INSTRUMENT SYSTEMS AND METHODS UTILIZING OPTICAL FIBER SENSOR

• US 20130090528A1
• Filed: 09/04/2012
• Published: 04/11/2013
• Est. Priority Date: 08/14/2007
• 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: Ramamurthy, Bhaskar S., Tanner, Neal A., Younge, Robert G., Schlesinger, Randall L.
• Granted Patent: US 10,907,956 B2
• Time in Patent Office: Days
• US Class Current: 600/117
• CPC Class Codes: A61B 1/00004 characterised by electronic signal processing
• CPC Class Codes: A61B 1/00013 using optical means
• CPC Class Codes: A61B 1/00045 Display arrangement
• CPC Class Codes: A61B 1/00057 provided with means for testing or calibration
• CPC Class Codes: A61B 1/00165 with light-conductive means, e.g. fibre optics A61B1/07 takes precedence
• CPC Class Codes: A61B 1/0017 Details of single optical fibres, e.g. material or cladding
• CPC Class Codes: A61B 1/009 with bending or curvature detection of the insertion part
• CPC Class Codes: A61B 18/082 Probes or electrodes therefor
• CPC Class Codes: A61B 18/1492 having a flexible, catheter-like structure, e.g. for heart ablation A61B18/1477 takes precedence
• CPC Class Codes: A61B 18/22 the beam being directed along or through a flexible conduit, e.g. an optical fibre; Couplings or hand-pieces therefor
• CPC Class Codes: A61B 2017/00699 correcting for movement caused by respiration, e.g. by triggering
• CPC Class Codes: A61B 2017/00725 Calibration or performance testing
• CPC Class Codes: A61B 2034/2061 using shape-sensors, e.g. fiber shape sensors with Bragg gratings
• CPC Class Codes: A61B 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 2034/715 Cable tensioning mechanisms for removing slack
• CPC Class Codes: A61B 2034/741 Glove like input devices, e.g. "data gloves"
• CPC Class Codes: A61B 2090/374 NMR or MRI
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• CPC Class Codes: A61B 2090/378 using ultrasound
• 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 34/30 : Surgical robots
• CPC Class Codes: A61B 34/37 : Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/71 : Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/77 : Manipulators with motion or force scaling
• CPC Class Codes: A61B 5/0059 : using light, e.g. diagnosis by transillumination, diascopy, fluorescence A61B5/0093, A61B5/1455, A61B5/02416 and A61B5/0261 take precedence
• CPC Class Codes: A61B 5/0064 : Body surface scanning
• CPC Class Codes: A61B 5/06 : Devices, other than using radiation, for detecting or locating foreign bodies for removing same A61B17/50 ; determining position of probes within or on the body of the patient
• 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: A61B 5/066 : Superposing sensor position on an image of the patient, e.g. obtained by ultrasound or x-ray imaging
• CPC Class Codes: A61B 5/4887 : Locating particular structures in or on the body
• CPC Class Codes: A61B 5/7285 : for synchronising or triggering a physiological measurement or image acquisition with a physiological event or waveform, e.g. an ECG signal A61B6/5205, A61B6/541, A61B8/5207, A61B8/543 take precedence
• CPC Class Codes: A61B 6/12 : Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 8/00 : Diagnosis using ultrasonic, sonic or infrasonic waves imaging of objects using sonar G01S15/00
• CPC Class Codes: A61B 8/48 : Diagnostic techniques A61B8/13 takes precedence
• CPC Class Codes: A61B 90/39 : Markers, e.g. radio-opaque or breast lesions markers
• CPC Class Codes: A61B 90/96 : using barcodes
• CPC Class Codes: A61B 90/98 : using electromagnetic means, e.g. transponders
• 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: G01B 11/16 : for measuring the deformation in a solid, e.g. optical strain gauge
• CPC Class Codes: G01B 11/165 : by means of a grating deformed by the object
• CPC Class Codes: G01L 1/242 : the material being an optical fibre

Abstract

A method for mapping an internal structure of a patient with an elongate body is provided. The method includes detecting, at a plurality of instances, contact between a distal portion of an elongate body and an internal structure of the patient; determining a plurality of geometric configurations of the distal portion, the plurality of geometric configurations corresponding to the plurality of instances of contact between the distal portion and the internal structure; determining a plurality of positions of the distal portion, the plurality of positions corresponding to the plurality of geometric configurations; and generating a map of the internal structure based on the plurality of positions of the distal portion.

Claims

1. A method for mapping an internal structure of a patient with an elongate body, comprising:

detecting, at a plurality of instances, contact between a distal portion of an elongate body and an internal structure of the patient;

determining a plurality of geometric configurations of the distal portion, the plurality of geometric configurations corresponding to the plurality of instances of contact between the distal portion and the internal structure;

determining a plurality of positions of the distal portion, the plurality of positions corresponding to the plurality of geometric configurations; and

generating a map of the internal structure based on the plurality of positions of the distal portion.

