OPTICAL FIBER INSTRUMENT SYSTEM FOR DYNAMIC RECALIBRATION
A method for tracking an elongate body is provided. The method includes determining a spatial relationship between an elongate body and an optical fiber, wherein the optical fiber is located in a structure having a substantially constant shape; receiving a signal from a strain sensor provided on the optical fiber; and determining, based on the signal, whether a position of the optical fiber relative to the structure has changed.
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The present application is a divisional of U.S. patent application Ser. No. 12/507,706, filed on Jul. 22, 2009, which claims the benefit under 35 U.S.C. §119 to U.S. Provisional Patent Application Ser. No. 61/137,628, filed on Aug. 1, 2008. The foregoing application is hereby incorporated by reference into the present application in its entirety.
FIELD OF INVENTIONThe invention relates generally to remotely controlled medical devices and systems, such as telerobotic surgical systems or manually steerable catheters, and the employment thereof for conducting procedures in the heart, blood vessels, and other body lumens. More particularly, this invention relates to systems, apparatuses, and methods detecting the position of one or more instruments within one or more targeted tissue cavities during a minimally invasive diagnostic or therapeutic procedure.
BACKGROUNDIt is generally desirable in minimally invasive medical procedures involving instruments such as catheters, probes, and the like to understand the spatial positioning of such instruments relative to nearby tissue structures, such as the walls of a cavity of a heart. In the cardiovascular market, for example, several systems are available for tracking position, or “localizing”, instruments--including but not limited to the system sold under the tradename “EnSite®” by St. Jude Medical, Inc., and the system sold under the tradename “CartoXP®” by the Biosense Webster division of Johnson & Johnson, Inc. The EnSite system utilizes potential differences between reference patches and instruments to localize instruments while the CartoXP system utilizes magnetic fields and currents detected by small coils coupled to an instrument to localize such instrument. Fiber bragg (hereinafter “FBG”) sensor technology and configurations have been disclosed, for example in U.S. Patent Applications 60/785,001, 60/788,176, 60/899,048, 60/900,584, 11/690,116, 60/925,449, 60/925,472, 60/964,773, 61/003,008, 12/012,795, 12/106,254, the entirety of which are incorporated herein by reference, which allow for localization and shape sensing of elongate instruments. Depending upon the particular FBG configuration, such technology may enable not only localization of particular points along an elongate instruments, as with the aforementioned localization technologies, but also localization of the spatial position of an entire section of the length of such instrument--or the entire length of the instrument, for that matter. It would be advantageous to combine certain aspects of FBG localization and shape sensing technologies with more conventional localization technologies, such as those available from Biosense or St. Jude Medical, to provide a hybrid localization system capable of addressing certain shortcomings of the systems as individually deployed. Several such configurations are described here.
The present disclosure will be readily understood by the following detailed description, taken in conjunction with accompanying drawings, illustrating by way of examples the principles of the present disclosure. The drawings illustrate the design and utility of preferred embodiments of the present disclosure, in which like elements are referred to by like reference symbols or numerals. The objects and elements in the drawings are not necessarily drawn to scale, proportion or precise positional relationship; instead emphasis is focused on illustrating the principles of the present disclosure.
In accordance with one aspect of the present disclosure, a method for tracking an elongate body is provided. The method includes determining a spatial relationship between an elongate body and an optical fiber, wherein the optical fiber is located in a structure having a substantially constant shape; receiving a signal from a strain sensor provided on the optical fiber; and determining, based on the signal, whether a position of the optical fiber relative to the structure has changed.
In accordance with another aspect of the present disclosure, an instrument system that includes an elongate body, an optical fiber, and a controller is provided. The optical fiber is located in a structure having a substantially constant shape and having a strain sensor provided on the optical fiber. The controller is operatively coupled to the elongate body and the optical fiber. The controller is adapted to determine a spatial relationship between the elongate body and the optical fiber, receive a signal from the strain sensor, and determine, based on the signal, whether a position of the optical fiber has changed relative to the structure.
