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 comprising: an elongate body having a proximal end, a distal end, and a lumen extending from the proximal end to the distal end, a splayer coupled to the proximal end of the elongate body, and one or more control wires extending through the elongate body and coupled to the distal end of the elongate body with a control ring, wherein the one or more control wires are configured to control movement of the distal end of the elongate body;
a shape-sensing fiber, wherein at least a first portion of the fiber, including a first end, is positioned within the lumen of the elongate body, wherein at least a second end of the fiber is fixed to an anchor slide, wherein the anchor slide fixes the second end of the fiber to a reference structure in one or more degrees of freedom at a fixed point separate from and proximal to the elongate instrument, wherein the reference structure facilitates the calibration of the fiber to a known structure of the reference structure, and wherein every location on the fiber is measurable relative to the fixed point to determine a relative position and shape of the fiber, a distal end of the shape-sensing fiber coupled to a termination having light absorptive properties, wherein the fiber and the termination are coupled to each other within the control ring;
at least one computer-readable memory having stored thereon executable instructions; and
one or more processors in communication with the at least one computer-readable memory and configured to execute the instructions to cause the system to at least:
register the fiber during use of the elongate instrument by comparing the shape of the fiber to a model,
wherein the fiber is fixed in six degrees of freedom at the fixed point, with the position of the fiber relative to the elongate body known in all six degrees of freedom at the fixed point, such that an absolute measurement of position, orientation, and shape of the elongate body is quantifiable from the relative position and shape of the fiber.
2. The system of claim 1 , wherein the reference structure is a robotic arm, and wherein the elongate instrument is attached to and robotically steerable by the robotic arm.
3. The system of claim 1 , wherein the reference structure is a patient bed or a patient table.
4. The system of claim 1 , wherein the reference structure is on a patient.
5. The system of claim 1 , wherein the elongate instrument is selected from the group comprising a catheter, an endoscope and a bronchoscope.
6. The system of claim 1 , wherein the first end of the fiber is fixed to the distal end of the elongate body.
7. The system of claim 1 , wherein at least a portion of the fiber positioned within the lumen of the elongate body is decoupled or free floating relative to the lumen.
8. The system of claim 1 , wherein the second end of the fiber is fixed in a straight configuration.
9. The system of claim 1 , wherein the second end of the fiber is affixed to the fixed point with glue.
10. The system of claim 1 , wherein the second end of the fiber is affixed to the fixed point by an anchoring mechanism selected from the group consisting of a hypotube, a tube, a block, a plate and a groove.
11. The system of claim 1 , wherein the system is configured to match a coordinate system of the fiber to a coordinate system of the elongate body instrument at the fixed point.
12. The system of claim 1 , further comprising:
a controller operatively coupled to the elongate instrument and configured to control actuation of the elongate instrument; and
an instrument driver and an interface for generating an actuating force and transferring the actuating force to the elongate instrument to articulate a distal portion of the elongate instrument in at least one degree of freedom.
13. The system of claim 12 , wherein the elongate instrument is removably coupled to the instrument driver.
14. The system of claim 1 , wherein the position of the fiber relative to the elongate body is determined during a calibration process performed during manufacturing.
15. The system of claim 14 , wherein the calibration process comprises:
collecting calibration data from the elongate instrument and the fiber; and
using the calibration data to calculate a transform between the coordinate system of the fiber and the coordinate system of the elongate body.
16. The system of claim 15 , wherein the calibration data is stored for the elongate body and retrievable during use.
17. The system of claim 16 , further comprising a computing device and memory with the calibration data stored thereon, the computing device configured to apply the calibration data to transform the measured location, position, and shape of the fiber and determine the absolute measurement of position, shape, and orientation of the elongate body.
18. The system of claim 17 , wherein the orientation of the elongate body is used to enable instinctive driving of the elongate instrument.
19. The system of claim 1 , wherein the fiber is positioned along a neutral bending axis of the elongate instrument.
20. A system comprising:
an elongate instrument comprising: an elongate body having a proximal end, a distal end, and a lumen extending from the proximal end to the distal end, a splayer coupled to the proximal end of the elongate body, and one or more control wires extending through the elongate body and coupled to the distal end of the elongate body with a control ring, wherein the one or more control wires are configured to control movement of the distal end of the elongate body;
a shape-sensing fiber, wherein at least a first portion of the fiber, including a first end, is positioned within the lumen of the elongate body, wherein at least a second end of the fiber is fixed to an anchor slide, wherein the anchor slide fixes the second end of the fiber to a reference structure in one or more degrees of freedom at a fixed point separate from and proximal to the elongate instrument, a distal end of the shape-sensing fiber coupled to a termination having light absorptive properties, wherein the fiber and the termination are coupled to each other within the control ring, wherein the reference structure facilitates the calibration of the fiber to a known structure of the reference structure;
at least one computer-readable memory having stored thereon executable instructions; and
one or more processors in communication with the at least one computer-readable memory and configured to execute the instructions to cause the system to at least:
register the fiber during use of the elongate instrument based on the shape of the fiber and a model of the known structure of the reference structure.
21. The system of claim 1 wherein the termination is positioned within the lumen of the elongate body.
22. The system of claim 1 wherein the termination is made from glass.
23. The system of claim 1 wherein the termination is spliced to the distal end of the shape sensing fiber.