Optical fiber shape sensing systems
First Claim
Patent Images
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;
wherein twisting or rotational displacement of the elongate instrument body about its longitudinal axis is configured to induce stress or strain on the optical fiber sensor;
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 the stress or strain induced on the optical fiber sensor due to the twisting or rotational displacement of a portion of the elongate instrument body about its longitudinal axis based on an analysis of detected light signals.
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Accused Products
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.
175 Citations
63 Claims
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1. A medical instrument system, comprising:
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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; wherein twisting or rotational displacement of the elongate instrument body about its longitudinal axis is configured to induce stress or strain on the optical fiber sensor; 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 the stress or strain induced on the optical fiber sensor due to the twisting or rotational displacement of a portion of the elongate instrument body about its longitudinal axis based on an analysis of detected light signals. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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20. A medical instrument system, comprising:
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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. - View Dependent Claims (21, 22)
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23. A medical instrument system, comprising:
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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.
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24. An instrument system, comprising:
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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. - View Dependent Claims (25, 26, 27)
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28. A robotic system, comprising:
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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. - View Dependent Claims (29, 30, 31, 32, 33, 34, 35, 36, 37)
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38. A method of controlling an elongated robotic medical instrument in a patient'"'"'s body, comprising:
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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. - View Dependent Claims (39, 40, 41, 42, 43, 44, 45, 46, 47)
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48. An instrument system, comprising:
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an elongate body; an optical fiber coupled to the elongate body; 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 optical fiber; and a controller operatively coupled to the detector and configured to determine a bending of at least a portion of the elongate body based on detected reflected light signals and on a relative position of the localization sensor. - View Dependent Claims (49, 50, 51, 52, 53, 54, 55)
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56. An instrument system comprising:
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an optical fiber based measurement system including at least one optical fiber, a non-optical position sensing system including a localization sensor, the optical fiber being coupled to an elongated instrument, the localization sensor being capable of detecting a location of at least one point along the elongated instrument, and a controller operatively coupled to the optical fiber based measurement system and the non-optical position sensing system and configured to determine a shape of at least a portion of the elongated instrument based on detected reflected light signals from the at least one optical fiber and on a relative position of the at least one point along the elongated instrument. - View Dependent Claims (57, 58, 59, 60, 61, 62, 63)
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Specification