APPARATUS AND METHODS FOR FIBER INTEGRATION AND REGISTRATION
Systems and methods for integrating and/or registering a shape sensing fiber in or to various instruments are described herein. Registration fixtures and registration techniques for matching the coordinate system of a fiber to the coordinate system of an elongate instrument or other device are provided. Various systems and methods for integrating a shape sensing fiber into an elongate instrument or other device are also described herein.
1 . A system, comprising:
an elongate instrument having a proximal end, a distal end, and at least one lumen defined therein;
a shape sensing fiber having a first portion and a second portion, wherein at least the first portion of the fiber is positioned within the lumen of the elongate instrument; and
an anchor slide fixed to the second portion of the fiber at a proximal location, wherein the anchor slide fixes the proximal location of the fiber to the elongate instrument or a structure associated with the elongate member in one or more degrees of freedom, and wherein the anchor slide is configured to serve as a known location for matching a coordinate system of the fiber to a coordinate system of the elongate instrument or other structure as the fiber slides relative to the lumen of the elongate instrument.
2 . The system of claim 1 , further comprising a housing coupled to a proximal portion of the elongate instrument, wherein the housing comprises an interface for receiving an actuating force and transferring the actuating force to the elongate instrument to articulate a distal portion of the elongated instrument.
3 . The system of claim 2 , wherein the second portion of the fiber is positioned within the housing and includes a service loop which allows for sliding of the fiber within the lumen of the elongate instrument when the distal portion of the elongate instrument is articulated.
4 . The system of claim 3 , wherein the housing further comprises a registration fixture, wherein the service loop is configured to slide in a single plane within the registration fixture.
5 . The system of claim 4 , wherein at least a portion of the service loop is held within a groove or track of the registration fixture.
6 . The system of claim 5 , wherein the anchor slide is configured to slide within the groove or track in no more than one degree of freedom.
7 . The system of claim 1 , wherein at least a portion of the fiber positioned within the lumen of the elongate instrument is decoupled or free floating relative to the lumen of the elongate instrument.
8 . The system of claim 1 , wherein the anchor slide is fixed to the elongate member or a structure associated with the elongate member such that one or more degrees of freedom of the proximal portion of the fiber may be measured or ascertained relative to the elongate instrument.
9 . The system of claim 1 , wherein the second portion of the fiber has a known shape.
10 . The system of claim 1 , wherein the system is removably coupled to an instrument driver and a controller which controls actuation of the elongate instrument, wherein actuation motion is transferred from the controller to the system via the instrument driver to articulate the distal end of the elongate instrument in at least one degree of freedom.
11 . The system of claim 1 , wherein the anchor slide is positioned within a pocket of a registration fixture and configured to slide within the pocket in no more than one degree of freedom.
12 . The system of claim 1 , wherein the anchor slide is positioned within a pocket of a registration fixture and configured to slide during installation, and wherein, following installation, the anchor slide is fixed in place.