WO2008131303A3 - Optical fiber shape sensing systems - Google Patents

Optical fiber shape sensing systems Download PDF

Info

Publication number
WO2008131303A3
WO2008131303A3 PCT/US2008/060936 US2008060936W WO2008131303A3 WO 2008131303 A3 WO2008131303 A3 WO 2008131303A3 US 2008060936 W US2008060936 W US 2008060936W WO 2008131303 A3 WO2008131303 A3 WO 2008131303A3
Authority
WO
WIPO (PCT)
Prior art keywords
optical fiber
sensing systems
fiber shape
shape sensing
instrument body
Prior art date
Application number
PCT/US2008/060936
Other languages
French (fr)
Other versions
WO2008131303A9 (en
WO2008131303A2 (en
Inventor
Robert G Younge
Bhaskar S Ramamurthy
Neal A Tanner
Randall L Schlesinger
Eric Udd
Original Assignee
Hansen Medical Inc
Robert G Younge
Bhaskar S Ramamurthy
Neal A Tanner
Randall L Schlesinger
Eric Udd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hansen Medical Inc, Robert G Younge, Bhaskar S Ramamurthy, Neal A Tanner, Randall L Schlesinger, Eric Udd filed Critical Hansen Medical Inc
Publication of WO2008131303A2 publication Critical patent/WO2008131303A2/en
Publication of WO2008131303A9 publication Critical patent/WO2008131303A9/en
Publication of WO2008131303A3 publication Critical patent/WO2008131303A3/en

Links

Classifications

    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B6/00—Light guides; Structural details of arrangements comprising light guides and other optical elements, e.g. couplings
    • G02B6/02—Optical fibres with cladding with or without a coating
    • G02B6/02057—Optical fibres with cladding with or without a coating comprising gratings
    • G02B6/02076—Refractive index modulation gratings, e.g. Bragg gratings
    • G02B6/02195—Refractive index modulation gratings, e.g. Bragg gratings characterised by means for tuning the grating
    • G02B6/022—Refractive index modulation gratings, e.g. Bragg gratings characterised by means for tuning the grating using mechanical stress, e.g. tuning by compression or elongation, special geometrical shapes such as "dog-bone" or taper
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/009—Flexible endoscopes with bending or curvature detection of the insertion part
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
    • A61B5/1076—Measuring physical dimensions, e.g. size of the entire body or parts thereof for measuring dimensions inside body cavities, e.g. using catheters
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6846—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive
    • A61B5/6847—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive mounted on an invasive device
    • A61B5/6852—Catheters
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00022—Sensing or detecting at the treatment site
    • A61B2017/00039—Electric or electromagnetic phenomena other than conductivity, e.g. capacity, inductivity, Hall effect
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00022—Sensing or detecting at the treatment site
    • A61B2017/00039—Electric or electromagnetic phenomena other than conductivity, e.g. capacity, inductivity, Hall effect
    • A61B2017/00044—Sensing electrocardiography, i.e. ECG
    • A61B2017/00048—Spectral analysis
    • A61B2017/00053—Mapping
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2061—Tracking techniques using shape-sensors, e.g. fiber shape sensors with Bragg gratings
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/067—Measuring instruments not otherwise provided for for measuring angles

Abstract

A medical instrument system (6) includes an elongate flexible instrument body (33) with an optical fiber (12) substantially encapsulated in a wall of the instrument body, the optical fiber including one or more fiber gratings (35A, 35B). A detector is operatively coupled to the optical fiber and configured to detect respective light signals reflected by the one or more fiber gratings. A controller is operatively coupled to the detector, and configured to determine a twist of at least a portion of the instrument body based on detected reflected light signals. The instrument may be a guide catheter and may be robotically or manually controlled.
PCT/US2008/060936 2007-04-20 2008-04-18 Optical fiber shape sensing systems WO2008131303A2 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US92547207P 2007-04-20 2007-04-20
US92544907P 2007-04-20 2007-04-20
US60/925,449 2007-04-20
US60/925,472 2007-04-20

Publications (3)

Publication Number Publication Date
WO2008131303A2 WO2008131303A2 (en) 2008-10-30
WO2008131303A9 WO2008131303A9 (en) 2008-12-18
WO2008131303A3 true WO2008131303A3 (en) 2009-02-05

Family

ID=39855434

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2008/060936 WO2008131303A2 (en) 2007-04-20 2008-04-18 Optical fiber shape sensing systems

Country Status (2)

Country Link
US (5) US8050523B2 (en)
WO (1) WO2008131303A2 (en)

Cited By (3)

* Cited by examiner, † Cited by third party
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US8050523B2 (en) 2007-04-20 2011-11-01 Koninklijke Philips Electronics N.V. Optical fiber shape sensing systems
US9186046B2 (en) 2007-08-14 2015-11-17 Koninklijke Philips Electronics N.V. Robotic instrument systems and methods utilizing optical fiber sensor
CN110006563A (en) * 2019-03-31 2019-07-12 南京航空航天大学 Helicopter blade is waved and shimmy Bending moment distribution formula optical fiber decoupling measurement method

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US8705903B2 (en) 2014-04-22
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US20120321243A1 (en) 2012-12-20
US8818143B2 (en) 2014-08-26
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US20080285909A1 (en) 2008-11-20
US8050523B2 (en) 2011-11-01

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