Shape sensor systems with redundant sensing

Patent metadata

Field	Value
Publication number	US-2016157939-A1
Application number	US-201414908386-A
Country	US
Kind code	A1
Filing date	Jul 25, 2014
Priority date	Jul 29, 2013
Publication date	Jun 9, 2016
Grant date	—

Abstract

A method of operating a shape sensing apparatus comprising receiving first shape data from a first shape sensor section including a first elongated optical fiber extending between a first location and a second location. The method further comprises receiving second shape data front a second shape sensor section including a second elongated optical fiber extending between a third location and a fourth location. The method further comprises determining a position of an end portion of the first shape sensor section using the second shape data from the second shape sensor section.

First claim

1 . A method of operating, a shape sensing apparatus, the method comprising:
receiving first shape data from a first shape sensor section including a first elongated optical fiber section extending between a first location and a second location; receiving second shape data from a second shape sensor section including a second elongated optical fiber section extending between a third location and a fourth location; and determining a position of an end portion of the first shape sensor section using the second shape data from the second shape sensor section.

2 . The method of claim 1 wherein the first elongated optical fiber section is coupled to a reference fixture at the first location and the second elongated optical fiber section is coupled to the reference fixture at the third location and wherein determining a position of the end portion of the first shape sensor section includes adjusting the second shape data based upon a distance between the first and third locations.

3 . The method of claim 2 further comprising
receiving third shape data from a third shape sensor section including a third elongated optical fiber section coupled lo the reference fixture at a fifth location; and
tracking movement of the third shape sensor section relative to the end portion of the first shape sensor section.

4 . The method of claim 1 wherein the first elongated optical fiber section is coupled to a first target at the second location and the second elongated optical fiber section is coupled to the first target at the fourth location and wherein determining a position of the end portion, of the first shape sensor section includes adjusting the second shape data based upon a distance between the second and fourth locations.

5 . The method of claim 4 wherein the first elongated optical fiber section is coupled to a second target at a fifth location

6 . The method of claim 1 wherein the first and second elongated optical fiber sections have substantially different lengths.

7 . The method of claim 1 wherein a single elongated optical fiber includes the first and second elongated optical fibers sections arranged in series.

8 . The method of claim 7 wherein the second and fourth locations are co-located.

9 . The method of claim 7 further comprising receiving third shape data from the single elongated optical fiber between the first and third locations and wherein determining the position of the end portion of the first shape sensor section includes determining a shape correction factor for single elongated optical fiber between the first and third location.

10 . The method of claim 1 wherein the first shape sensor section includes a plurality of optical cores within the first elongated optical fiber section and wherein receiving the first shape data from the first shape sensor section includes combining three dimensional shape data from a first subset of the plurality of optical cores with three dimensional shape data from a second subset of the plurality of optical cores.

11 - 15 . (canceled)

16 . A method of operating u shape sensing apparatus, the method comprising:
receiving first shape data from a first shape sensor having a first portion coupled to a reference fixture and a second portion coupled to a first target; receiving second shape data from a second shape tensor having a first portion coupled to the reference fixture and a second portion coupled to the first target, wherein the first portions of the first and second shape sensors are maintained in a fixed kinematic relationship and wherein the second portions of the first und second shape sensors are maintained in u fixed kinematic relationship; and determining a position of the second portion of the first shape sensor section using the second shape data from the second shape sensor.

17 . The method of claim 16 wherein at least one of the first and second shape sensors includes an elongated optical fiber.

18 . The method of claim 17 wherein the elongated optical fiber includes at least three optical cores.

19 . The method of claim 16 wherein a length between the first and second portions of the first shape sensor is substantially different from a length between the first and second portions of the second shape sensor.

20 . The method of claim 16 wherein determining the position of the second portion of the first shape sensor includes determining a shape of the first shape sensor between the first and second portions and determining a shape of the second shape sensor between the first and second portions.

21 . The method of claim 16 wherein the first shape sensor has a third portion coupled to a second target, the method further comprising receiving third, shape data from the first shape sensor between the first and third portions.

22 . The method of claim 16 further comprising
receiving third shape data from a third shape sensor having a first portion coupled to the reference fixture and a second portion coupled lo an interventional instrument and
tracking the position of the interventional instrument relative to the position of the second portion of the first shape sensor coupled to the first target.

23 - 31 . (canceled)

Assignees

• Intuitive Surgical Operations

Inventors

• Larkin David Q
• Duindam Vincent

Classifications

• A61B2034/2061

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

• A61B5/065

  Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe · CPC title

• A61B2090/0818

  Redundant systems, e.g. using two independent measuring systems and comparing the signals · CPC title

• A61B34/20 Primary

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