2. The method of claim 1, wherein the elongate body is operatively coupled to an optical fiber having a strain sensor provided thereon, the method further comprising receiving a plurality of signals from the strain sensor corresponding to the plurality of instances, wherein the determining the plurality of geometric configurations is based on the plurality of signals.

3. The method of claim 2, wherein the elongate body is a catheter, wherein the internal structure comprises tissue, and wherein generating the map comprises generating a map of a surface of the tissue.

4. The method of claim 3, further comprising determining tissue characteristics at one or more of the plurality of instances.

5. The method of claim 4, wherein the tissue characteristics comprises tissue compliance.

18. The system of claim 1.7, wherein the plurality of axially-spaced Bragg gratings comprises continuous or substantially continuous Bragg gratings written on the at least one fiber core.

6. An instrument system, comprising:

an elongate body having a distal portion;

a controller operatively coupled to the elongate body and adapted to;

detect, at a plurality of instances, contact between the distal portion and an internal structure of the patient;

determine a plurality of geometric configurations of the distal portion, the plurality of geometric configurations corresponding to the plurality of instances of contact between the distal portion and the internal structure;

determine a plurality of positions of the distal portion, the plurality of positions corresponding to the plurality of geometric configurations; and

generate a map of the internal structure based on the plurality of positions of the distal portion.

7. The instrument system of claim 6, wherein the elongate body is operatively coupled to an optical fiber having a strain sensor provided thereon, the controller further adapted to receive a plurality of signals from the strain sensor corresponding to the plurality of instances, wherein the controller is adapted to determine the plurality of geometric configurations based on the plurality of signals.

8. The instrument system of claim 7, wherein the elongate body is a catheter, wherein the internal structure comprises tissue, and wherein the controller is adapted to generate the map by generating a map of a surface of the tissue.

9. The instrument system of claim 8, wherein the controller is further adapted to determine tissue characteristics at one or more of the plurality of instances.

10. The instrument system of claim 9, wherein the tissue characteristics comprise tissue compliance.

11. An instrument system, comprising:

an elongate sheath having a lumen;

a plurality of working instruments positioned in the sheath lumen, each working instrument comprising an elongate instrument body having a distal end portion that may be extended out of a distal end opening of the sheath in communication with the lumen, each instrument body distal end portion being coupled to an optical fiber; and

a controller configured to determine one or more position and/or orientation variables of the distal end portions of the respective instrument bodies based upon signals received from the optical fiber.

12. The system of claim 11, further comprising a reference sensor coupled to the sheath proximate the distal end opening, wherein the one or more position and/or orientation variables of the distal end portions of the respective instrument bodies are determined relative to the reference sensor.

13. The system of claim 12, wherein the controller is further configured to generate and display a graphical representation of the respective instrument bodies relative to the distal end opening of the sheath.

14. The system of claim 12, wherein the reference sensor comprises an optical fiber having a fiber core with one or more Bragg gratings.

15. The system of claim 12, wherein the controller is configured to determine a position and/or orientation of the distal end of the sheath in a reference coordinate system based on signals received from the reference sensor.

16. A medical instrument system, comprising:

a controller configured to control actuation of at least one servo motor;

an elongate instrument configured to move in response to actuation of the at least one servo motor;

an optical fiber having a distal portion coupled to a distal portion of the instrument; and

a detector operatively coupled to a proximal end of the optical fiber and configured to detect respective signals from the optical fiber, wherein the controller controls movement of the instrument based at least in part upon a geometric configuration of the distal portion of the instrument determined based upon an analysis of the detected portions of the signals.

17. The system of claim 16, wherein the distal portion of the optical fiber comprises a fiber core having plurality of axially-spaced Bragg gratings.

19. The system of claim 16, wherein the analysis of the detected portions of the signals is a spectral analysis.

20. The system of claim 16, wherein the controller determines one or more position and/or orientation variables of the distal portion of the instrument based upon the analysis.

21. The system of claim 16, Wherein the controller controls positioning of the instrument based in further part upon a kinematic model of the guide instrument, wherein the kinematic model takes into account mechanics of material relationships of the instrument.

22. An instrument system, comprising:

a controller configured to control actuation of at least one servo motor;

an elongate instrument having one or more control elements operatively coupled to the at least one servo motor such that the instrument moves in response to actuation of the at least one servo motor;

an optical fiber having a distal portion coupled to a distal portion of the instrument; and

a detector operatively coupled to a proximal end of the optical fiber and configured to detect respective signals from the optical fiber, wherein the controller controls movement of the instrument based at least in part on spatial position data of the distal portion of the instrument determined based upon an analysis of the detected portions of the signals.

23. The system of claim 22, wherein the distal portion of the optical fiber comprising a fiber core having plurality of axially-spaced Bragg gratings.

24. The system of claim 23, wherein the plurality of axially-spaced Bragg gratings comprises continuous or substantially continuous Bragg gratings written on the at least one fiber core.

25. The system of claim 22, wherein the analysis of the detected portions of the signals is a spectral analysis.

26. The system of claim 22, wherein the controller determines one or more position and/or orientation variables of the distal portion of the instrument based upon the analysis.