Reference markers for launch point identification in optical shape sensing systems

Patent metadata

Field	Value
Publication number	US-10820830-B2
Application number	US-201213981631-A
Country	US
Kind code	B2
Filing date	Jan 24, 2012
Priority date	Jan 28, 2011
Publication date	Nov 3, 2020
Grant date	Nov 3, 2020

Abstract

An optical shape sensing system employing an optical fiber ( 20 ) and one or more reference markers ( 41 ). Each reference marker ( 41 ) has an identifiable reference tracking position within a reference coordinate system ( 42 ). The optical fiber ( 20 ) has a reconstruction launch point ( 21 ) within the reference coordinate system ( 42 ) serving as a basis for an execution of a shape reconstruction of the optical fiber ( 20 ) within the reference coordinate system ( 42 ). The reconstruction launch point ( 21 ) of the optical fiber ( 20 ) has a known spatial relationship with each reference marker ( 41 ) to facilitate an identification of the reconstruction launch point ( 21 ) within the reference coordinate system ( 42 ).

First claim

The invention claimed is:

1. An optical shape sensing system, comprising:
an elongated device;
an optical fiber comprising a plurality of Bragg gratings and a reconstruction launch point in a reference coordinate system serving as a basis of a shape reconstruction of an entirety of the optical fiber, wherein at least a portion of the optical fiber is embedded within the elongated device;
a reference marker having at least one of an identifiable reference tracking position and an identifiable reference tracking orientation within the reference coordinate system;
a tracking system structurally configured to identify the at least one of the identifiable reference tracking position and the identifiable reference tracking orientation of the reference marker within the reference coordinate system,
wherein the reconstruction launch point of the optical fiber has a known spatial relationship with the reference marker within the reference coordinate system, and
wherein the tracking system is further configured to identify the reconstruction launch point within the reference coordinate system based on an identification by the tracking system of the at least one of the identifiable reference tracking position and the identifiable reference tracking orientation of the reference marker within the reference coordinate system; and

an optical interrogation console structurally configured to reconstruct a shape of the entirety of the optical fiber within the reference coordinate system relative to the reconstruction launch point responsive to the identification by the tracking system of the reconstruction launch point within the reference coordinate system.

2. The optical shape sensing system of claim 1 ,
wherein the tracking system is an electromagnetic reference tracking system for establishing the reference coordinate system, and
wherein the reference marker is an electromagnetic reference marker.

3. The optical shape sensing system of claim 1 ,
wherein the tracking system is an optical tracking system for establishing the reference coordinate system, and
wherein the reference marker is an optical reference marker.

4. The optical shape sensing system of claim 1 ,
wherein the tracking system is an imaging tracking system for establishing the reference coordinate system, and
wherein the reference marker is identifiable within images generated by the imaging tracking system.

5. The optical shape sensing system of claim 1 ,
wherein the known spatial relationship of the reconstruction launch point with the reference marker includes the reconstruction launch point being one of spaced from or coinciding with the reference marker within the reference coordinate system.

6. The optical shape sensing system of claim 1 , further comprising:
a handle coupled to the elongated device,
wherein the reference marker is embedded with the handle.

7. The optical shape sensing system of claim 6 , wherein the reconstruction launch point is fixed relative to the handle.

8. The optical shape sensing system of claim 1 , further comprising:
a platform,
wherein the elongated device is coupled to the platform; and
wherein the reference marker is one of affixed to or embedded within the platform.

9. The optical shape sensing system of claim 8 , wherein the platform is attached to an operation table.

10. The optical shape sensing system of claim 8 , wherein the platform is attached to an imaging system.

11. The optical shape sensing system of claim 8 , wherein the reconstruction launch point is fixed relative to the platform.

12. The optical shape sensing system of claim 1 , wherein the reconstruction launch point is adjacent an end of the optical fiber.

13. The optical shape sensing system of claim 1 , wherein the reconstruction launch point is spaced from an end of the optical fiber.

14. The optical shape sensing system of claim 1 ,
wherein an additional reconstruction launch point has a known spatial relationship with the reference marker within the reference coordinate system;
wherein the tracking system is further configured to identify the additional reconstruction launch point within the reference coordinate system based on the identification by the tracking system of the at least one of the identifiable reference tracking position and the identifiable reference tracking orientation of the reference marker within the reference coordinate system; and
wherein the optical interrogation console is further structurally configured to reconstruct the shape of the entirety or the segment of the optical fiber within the reference coordinate system relative to the additional reconstruction launch point responsive to the identification by the tracking system of the additional reconstruction launch point within the reference coordinate system.

15. An optical shape sensing method for an optical shape sensing system including an optical fiber and a reference marker, the optical shape sensing method comprising:
providing at least a portion of the optical fiber embedded within an elongated device, the optical fiber comprising a plurality of Bragg gratings and a reconstruction launch point in a reference coordinate system serving as a basis of a shape reconstruction of an entirety of the optical fiber;
identifying, via a tracking system, at least one of an identifiable reference tracking position and an identifiable reference tracking orientation for the reference marker within a reference coordinate system;
identifying, via the tracking system, the reconstruction launch point of the optical fiber within the reference coordinate system based on the identifying by the tracking system of the at least one of the identifiable reference tracking position and the identifiable reference tracking orientation for the reference marker within the reference coordinate system,
wherein the reconstruction launch point has a known spatial relationship with the reference marker to enable the identification by the tracking system of the reconstruction launch point within the reference coordinate system; and
reconstructing, via an optical interrogation console, the shape of the entirety of the optical fiber within the reference coordinate system relative to the reconstruction launch point responsive to the identification by the tracking system of the reconstruction launch point within the reference coordinate system.

16. The optical shape sensing method of claim 15 , further comprising:
moving the reference marker and the optical fiber within the reference coordinate system while maintaining the known spatial relationship of the reconstruction launch point with the reference marker;
re-identifying, via the tracking system, the at least one of the identifiable reference tracking position and the identifiable reference tracking orientation for the reference marker within the reference coordinate system;
re-identifying, via the tracking system, the reconstruction launch point of the optical fiber within the reference coordinate system based on the re-identifying by the tracking system of the at least one of the identifiable reference tracking position and the identifiable reference tracking orientation for the reference marker within the reference coordinate system; and
reconstructing, via the optical interrogation console, the shape of the entirety of the optical fiber within the reference coordinate system relative to the reconstruction launch point responsive to the re-identification by the tracking system of the reconstruction launch point within the reference coordinate system.

17. The optical shape sen

Assignees

• Ramachandran Bharat
• Chan Raymond
• Manzke Robert
• Koninklijke Philips Nv

Inventors

• Ramachandran Bharat
• Chan Raymond
• Manzke Robert

Classifications

• G01B11/18

  using photoelastic elements · CPC title

• A61B34/20

  Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis · CPC title

• A61B2034/2061

  using shape-sensors, e.g. fiber shape sensors with Bragg gratings · CPC title

• G01B11/165 Primary

  by means of a grating deformed by the object · CPC title

• A61B5/064 Primary

  using markers (A61B5/062 takes precedence) · CPC title