Reducing incremental measurement sensor error

• US 9,844,353 B2
• Filed: 12/21/2016
• Issued: 12/19/2017
• Est. Priority Date: 03/13/2013
• Status: Active Grant

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Hansen Medical Incorporated (Johnson & Johnson)
• Inventors: Walker, Sean P., Wong, Serena H., Park, June, Tanner, Neal A.
• Primary Examiner(s): TANINGCO, MARCUS H
• Application Number:
  US15/387,347
• Publication Number:
  US 20170100084A1
• Time in Patent Office: 363 Days
• CPC Class Codes: A61B 2090/3966 Radiopaque markers visible in an X-ray image
• CPC Class Codes: A61B 5/0066 Optical coherence imaging
• CPC Class Codes: A61B 6/032 Transmission computed tomography [CT]
• CPC Class Codes: A61B 6/12 Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 6/485 involving fluorescence X-ray imaging
• CPC Class Codes: A61B 6/586 Detection of faults or malfunction of the device
• CPC Class Codes: A61B 8/12 in body cavities or body tracts, e.g. by using catheters catheters per se A61M25/00
• 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 2205/702 automatically during use
• CPC Class Codes: A61M 25/0108 using radio-opaque or ultrasound markers
• CPC Class Codes: G01B 11/14 for measuring distance or clearance between spaced objects or spaced apertures G01B11/26 takes precedence; rangefinders G01C3/00
• CPC Class Codes: G01B 11/24 for measuring contours or curvatures
• CPC Class Codes: G01B 21/045 Correction of measurements G01B9/02055 takes precedence

Abstract

For position sensors, e.g., a fiber-based system, that build a shape of an elongated member, such as a catheter, using a sequence of small orientation measurements, a small error in orientation at the proximal end of the sensor will cause large error in position at distal points on the fiber. Exemplary methods and systems are disclosed, which may provide full or partial registration along the length of the sensor to reduce the influence of the measurement error. Additional examples are directed to applying selective filtering at a proximal end of the elongated member to provide a more stable base for distal measurements and thereby reducing the influence of measurement errors.

Claims

1. A system for measuring a shape along a length of an elongate member, the system comprising:

a first sensing element coupled to the elongate member, wherein the first sensing element comprises an incremental measurement sensor and the elongate member comprises a fixed proximal end having at least one of a known first position and a known first orientation;

a second sensing element positioned at a known location distal to the proximal end of the elongated member; and

a processor configured to measure the shape of the elongate member by

measuring the shape of the elongate member using a first sensing element,

measuring at least one of a second position and a second orientation using the second sensing element; and

registering the first sensing element to the second sensing element.

2. The system of claim 1, wherein the first sensing element comprises a fiber optic sensor.

3. The system of claim 1, wherein the first sensing element is coupled to the distal end of the elongate member.

4. The system of claim 1, wherein the second sensing element comprises at least one electromagnetic sensor.

5. The system of claim 1, wherein the second sensing element comprises at least one imaging sensor configured to capture an image.

6. The system of claim 5, wherein the processor is further configured to correlate the image to a location within a pre-operative three-dimensional model.

7. The system of claim 5, wherein the pre-operative three-dimensional model is generated by at least one of ultrasound, computerized tomography (CT) scan, two-dimensional fluoroscopy, and three-dimensional fluoroscopy.

8. The system of claim 6, further comprising a user interface configured to a real-time view of an output of the imaging sensor alongside a view of the elongate member positioned in the pre-operative three-dimensional model.

9. The system of claim 5, wherein the imaging sensor is an ultrasound probe.

10. The system of claim 5, wherein the imaging sensor is an optical coherence tomography sensor.

11. The system of claim 1, wherein the proximal end of the elongate member is fixed to a splayer.

12. The system of claim 11, further comprising a third sensing element positioned for measuring at least one of a position or an orientation of the splayer.

13. The system of claim 11, further comprising measuring a location of the splayer on a robotic manipulator using one or more encoders coupled to the robotic manipulator.

14. The system of claim 11, further comprising measuring a location of the splayer on a robotic manipulator using a kinematic model.

15. The system of claim 14, wherein the robotic manipulator is operatively connected to an operator control station.

16. The system of claim 1, wherein the proximal end of the elongate member is fixed at an insertion site of the elongate member into a patient.

17. The system of claim 1, wherein the second position comprises a known location at an insertion site of the elongate member into a patient.

18. The system of claim 1, wherein the second sensor comprises radiopaque markers, and wherein measuring at least one of the second position of the second orientation comprises detecting the radiopaque markers using fluoroscopy.

19. The system of claim 1, further comprising a user interface configured to display the position and shape of the tool within a pre-operative three-dimensional model without using intra-operative fluoroscopy.

20. The system of claim 1, wherein the elongated member is a catheter.