System and method for minimizing twist for optical shape sensing enabled instruments

Patent metadata

Field	Value
Publication number	US-2016008089-A1
Application number	US-201414771039-A
Country	US
Kind code	A1
Filing date	Mar 26, 2014
Priority date	Mar 26, 2013
Publication date	Jan 14, 2016
Grant date	—

Abstract

A shape sensing system includes a guide tube ( 304 ) and an optical shape sensing device ( 104 ) including one or more optical fibers and being proximally fixed at a fixation point and being disposed within the guide tube. An interventional instrument ( 102 ) is rigidly attached to a handle ( 212 ) to prevent rotation of the instrument relative to the handle. The instrument has a lumen configured to receive the guide tube therein such that the optical shape sensing device is unconstrained throughout the instrument and the handle, and the guide tube is free to slip relative to at least rotation of the instrument and the handle without transferring torsional friction to optical shape sensing device.

First claim

1 . A shape sensing system, comprising:
a guide tube; an optical shape sensing device including one or more optical fibers and being proximally fixed at a fixation point and being disposed within the guide tube; and an interventional instrument rigidly attached to a handle to prevent rotation of the instrument relative to the handle, the instrument having a lumen configured to receive the guide tube therein such that the optical shape sensing device is unconstrained throughout the instrument and the handle, and the guide tube is free to slip relative to at least rotation of the instrument and the handle without transferring torsional friction to optical shape sensing device.

2 . The system as recited in claim 1 , wherein the handle includes a bearing to receive and attach to a protective tube wherein the handle is free to rotate relative to the bearing and the protective tube, the protective tube encapsulating the optical shape sensing device between a fixation position at or near the fixation point to the handle, and the optical shape sensing device being free to slip relative to rotation of the protective tube and the bearing.

3 . The system as recited in claim 2 , further comprising a clutch configured to engage the bearing to prevent rotation of the handle relative to the protective tube.

4 . The system as recited in claim 3 , wherein the clutch is engaged when a number of rotations of the bearing reaches a threshold.

5 . The system as recited in claim 2 , further comprising a counter configured to measure a number of rotations of the bearing.

6 . The system as recited in claim 5 , further comprising a warning mechanism configured to provide a sensory warning to an operator based on a number of rotations of the bearing.

7 . The system as recited in claim 1 , further comprising a user controlled clutch configured to engage a bearing attached to the shape sensing device in order to constrain relative rotation between the optical fiber sensing device and the instrument.

8 . (canceled)

9 . A shape sensing system, comprising:
a workstation includes a processor and memory, the memory storing a shape sensing module configured to interpret optical shape sensing signals during an interventional procedure; a launch unit includes an optical fixation point for sending and receiving optical signals; a guide tube being proximally fixed at a mount point distally disposed from the fixation point; an optical shape sensing device including one or more optical fibers and being proximally fixed at the fixation point and being disposed within the guide tube; and an interventional instrument rigidly attached to a handle to prevent rotation of the instrument relative to the handle, the instrument having a lumen configured to receive the guide tube therein such that the optical shape sensing device is unconstrained throughout the instrument and the handle, and the guide tube is free to slip relative to at least rotation of the instrument and the handle without transferring torsional friction to optical shape sensing device.

10 . The system as recited in claim 9 , wherein the handle includes a bearing to receive and attach to a protective tube wherein the handle is free to rotate relative to the bearing and the protective tube, the protective tube encapsulating the optical shape sensing device between the mount point and the handle and the optical shape sensing device being free to slip relative to rotation of the protective tube and the bearing.

11 . The system as recited in claim 10 , further comprising a clutch configured to engage the bearing to prevent rotation of the handle relative to the protective tube.

12 . The system as recited in claim 11 , wherein the clutch is engaged when a number of rotations of the bearing reaches a threshold.

13 . The system as recited in claim 10 , further comprising a counter configured to measure a number of rotations of the bearing.

14 . The system as recited in claim 13 , further comprising a warning mechanism configured to provide a sensory warning to an operator based on a number of rotations of the bearing.

15 . The system as recited in claim 9 , further comprising a user controlled clutch configured to engage a bearing attached to the shape sensing device in order to constrain relative rotation between the optical fiber sensing device and the instrument.

16 . (canceled)

17 . A shape sensing system, comprising:
an optical shape sensing device including one or more optical fibers and being proximally fixed at a fixation point; and an interventional instrument rigidly attached to a handle to prevent rotation of the instrument relative to the handle, the instrument having a lumen configured to receive the optical shape sensing device, which is constrained at at least one location in the instrument; a bearing included in the handle and configured to receive and attach to a protective tube wherein the handle is free to rotate relative to the bearing and the protective tube, the protective tube encapsulating the optical shape sensing device between a fixation position, at or near the fixation point, and the handle; and a clutch configured to engage the bearing to prevent rotation of the handle relative to the protective tube in accordance with an event.

18 . (canceled)

19 . (canceled)

20 . (canceled)

Assignees

• Koninkl Philips Nv

Inventors

• Noonan David Paul
• Chan Raymond
• Flexman Molly Lara
• Ramachandran Bharat

Classifications

• A61B2034/2061

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

• A61B34/76 Primary

  Manipulators having means for providing feel, e.g. force or tactile feedback · CPC title

• A61B2090/0811

  for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument · CPC title

• A61B34/30

  Surgical robots · CPC title

• A61B2560/0475

  Special features of memory means, e.g. removable memory cards · CPC title