SYSTEMS AND METHODS FOR DETERMINING THE POSITION OF A NON-SHAPE-SENSED GUIDEWIRE WITH A SHAPE-SENSED CATHETER AND FOR VISUALIZING THE GUIDEWIRE

• US 20190313940A1
• Filed: 12/13/2017
• Published: 10/17/2019
• Est. Priority Date: 12/13/2016
• Status: Active Grant

• Current Assignee: Koninklijke Philips N.V.
• Original Assignee: Koninklijke Philips N.V.
• Inventors: THIENPHRAPA, Paul, BYDLON, Torre Michelle, Flexman, Molly Lara, PATRICIU, Alexandru, PANSE, Ashish, KYNE, Sean Joseph
• Granted Patent: US 11,344,222 B2
• Time in Patent Office: Days
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2061 using shape-sensors, e.g. fiber shape sensors with Bragg gratings
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• CPC Class Codes: A61B 2505/05 Surgical care
• CPC Class Codes: A61B 2562/0233 Special features of optical sensors or probes classified in A61B5/00
• 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 5/064 using markers A61B5/062 takes precedence
• 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 5/6851 Guide wires
• CPC Class Codes: A61B 5/6852 Catheters
• CPC Class Codes: A61B 90/39 Markers, e.g. radio-opaque or breast lesions markers
• 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 25/09041 Mechanisms for insertion of guide wires
• CPC Class Codes: G01L 1/246 using integrated gratings, e.g. Bragg gratings

Abstract

A system and method for determining the position of a non-shape-sensed guidewire (102) and for visualizing the guidewire. The system includes a shape-sensed catheter (104) having a lumen (103) that is configured to receive the non-shape-sensed guidewire. A measurement module (122) is configured to measure a distance that the non-shape-sensed guidewire moves. The measurement module may receive signals from a sensor (124) associated with a measurement assembly that is configured to receive at least a portion of the non-shape-sensed guidewire and/or the shape-sensed catheter. A location module (126) is configured to determine a position of the non-shape-sensed guidewire. The system is configured to generate a virtual image(101) of the guidewire. The system is configured to generate a virtual image (101) of the guidewire, including a portion of the non-shape-sensed guidewire that does not extend along a shape-sensing optical fiber.

Claims

1. A system for determining a position of a n-on shape sensed guidewire, comprising:

a guidewire;

a catheter including a shape sensing optical fiber and having a lumen, wherein said guidewire is received in the lumen;

a measurement assembly configured to receive at least a portion of the guidewire and/or the catheter;

a measurement module configured to measure a distance that the guidewire moves in the measurement assembly; and

a location module configured to determine a position of the guidewire based on the distance that the guidewire moves determined by the measurement module.

2. The system as recited in claim 1, wherein the system includes:

an image processing module that is configured to process information for generation of a virtual image of the guidewire based on the position determined by the location module.

3. The system as recited in claim 1, wherein the measurement assembly comprises:

a plurality of movable elements that are configured to move when the guidewire is advanced or retracted in the shape-sensed catheter; and

a sensor that is associated with the movable elements which is configured to send signals concerning the movement of the movable elements to the measurement module to measure movement of the non-shape-sensed guidewire.

4. The system as recited in claim 3, wherein the plurality of movable elements comprise at least one of a rotating belt, wheels, rollers or balls.

5. The system as recited in claim 3, wherein the plurality of movable elements comprise at least one cam and the sensor comprises a shape-sensing optical fiber which is configured to be deflected by the at least one cam when the guidewire is advanced or retracted in the shape-sensed catheter;

and

the measurement module receives signals from the shape-sensing optical fiber concerning deflections of the shape-sensing optical fiber by the at least one cam to measure movement of the guidewire.

6. The system as recited in claim 5, wherein:

the measurement assembly is configured to receive the shape-sensed catheter; and

a shape-sensing optical fiber of the shape-sensed catheter comprises the shape-sensing optical fiber that is configured to be deflected by the guidewire when the guidewire is advanced or retracted in the shape-sensed catheter.

9. The system as recited in claim 1, wherein:

the measurement assembly comprises a torquer that is configured to be secured to a fixed position on the guidewire, said torquer including a shape-sensing optical fiber; and

the location module is configured to receive shape sensing information from the shape-sensing optical fiber and the shape-sensed catheter and determine a position and orientation of the torquer relative to the shape-sensed catheter.

10. The system as recited in claim 1, wherein:

the measurement assembly comprises a torquer that is configured to be secured to a fixed position on the guidewire; and

at least one tracking device associated with the torquer and the shape-sensed catheter is configured to track a position and orientation of the torquer and the shape-sensed catheter to determine a position and orientation of the torquer relative to the shape-sensed catheter.

11. The system as recited in claim 1, wherein the measurement assembly includes an optical tracking device that is configured to monitor movement of the guidewire and send signals to the measurement module concerning movement of the guidewire.

12. The system as recited in claim 11, wherein the guidewire includes markers and the optical tracking device is configured to read the markers to monitor movement of the guidewire and/or to calibrate the optical tracking device.

13. The system as recited in claim 2, wherein:

the image processing module is configured to store a model of the guidewire and generate the virtual image based on the model;

the image processing module is configured to position the virtual image by placing a distal tip of the model at a most distal position of the guidewire that is detected by the location module; and

the image processing module is further configured to update the position based on the distance that the guidewire moves in the measurement assembly.

14. The system as recited in claim 2, wherein:

the system further includes an imaging system that is configured to acquire images of the shape-sensed catheter and the guidewire;

a segmentation module that is configured to segment an image of a portion of the guidewire that protrudes from a distal tip of the shape-sensed catheter to provide segmented data; and

the image processing module is configured to generate a portion of the virtual guidewire that protrudes from the distal tip of the shape-sensed catheter based on the segmented data and 3D knowledge of the distal tip of the shape-sensed catheter.

15. The system as recited in claim 2 wherein the image processing module is configure to display a probabilistic map for a portion of the virtual guidewire that protrudes from the distal tip of the shape-sensed catheter.

25. The method recited in claim 1, further comprising the step of processing information for generation of a virtual image of the guidewire based on a determined position of the guidewire and the step of displaying a probabilistic map for a portion of the virtual guidewire that protrudes from the distal tip of the catheter.

7. (canceled)

8. (canceled)

16. (canceled)

17. (canceled)

18. (canceled)

19. (canceled)

20. (canceled)

21. A method for determining the position of a guidewire, comprising the steps of:

receiving the guidewire in a lumen of a catheter including a shape sensing optical fiber;

receiving at least a portion of the guidewire and/or the catheter in a measurement assembly;

measuring a distance that the guidewire moves in the measurement assembly by a measurement module; and

determining a position of the non shape sensed guidewire by a location module based on the distance that the guidewire moves in the measurement assembly.

22. (canceled)

23. (canceled)

24. (canceled)

26. (canceled)

27. (canceled)

28. (canceled)

29. (canceled)

30. (canceled)

31. (canceled)

32. (canceled)

33. (canceled)

34. (canceled)

35. (canceled)

36. (canceled)

37. (canceled)