SHAPE SENSED ROBOTIC ULTRASOUND FOR MINIMALLY INVASIVE INTERVENTIONS
First Claim
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1. A shape sensing system, comprising:
- a plurality of shape sensing enabled medical devices each having at least one fiber;
a robot having one or more shape sensing enabled movable features that are coupled to the plurality of shape sensing enabled medical devices and is configured to actuate the plurality of shape sensing enabled medical devices;
an optical sensing module configured to receive optical signals from the at least one optical fiber and the shape sensing enabled movable features of the robot and interpret the optical signals to provide shape sensing data for each of the plurality of shape sensing enabled medical devices and the robot; and
a registration module configured to register the plurality of shape sensing enabled medical devices and the robot together using the shape sensing data.
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Abstract
A shape sensing system includes a plurality of shape sensing enabled medical devices (118) each having at least one fiber (122). The system is preferably a system for shape sensed robotic ultrasound comprising an endoscope, an ultrasound probe, a medical device and a robot. An optical sensing module (130) is configured to receive optical signals from the at least one optical fiber and interpret the optical signals to provide shape sensing data for each of the plurality of shape sensing enabled medical devices. A registration module (134) is configured to register the plurality of shape sensing enabled medical devices together using the shape sensing data.
9 Citations
25 Claims
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1. A shape sensing system, comprising:
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a plurality of shape sensing enabled medical devices each having at least one fiber; a robot having one or more shape sensing enabled movable features that are coupled to the plurality of shape sensing enabled medical devices and is configured to actuate the plurality of shape sensing enabled medical devices; an optical sensing module configured to receive optical signals from the at least one optical fiber and the shape sensing enabled movable features of the robot and interpret the optical signals to provide shape sensing data for each of the plurality of shape sensing enabled medical devices and the robot; and a registration module configured to register the plurality of shape sensing enabled medical devices and the robot together using the shape sensing data. - View Dependent Claims (2, 3, 4, 5, 7, 9, 10)
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11. A workstation, comprising:
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a processor; a memory device coupled to the processor and configured to store; an optical sensing module configured to receive optical signals from at least one optical fiber and interpret the optical signals to provide shape sensing data for each of a plurality of shape sensing enabled medical devices; and
a robot having shape sensing enabled movable features that are coupled to the plurality of shape sensing enabled medical devices; anda registration module configured to register the plurality of shape sensing enabled medical devices and the robot together using the shape sensing data. - View Dependent Claims (12, 13, 14, 15)
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16. A method, comprising:
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providing a plurality of shape sensing enabled medical devices for a subject; providing a robot having one or more shape sensing enabled movable features coupled to the plurality of shape sensing enabled medical devices; computing shape sensing data for each of the plurality of shape sensing enabled medical devices and the robot; and registering the plurality of shape sensing enabled medical devices and the robot together using the shape sensing data. - View Dependent Claims (17)
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Specification