These and other aspects of the present disclosure, as well as the methods of operation and functions of the related elements of structure and the combination of parts and economies of manufacture, will become more apparent upon consideration of the following description and the appended claims with reference to the accompanying drawings, all of which form a part of this specification, wherein like reference numerals designate corresponding parts in the various figures. In one embodiment, the structural components illustrated can be considered are drawn to scale. It is to be expressly understood, however, that the drawings are for the purpose of illustration and description only and are not intended as a definition of the limits of the present disclosure. It shall also be appreciated that the features of one embodiment disclosed herein can be used in other embodiments disclosed herein. As used in the specification and in the claims, the singular form of “a”, “an”, and “the” include plural referents unless the context clearly dictates otherwise.
DETAILED DESCRIPTION OF THE ILLUSTRATED EMBODIMENTSReferring to
The coronary sinus (hereinafter “CS”) has a relatively unique anatomical geometry which substantially retains its form throughout the heart cycle. In other words, as one examines the shape of the CS, there are certain turns along its length that are substantially, but not entirely, retained as turns throughout the heart cycle. This presents a shape sensing opportunity. To maintain accurate localization of a working instrument configuration such as that depicted in
As shown in
In one embodiment, the system may be configured to stop (navigation or instruments, feedback of localization data, or both) or signal the operator upon determining that the reference catheter has moved relative to the CS. In one embodiment, the system may be configured to constantly buffer a relevant amount of reference instrument sensor position data, and detect a delta larger than a certain predetermined threshold amount to make a determination that the reference catheter has “moved” relative to the CS; such a threshold may be intraoperatively programmable to accommodate different localization system accuracies. As described above, once a move has been detected, the system may be configured to characterize the move, account for it in a transformation matrix, and continue with the operation with the relationships of the reference instrument and working instruments continually understood.
In another variation, in the event that it is determined that something in the localization system has moved, and it can be determined using the above techniques that the reference catheter has not moved relative to the anatomy, then it may be determined that another component of the reference system has moved, such as a potential difference contact patch in the EnSite localization system--and this problem may be addressed without a complete restart of such system.
Several techniques may be utilized for mapping the strain and localization of the reference sensor within the coronary sinus. In one embodiment the FBG-reference instrument complex may be inserted into the CS, then pulled out again to produce redundant data regarding strain (from bending) and localization mapping; such insertion and/or retraction may be automated by utilizing, in a robotic variation as depicted in
In one embodiment (not shown), the reference instrument may be delivered to the diagnostic or interventional theater using one or more components of the working instrument assembly, rather than independent delivery as shown in
In another embodiment, a hybrid configuration may be utilized wherein a simple localization sensor, such as that (6) depicted in
Referring to
These techniques may be utilized in other organs and cavities--the aforementioned examples wherein the coronary sinus is used as an auxiliary cavity adjacent the right or left atrium are for illustration purposes; the techniques may be broadly applied to assist in the accurate localization of instruments in cavities throughout the body, large and small, wherein an adjacent structure having a substantially predictable geometry which may be bending-mapped and monitored with a reference instrument is available.
While multiple embodiments and variations of the many aspects of the present disclosure have been disclosed and described herein, such disclosure is provided for purposes of illustration only. Many combinations and permutations of the disclosed system are useful in minimally invasive medical intervention and diagnosis, and the system is configured to be flexible. The foregoing illustrated and described embodiments of the present disclosure are susceptible to various modifications and alternative forms, and it should be understood that the present disclosure generally, as well as the specific embodiments described herein, are not limited to the particular forms or methods disclosed, but also cover all modifications, equivalents and alternatives. Further, the various features and aspects of the illustrated embodiments may be incorporated into other embodiments, even if no so described herein, as will be apparent to those skilled in the art.
Claims
1. A method for tracking an elongate body, comprising:
- determining a spatial relationship between an elongate body and an optical fiber, wherein the optical fiber is located in a structure having a substantially constant shape;
- receiving a signal from a strain sensor provided on the optical fiber; and
- determining, based on the signal, whether a position of the optical fiber relative to the structure has changed.
