Shape Sensor Systems For Localizing Movable Targets

Patent metadata

Field	Value
Publication number	US-2016206384-A1
Application number	US-201414916854-A
Country	US
Kind code	A1
Filing date	Sep 11, 2014
Priority date	Sep 12, 2013
Publication date	Jul 21, 2016
Grant date	—

Abstract

A method comprises receiving first shape data from a first elongated optical fiber section in a first shape sensor. The first elongated optical fiber section extends between a reference fixture and a first anatomic fixture coupled to a patient anatomy. The method further comprises determining a pose of the first anatomic fixture from the first shape data and tracking a pose change for the first anatomic fixture.

First claim

1 . A method comprising:
receiving first shape data from a first elongated optical fiber section in a first shape sensor, the first elongated optical fiber section extending between a reference fixture and a first anatomic fixture coupled to a patient anatomy; determining a pose of the first anatomic fixture from the first shape data; and tracking a pose change for the first anatomic fixture.

2 . The method of claim 1 further comprising:
receiving second shape data from a second shape sensor including a second elongated optical fiber section extending between the reference fixture and a second anatomic fixture coupled to the patient anatomy;
determining a pose of the second anatomic fixture from the second shape data; and
tracking a pose change for the second anatomic fixture.

3 . The method of claim 1 further comprising:
receiving second shape data from a second shape sensor including a second elongated optical fiber section extending between the reference fixture and an instrument fixture coupled to a medical instrument;
determining a pose for the second anatomic fixture from the second shape data; and
tracking a pose change for the instrument fixture.

4 . The method of claim 3 , wherein the medical instrument is a probe adapted to digitize point locations.

5 . The method of claim 3 wherein the second elongated optical fiber section extends within a cable including a power supply component or a communication component.

6 . The method of claim 1 wherein determining a pose of the first anatomic fixture from the first shape data includes integrating transformations for a plurality of discrete shape estimates from the first shape data.

7 . The method of claim 1 further comprising:
receiving second shape data from a second shape sensor including a second elongated optical fiber section extending between the first anatomic fixture and the second anatomic fixture coupled to the patient anatomy;
determining a pose of the second anatomic fixture from the second shape data; and
tracking a pose change for the second anatomic fixture.

8 . The method of claim 7 further comprising:
receiving third shape data from a third shape sensor including a third elongated optical fiber section extending between the reference fixture and the second anatomic fixture;
combining the second and third shape data; and
determining the pose of the second anatomic fixture from the combined second and third shape data.

9 . The method of claim 7 wherein receiving second shape data includes receiving the second shape data through the first elongated optical fiber section.

10 . The method of claim 7 wherein receiving second shape data include receiving the second shape data from an interrogator coupled directly to the second elongated optical fiber section.

11 . The method of claim 7 further comprising:
receiving third shape data from a third shape sensor including a third elongated optical fiber section extending between the second anatomic fixture and an instrument fixture coupled to a medical instrument;
determining a pose of the instrument fixture from the third shape data; and
tracking a pose change for the instrument fixture.

12 . The method of claim 7 further comprising:
receiving fourth shape data from a fourth shape sensor including a fourth elongated optical fiber section extending between the reference fixture and the instrument fixture;
combining the third and fourth shape data; and
determining the pose of the instrument fixture from the combined third and fourth shape data.

13 . The method of claim 1 wherein the first shape sensor is coupled to a surgical drape.

14 . The method of claim 13 wherein the first anatomic fixture is coupled to the surgical drape.

15 . The method of claim 1 wherein the first anatomic fixation device is a bone fixation device.

16 . The method of claim 1 further comprising receiving instrument data signals on the first elongated optical fiber section, the instrument data signals including an instrument status, an instrument identification, a usage count or applied force strain information.

17 . The method of claim 1 wherein the first elongated optical fiber section is releasably couplable to the first anatomic fixture by a coupling mechanism.

18 - 19 . (canceled)

20 . The method of claim 1 wherein the first shape sensor includes a second elongated optical fiber section extending between the reference fixture and the first anatomic fixture and wherein the first and second elongated optical fiber sections are coupled to a support material and maintained in a spaced apart configuration by the support material.

21 . The method of claim 20 further comprising:
receiving second shape data from the second elongated optical fiber section; and
combining the first and second shape data to determine the pose of the first anatomic fixture.

22 . The method of claim 1 wherein the medical instrument includes a digitizing probe, a bone abrasion tool, a tissue cutting tool, an ablation instrument, a tissue approximation instrument, a biopsy instrument, an impedance measurement instrument, a tissue imaging instrument, or a therapeutic instrument.

23 - 40 . (canceled)

Assignees

• Intuitive Surgical Operations

Inventors

• Dimaio Simon P
• Duindam Vincent
• Larkin David Q

Classifications

• A61B2562/0266

  Optical strain gauges · CPC title

• A61B17/16

  Instruments for performing osteoclasis; Drills or chisels for bones; Trepans {(arthroscopic bone cutters A61B17/320016)} · CPC title

• A61B10/04

  Endoscopic instruments, e.g. catheter-type instruments · CPC title

• A61B34/30

  Surgical robots · CPC title

• A61B34/20 Primary

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