Abstract: This disclosure covers various concepts to use for obtaining measurement of tension in catheter pullwires to improve controllability of a robotic surgical system.

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.

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.

Abstract: An instrument system that includes an optical fiber and a controller is provided. The optical fiber is coupled to an external structure of a patient and has a strain sensor provided thereon. The controller is operatively coupled to the optical fiber and adapted to receive a signal from the strain sensor and to determine a property of respiration of the patient based on the signal.

Abstract: This disclosure covers various concepts to use for obtaining measurement of tension in catheter pullwires to improve controllability of a robotic surgical system.

Abstract: An instrument system that includes a first optical fiber, a second optical fiber and a controller is provided. The first optical fiber is operatively coupled to an elongate body that is adapted to be placed inside a patient. The second optical fiber is operatively coupled to the patient, to an actuating element adapted to actuate the elongate body, or to a portion of an imaging system adapted to identify a location of the portion relative to the elongate body. The controller is operatively coupled to the first optical fiber and the second optical fiber and is adapted to receive a first signal from the strain sensor provided on the first optical fiber, receive a second signal from the strain sensor provided on the second optical fiber; and determine a position or orientation of the elongate body based on the first signal and based on the second signal.

Abstract: An instrument system that includes an elongate body in a geometric configuration, an optical fiber, and a controller is provided. The optical fiber is operatively coupled to the elongate body and has a strain sensor provided on the optical fiber, wherein at least a portion of the optical fiber is in the geometric configuration. The controller is operatively coupled to the optical fiber and adapted to receive, from a source other than the optical fiber, information indicative of the geometric configuration, receive a signal from the strain sensor, and associate the signal with the geometric configuration.

Abstract: An instrument system that includes an elongate body, an optical fiber, a localization sensor and a controller is provided. The optical fiber is operatively coupled to the elongate body and has a strain sensor provided on the optical fiber. The localization sensor is operatively coupled to the elongate body. The controller is operatively coupled to the optical fiber and to the localization sensor and is adapted to receive a first signal from the strain sensor, receive a second signal from the localization sensor, and determine a position or orientation of the elongate body based on the first signal and the second signal.

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.

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.

Abstract: An instrument system that includes an elongate instrument body and an optical fiber sensor is provided. The optical fiber sensor includes an elongate optical fiber that is coupled to the elongate instrument body, wherein a portion of the optical fiber is coupled to the elongate instrument body in a manner to provide slack in the fiber to allow for axial extension of the elongate instrument body relative to the optical fiber.

Abstract: An instrument having a flexible and elongated body includes at least a lumen and a flex member disposed within the lumen. The flex member may be capable of providing steering control to a first portion of the elongate body while providing load bearing support to a second portion of the elongate body. A pull wire may be disposed within the flex member, and at least a distal portion of the pull wire may be coupled to the elongate body and a proximal portion of the pull wire may be operatively coupled to a control unit. The control unit may be coupled to a proximal portion of the elongate body. In addition, a control member may be operatively coupled to the control unit such that a distal portion of the control member may be positioned near a proximal portion of the flex member. The control member may be configured to support the flex member and control the movement or displacement of the flex member.

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.

Abstract: Robotic medical instrument systems and associated methods utilizing an optical fiber sensors such as Bragg sensor optical fibers. In one configuration, an optical fiber is coupled to an elongate instrument body and includes a fiber core having one or more Bragg gratings. A controller is configured to initiate various actions in response thereto. For example, a controller may generate and display a graphical representation of the instrument body and depict one or more position and/or orientation variables thereof, or adjust motors of an instrument driver to reposition the catheter or another instrument. Optical fibers having Bragg gratings may also be utilized with other system components including a plurality of working instruments that are positioned within a sheath lumen, an instrument driver, localization sensors, and/or an image capture device, and may also be coupled to a patient's body or associated structure that stabilizes the body.

Abstract: An instrument system that includes an elongate instrument body and an optical fiber sensor is provided. The optical fiber sensor includes an elongate optical fiber that is coupled to the elongate instrument body, wherein a portion of the optical fiber is coupled to the elongate instrument body in a manner to provide slack in the fiber to allow for axial extension of the elongate instrument body relative to the optical fiber.

Abstract: A robotic surgical system configured for the articulation of a catheter comprises an input device, a control computer, and an instrument driver having at least one motor for displacing the pull-wire of a steerable catheter wherein the control computer is configured to determine the desired motor torque or tension of the pull-wire of a catheter based on user manipulation of the input device. The control computer is configured to output the desired motor torque or tension of the pull-wire to the instrument driver, whereby at least one motor of the instrument driver implements the desired motor torque to cause the desired pull-wire tension to articulate the distal tip of the catheter. The present embodiment further contemplates a robotic surgical method for the articulation of a steerable catheter wherein an input device is manipulated to communicate a desired catheter position to a control computer and motor torque commands are outputted to an instrument driver.

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.

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.

Abstract: Systems and methods are described herein for tracking an elongate instrument or other medical instrument in an image.

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.