2. The method of claim 1, further comprising outputting an indication that recalibration of the spatial relationship is needed.
3. The method of claim 1, further comprising updating the spatial relationship between the optical fiber and the elongate body.
4. The method of claim 3, wherein the optical fiber has a first localization sensor provided thereon and wherein the elongate body has a second localization sensor provided thereon, wherein updating the spatial relationship comprises updating a spatial relationship between the first localization sensor and the second localization sensor.
5. The method of claim 4, further comprising determining, based on the updated spatial relationship, a position of the elongate body relative to the optical fiber.
6. The method of claim 1, wherein determining whether the position of the optical fiber has changed comprises determining whether a shape of the optical fiber has changed relative to the structure.
7. The method of claim 1, wherein determining whether the position of the optical fiber has changed further comprises buffering information indicative of the position of the optical fiber over time and determining, based on the buffered information, whether a change in the position has exceeded a predetermined threshold.
8. The method of claim 1, further comprising causing, in response to determining that the position of the optical fiber has changed, any motion of the elongate body to stop.
9. The method of claim 1, wherein the elongate body is located within a chamber of the patient's heart and wherein the structure comprises a coronary sinus cavity.
10. The method of claim 1, wherein the determining the spatial relationship comprises:
- receiving first information from the strain sensor corresponding to the optical fiber being placed into the structure; and
- receiving second information from the strain sensor corresponding to the optical fiber being retracted from the structure.
11. An instrument system comprising:
- an elongate body;
- an optical fiber located in a structure having a substantially constant shape and having a strain sensor provided on the optical fiber;
- a controller operatively coupled to the elongate body and the optical fiber and adapted to: determine a spatial relationship between the elongate body and the optical fiber; receive a signal from the strain sensor; and determine, based on the signal, whether a position of the optical fiber has changed relative to the structure.
12. The instrument system of claim 11, wherein the controller is further adapted to output an indication that recalibration of the spatial relationship is needed.
13. The instrument system of claim 11, wherein the controller is further adapted to update the spatial relationship between the optical fiber and the elongate body.
14. The instrument system of claim 13, wherein the optical fiber has a first localization sensor provided thereon and wherein the elongate body has a second localization sensor provided thereon, wherein the controller is adapted to update the spatial relationship by updating a spatial relationship between the first localization sensor and the second localization sensor.
15. The instrument system of claim 14, wherein the controller is further adapted to determine, based on the updated spatial relationship, a position of the elongate body relative to the optical fiber.
16. The instrument system of claim 11, wherein the controller is adapted to determine whether the position of the optical fiber has changed by determining whether a shape of the optical fiber has changed relative to the structure.
17. The instrument system of claim 11, wherein the controller is adapted to determine whether the position of the optical fiber has changed further by buffering information indicative of the position of the optical fiber over time and determining, based on the buffered information, whether a change in the position has exceeded a predetermined threshold.
18. The instrument system of claim 11, wherein the controller is adapted to cause, in response to determining that the position of the optical fiber has changed, any motion of the elongate body to stop.
19. The instrument system of claim 11, wherein the elongate body is located within a chamber of the patient's heart and wherein the structure comprises a coronary sinus cavity.
20. The instrument system of claim 11, wherein the controller is adapted to determine the spatial relationship by:
- receiving first information from the strain sensor corresponding to the optical fiber being placed into the structure; and
- receiving second information from the strain sensor corresponding to the optical fiber being retracted from the structure.
Type: Application
Filed: Aug 24, 2012
Publication Date: Dec 20, 2012
Applicant: KONINKLIJKE PHILIPS ELECTRONICS N.V. (Eindhoven)
Inventors: Robert G. Younge (Portola Valley, CA), Bhaskar S. Ramamurthy (Los Altos, CA), Randall L. Schlesinger (San Mateo, CA), Neal A. Tanner (Mountain View, CA)
Application Number: 13/594,566
International Classification: A61B 6/00 (20060101); A61M 25/092 (20060101);