Method and system for absolute three-dimensional measurements using a twist-insensitive shape sensor

• US 9,285,246 B2
• Filed: 07/20/2010
• Issued: 03/15/2016
• Est. Priority Date: 02/12/2010
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Prisco, Giuseppe M., Rogers, Theodore W., Duindam, Vincent, Curet, Myriam J., Mohr, Catherine J., Stoy, Katherine D.
• Primary Examiner(s): Crandall, Lynsey
• Assistant Examiner(s): JENNESS, NATHAN JAY
• Application Number:
  US12/839,642
• Publication Number:
  US 20110202069A1
• Time in Patent Office: 2,065 Days
• Field of Search: 606/1, 385/13
• US Class Current: 1/1
• CPC Class Codes: A61B 1/009 with bending or curvature detection of the insertion part
• CPC Class Codes: A61B 17/24 for use in the oral cavity, larynx, bronchial passages or nose for medical inspection of cavities or tubes in the body A61B1/00; Tongue scrapers
• CPC Class Codes: A61B 2018/00035 with return means
• CPC Class Codes: A61B 2018/2005 with beam delivery through an interstitially insertable device, e.g. needle
• CPC Class Codes: A61B 2018/202 Laser enclosed in a hand-piece
• 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 2562/00 Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
• 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 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: G01B 11/24 for measuring contours or curvatures
• CPC Class Codes: G01D 5/35316 using a Bragg gratings
• CPC Class Codes: H04L 63/0428 wherein the data content is protected, e.g. by encrypting or encapsulating the payload
• CPC Class Codes: H04L 63/08 for authentication of entities cryptographic mechanisms or cryptographic arrangements for entity authentication H04L9/32
• CPC Class Codes: H04L 63/0807 using tickets, e.g. Kerberos cryptographic mechanisms or cryptographic arrangements for entity authentication using tickets or tokens H04L9/3213
• CPC Class Codes: H04W 12/06 Authentication
• CPC Class Codes: H04W 12/068 using credential vaults, e.g. password manager applications or one time password [OTP] applications
• CPC Class Codes: H04W 4/80 Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication

Abstract

An apparatus includes a reference fixture. The reference fixture includes a joint, and a joint tracker to track motion of the joint. The apparatus also includes a surgical instrument. A tether is connected between the joint and the surgical instrument. A shape sensor extends from the reference fixture through the joint, through the tether, and into the surgical instrument. The shape sensor is substantially free of twist. The joint tracker measures the motion of the joint. Information from the shape sensor in combination with information from the joint tracker provides absolute three-dimensional information relative to the reference fixture, i.e., provides absolute three-dimensional information in a fixed world reference frame.

Claims

1. An apparatus comprising:

a reference fixture including a joint with at least one degree of freedom, the reference fixture adapted to be fixed in a world reference frame, wherein the reference fixture includes a hollow rod extending through the joint;

a flexible and torsionally stiff tether having a proximal end, a distal end, and defining a first lumen extending therethrough, wherein the proximal end of the tether is coupled to the hollow rod so that the tether and the hollow rod rotate together, and wherein the distal end of the tether is coupled to a surgical instrument and limits movement of the surgical instrument relative to the reference fixture;

the surgical instrument having a component that defines a second lumen, wherein the second lumen is not coaxially aligned with the first lumen; and

a shape-sensing optic fiber continuously extending through the hollow rod, through the first lumen of the tether, and through a portion of the second lumen defined by the component of the surgical instrument, wherein the shape-sensing optic fiber comprises an optic fiber core surrounded by a cladding layer, the tether rotatable with the hollow rod relative to the shape-sensing optic fiber.

2. The apparatus of claim 1, wherein the reference fixture further comprises:

a joint tracker wherein the joint tracker tracks motion of the joint and wherein information from the joint tracker in combination with the information from the shape-sensing optic fiber is used in generating absolute three-dimensional information relative to the world reference frame.

3. The apparatus of claim 1, wherein the joint has only one degree of freedom.

4. The apparatus of claim 1, wherein a proximal end of the shape-sensing optic fiber is fixed proximal of the reference fixture, such that the shape-sensing optic fiber does not rotate within the joint.

5. The apparatus of claim 1, wherein the shape-sensing optic fiber includes a predetermined curve upon entering the second lumen through an opening in the component of the surgical instrument.

6. The apparatus of claim 1, wherein the shape-sensing optic fiber further comprises at least one other optic fiber core surrounded by the cladding.

7. The apparatus of claim 1, wherein the surgical instrument comprises an endoscope or a robotic surgical instrument.

8. The apparatus of claim 7, wherein the first lumen has a non-circular cross-section perpendicular to longitudinal axis of the tether and further wherein a portion of the shape-sensing optic fiber extending through the first lumen has a cross section that corresponds to the non-circular cross-section.

9. The apparatus of claim 1, further comprising:

a liner, extending through the first lumen, having a liner lumen, wherein the shape-sensing optic fiber extends through the liner lumen, and wherein the liner comprises a low-friction material so that the shape-sensing optic fiber rotates freely within the liner.

10. The apparatus of claim 9, wherein the low-friction material is a fluorinated polymer.

11. The apparatus of claim 1, wherein the surgical instrument is a cannula, and the apparatus further comprises:

a second surgical instrument that is different from the surgical instrument; and

a second tether connected between the reference fixture and the second surgical instrument.

12. The apparatus of claim 1, wherein the surgical instrument comprises a flexible surgical instrument.

13. The apparatus of claim 1, wherein the shape-sensing optic fiber includes a first segment having a first longitudinal axis and a second segment having a second longitudinal axis, the first longitudinal axis diverging from the second longitudinal axis at an entry location, the first longitudinal axis being aligned along a third longitudinal axis defined by the tether and the second longitudinal axis being aligned along a fourth longitudinal axis defined through a portion of the surgical instrument extending distally of the entry location.