Elongated surgical manipulator with body position and distal force sensing
View Patent ↗An elongated surgical manipulator apparatus and method of operating enables determination of the shape of a flexible portion of the elongated surgical manipulator and/or the location of an arbitrary point thereon, as well as a measure of a contact force exerted on a distal portion of the manipulator. A plurality of fiber optics are operatively coupled with the manipulator, each of the fiber optics including a plurality of fiber Bragg gratings for determination of the shape and/or position. Each of the fiber optics further includes a fiber optic strain gauge such as a Bragg grating or a Fabry-Perot resonator at a distal portion of the elongated surgical manipulator that is isolated from the strain associated with the bending of the manipulator. The fiber optic strain gauges at the distal portion may thus be used to detect a force vector (magnitude and direction) imposed on the distal portion.
1. A force sensing manipulator, comprising:
a base;
a flexing portion extending from said base and comprising a longitudinal axis and an elongate flexible body between the base and a distal portion;
the distal portion extending from said flexing portion, said distal portion including a yoke portion;
a steering mechanism operatively coupled with said yoke portion and extending through said flexing portion for manipulation of said flexing portion, wherein the steering mechanism comprises a cable coupled to the yoke portion and configured to impart a moment to the yoke portion and to flex the flexing portion; and
a first fiber optic extending through at least said flexing portion and being operatively coupled with said yoke portion, wherein said first fiber optic comprises a plurality of flexing portion fiber Bragg gratings positioned to coincide with said flexing portion and at least one distal fiber Bragg grating, and wherein said first fiber optic terminates in said distal portion and comprises a force sensing optical fiber strain sensor operatively coupled with said distal portion,
wherein said first fiber optic is routed multiple times along a length of said flexing portion and parallel to said longitudinal axis, said first fiber optic being arranged so that said plurality of flexing portion fiber Bragg gratings are grouped in a plurality of triplets, each of said triplets being substantially centered at a corresponding location along said longitudinal axis, said first fiber optic being arranged so that said at least one distal fiber Bragg grating is disposed in said distal portion,
wherein the flexing portion and the distal portion are configured to be moved from a femoral vein, through a vasculature, and into a heart.
2. The force sensing manipulator of claim 1 further comprising at least one temperature sensor operatively coupled with said distal portion.
3. The force sensing manipulator of claim 2 wherein said at least one temperature sensor includes a fiber Bragg grating.
4. The force sensing manipulator of claim 1 wherein said force sensing optical fiber strain sensor includes a fiber Bragg grating.
5. The force sensing manipulator of claim 4 further comprising:
an electromagnetic source adapted for connection with said first fiber optic to deliver electromagnetic radiation to said plurality of flexing portion fiber Bragg gratings and said force sensing optical fiber strain sensor;
a receiver operatively coupled to said first fiber optic for detection of electromagnetic radiation reflected from said plurality of flexing portion fiber Bragg gratings and from said force sensing optical fiber strain sensor; and
a microprocessor operatively coupled with said electromagnetic source and said receiver for control of said electromagnetic source and said receiver.
6. The force sensing manipulator of claim 1 further comprising a rigid structure operatively coupled with said base, said base being in slidable engagement with said rigid structure.
7. The force sensing manipulator of claim 1 , wherein the plurality of flexing portion fiber Bragg gratings comprise a spacing configured to allow a determination of a shape of the flexing portion.
8. The force sensing manipulator of claim 1 , wherein the force sensing optical fiber strain sensor comprises at least one fiber Bragg grating.
9. The force sensing manipulator of claim 1 , wherein the force sensing optical fiber strain sensor comprises a Fabry-Perot sensor.
10. A force and position sensing manipulator, comprising:
a base;
a flexing portion extending from said base and defining a longitudinal axis,
wherein the flexing portion comprises an elongate flexible body between the base and a distal portion;
the distal portion extending from said flexing portion;
a cable coupled to the distal portion and configured to impart a moment to the distal portion and to flex the flexing portion;
a plurality of flexing portion fiber Bragg gratings disposed in said flexing portion for determination of at least one of a shape of said flexing portion and a location of said distal portion and at least one distal fiber Bragg grating; and
at least one distal end fiber optic sensor operatively coupled with said distal portion for determination of a force exerted on said distal end portion, wherein said plurality of flexing portion fiber Bragg gratings and said at least one distal end fiber optic sensor are operatively coupled to a single fiber optic,
wherein said single fiber optic is routed multiple times along a length of said flexing portion and parallel to a longitudinal axis of the flexing portion, said single fiber optic being arranged so that said plurality of flexing portion fiber Bragg gratings are grouped in a plurality of triplets, each of said triplets being substantially centered at a corresponding location along said longitudinal axis, said single fiber optic being arranged so that said at least one distal fiber Bragg grating is disposed in said distal portion,
wherein the flexing portion and the distal portion are configured to be moved from a femoral vein, through a vasculature, and into a heart.
11. The force and position sensing manipulator of claim 10 further comprising at least one temperature sensor operatively coupled with said distal portion.
12. The force and position sensing manipulator of claim 11 wherein said at least one temperature sensor includes a fiber Bragg grating.
13. The force and position sensing manipulator of claim 10 , wherein the plurality of flexing portion fiber Bragg gratings comprise a spacing configured to allow a determination of a shape of the flexing portion.
14. The force sensing manipulator of claim 10 , wherein the at least one distal end fiber optic sensor comprises a Fabry-Perot sensor.
15. A catheter for use in a medical procedure comprising:
an elongate body adopted to be moved from a femoral vein, through a vasculature, and into a heart during said medical procedure, said elongate body including a flexing portion and a deformable distal portion, wherein the elongate body comprises a cable coupled to a distal portion of the elongate body, the cable configured to impart a moment to the distal portion and to flex a portion of the elongate body;
means for determining at least one of a shape of said flexing portion and a location of said distal portion; and
means for determining a contact force exerted on said distal portion,
wherein the means for determining at least one of a shape of said flexing portion and a location of said distal portion and the means for determining a contact force exerted on said distal portion are both disposed within a fiber optic, wherein said fiber optic is routed multiple times along a length of said flexing portion and parallel to a longitudinal axis of the flexing portion, said fiber optic being arranged so that a plurality of flexing portion fiber Bragg gratings are grouped in a plurality of triplets, each of said triplets being substantially centered at a corresponding location along said longitudinal axis, said fiber optic being arranged so that at least one distal fiber Bragg grating is disposed in said distal portion.