Apparatus and methods for fiber integration and registration
First Claim
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1. A system, comprising:
- an elongate instrument having a proximal end, a distal end and at least one lumen defined therein;
a shape sensing fiber comprising a first portion and a second portion, wherein at least the first portion of the shape sensing fiber is positioned in the at least one lumen of the elongate instrument; and
an anchor slide fixed to at least the second portion of the shape sensing fiber, wherein the anchor slide is axially movable but prevented from vertical, yaw, and pitch movement, wherein the anchor slide reduces axial strain on the shape sensing fiber, and wherein the anchor slide is a registration point for matching a coordinate system of the shape sensing fiber to a coordinate system of the elongate instrument or a known structure to register the shape sensing fiber to the elongate instrument or a known structure.
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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.
182 Citations
28 Claims
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1. A system, comprising:
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an elongate instrument having a proximal end, a distal end and at least one lumen defined therein; a shape sensing fiber comprising a first portion and a second portion, wherein at least the first portion of the shape sensing fiber is positioned in the at least one lumen of the elongate instrument; and an anchor slide fixed to at least the second portion of the shape sensing fiber, wherein the anchor slide is axially movable but prevented from vertical, yaw, and pitch movement, wherein the anchor slide reduces axial strain on the shape sensing fiber, and wherein the anchor slide is a registration point for matching a coordinate system of the shape sensing fiber to a coordinate system of the elongate instrument or a known structure to register the shape sensing fiber to the elongate instrument or a known structure. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 26, 27, 28)
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11. A method for detecting a shape of an elongate instrument, the method comprising operating an assembly having an elongate instrument, a shape sensing fiber and an anchor slide, 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 shape sensing fiber is positioned in the lumen of the elongate instrument and wherein at least a second portion of the shape sensing fiber is fixed to the anchor slide, wherein the anchor slide is axially movable but prevented from vertical, yaw, and pitch movement, and wherein the anchor slide reduces axial strain on the shape sensing fiber;
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ascertaining a position of the fixed second portion of the shape sensing fiber relative to the elongate instrument; and matching, based on the ascertained position, a coordinate system of the shape sensing fiber with a coordinate system of the elongate instrument to register the shape sensing fiber to the elongate instrument. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18)
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19. A system comprising:
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an elongate instrument having a proximal end, a distal end and at least one lumen defined therein; a shape sensing fiber, wherein at least a first portion of the shape sensing fiber is positioned within the lumen of the elongate instrument, wherein at least a second portion of the shape sensing fiber is fixed to an anchor slide, wherein the anchor slide is axially movable but prevented from vertical, yaw, and pitch movement, wherein the anchor slide reduces axial strain on the shape sensing fiber, and wherein the shape sensing fiber has a proximal service loop which allows for sliding of the shape sensing 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 of the elongate instrument and surrounding the shape sensing fiber, wherein the coil is slideable within the lumen and wherein the coil maintains the lumen in an open state during articulation of the elongate instrument. - View Dependent Claims (20, 21, 22, 23, 24, 25)
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Specification