen defined therein, wherein at least a first portion of the fiber is positioned in the lumen of the elongate instrument and wherein at least a second portion of the fiber is fixed in a known location relative to the elongate instrument or to another structure;

and

accessing saved registration data regarding registration between the coordinate system of the fiber and the coordinate system of the elongate instrument from a memory component to determine the shape of the elongate instrument.

36. The method of claim 35, further comprising measuring or ascertaining one or more degrees of freedom of the fixed portion the fiber relative to the elongate instrument.

37. The method of claim 36, wherein measuring or ascertaining one or more degrees of freedom of the fixed portion the fiber relative to the elongate instrument is performed while the elongate instrument is positioned within an anatomical region.

38. The method of claim 35, further comprising measuring or ascertaining one or more degrees of freedom of a portion of the fiber configured in a known shape, plane or other orientation, relative to the elongate instrument.

39. The method of claim 35, wherein the assembly is removably coupled to an instrument driver and a controller which controls actuation of the elongate instrument, wherein actuation motion is transferred from a controller to the elongate instrument via the instrument driver to articulate the distal end of the elongate instrument in at least one degree of freedom.

40. The method of claim 35 wherein the structure is a registration fixture which is positioned in a known location relative to the elongate instrument.

41. A system comprising:

an elongate instrument having a proximal end, a distal end and at least one lumen defined therein; and

a shape sensing fiber, wherein at least a portion of the fiber is positioned within the lumen of the elongate instrument, the shape sensing fiber having a service loop which allows for sliding of the fiber within the lumen of the elongate instrument when a distal portion of the elongate instrument is articulated; and

a coil positioned within the lumen and surrounding the fiber, wherein the coil is slideable within the lumen and the coil maintains the lumen in an open state during articulation of the elongate instrument.

42. The system of claim 41, wherein the coil is positioned in a distal section of the lumen.

43. The system of claim 41, wherein the fiber is free floating within the coil.

44. The system of claim 41, wherein a proximal section of the lumen is incorporated into a braid in the elongate instrument.

45. The system of claim 44, wherein the braid is configured to wind around the proximal section of the lumen and a working lumen and control wire lumen of the elongate instrument in a diamond braid pattern.

46. The system of claim 41, wherein the elongate instrument has a tip which is reinforced to support or protect at least a portion of a fiber termination positioned therein.

47. The system of claim 41, wherein the elongate instrument tip includes a control ring and the fiber extends through or along the control ring.