Interventional apparatus for performing an interventional procedure
The invention relates to an interventional apparatus comprising an interventional device with a handle ( 6 ). The handle comprises a) a first guide ( 20, 51 ) guiding an optical fiber, which is also guided within the interventional device, from a first proximal opening ( 14 ) of the handle to a distal portion ( 21 ) of the handle, wherein the first guide only has radii of curvature being larger than 10 mm, and b) a second guide ( 22 ) for guiding an elongated interventional instrument from a second proximal opening ( 13 ) of the handle to the distal portion of the handle. Since the first guide is relatively straight, the optical fiber is substantially not bent or only slightly bent and the likelihood that the interventional instrument and the optical fiber press against each other can be significantly reduced. This allows for an improved accuracy of determining the position of the interventional device by optical shape sensing.
1. An interventional apparatus for performing an interventional procedure, the interventional apparatus comprising:
an elongated interventional device comprising a first lumen accommodating an optical shape sensing fiber for allowing determination of a position of the elongated interventional device by optical shape sensing, and a second lumen for accommodating an elongated interventional instrument;
an optical shape sensing device for determining the position of the elongated interventional device by optical shape sensing using the optical shape sensing fiber; and
a handle comprising a) a first guide for guiding the optical shape sensing fiber, which is also guided within the elongated interventional device, from a first proximal opening of the handle to a distal portion of the handle, wherein the distal portion of the handle is adapted to be connected to a proximal portion of the elongated interventional device, and b) a second guide for guiding the elongated interventional instrument from a second proximal opening of the handle to the distal portion of the handle, wherein portions of the first guide and the second guide close to the first proximal opening and the second proximal opening are parallel to each other,
wherein the elongated interventional device and the handle are attached to each other such that the optical shape sensing fiber is guided from the first proximal opening of the handle to the distal portion of the handle and then into the first lumen of the elongated interventional device and such that the elongated interventional instrument is guidable from the second proximal opening of the handle to the distal portion of the handle and then into the second lumen of the elongated interventional device.
2. The interventional apparatus as defined in claim 1 , wherein the first guide only has radii of curvature larger than 100 mm.
3. The interventional apparatus as defined in claim 1 , wherein the second guide only has radii of curvature larger than 300 mm.
4. The interventional apparatus as defined in claim 1 , wherein the first guide and/or the second guide is formed by a tube extending from the respective first and/or second proximal opening of the handle towards the distal portion of the handle.
5. The interventional apparatus as defined in claim 1 , wherein the handle comprises an elongated body having a distal opening at the distal portion of the handle for accommodating a distal accommodation element for accommodating the proximal portion of the elongated interventional device.
6. The interventional apparatus as defined in claim 5 , wherein the elongated body has a first proximal body opening to which an elongated extension element is attached having a proximal extension element opening forming the first proximal opening of the handle, wherein the first guide is adapted to guide the optical shape sensing fiber from the proximal extension element opening through the first proximal body opening to the distal portion of the handle, wherein the extension element is made of a material being more flexible than a material of which the distal accommodation element is made.
7. The interventional apparatus of claim 5 , wherein the elongated body has a second proximal body opening forming the second proximal opening of the handle such that the second guide guides the elongated interventional instrument from the second proximal body opening to the distal portion of the handle.
8. The interventional apparatus as defined in claim 1 , wherein longitudinal axes of the handle and the proximal portion of the elongated interventional device are arranged in the same direction.
9. The interventional apparatus as defined in claim 1 , wherein the first guide only has radii of curvature larger than 10 mm.
10. The interventional apparatus of claim 1 , further comprising the optical shape sensing fiber and a tube into which the optical shape sensing fiber is embedded, wherein the tube is at least partially disposed outside of the handle.
11. An interventional apparatus for performing an interventional procedure, the interventional apparatus comprising:
an elongated interventional device comprising a first lumen accommodating an optical shape sensing fiber for allowing determination of a position of the elongated interventional device by optical shape sensing, and a second lumen for accommodating an elongated interventional instrument;
an optical shape sensing device for determining the position of the elongated interventional device by optical shape sensing using the optical shape sensing fiber; and
a handle comprising a) a first guide for guiding the optical shape sensing fiber, which is also guided within the elongated interventional device, from a first proximal opening of the handle to a distal portion of the handle, wherein the distal portion of the handle is adapted to be connected to a proximal portion of the elongated interventional device, and b) a second guide for guiding the elongated interventional instrument from a second proximal opening of the handle to the distal portion of the handle, wherein portions of the first guide and the second guide close to the first proximal opening and the second proximal opening are parallel to each other,
wherein the elongated interventional device and the handle are attached to each other such that the optical shape sensing fiber is guided from the first proximal opening of the handle to the distal portion of the handle and then into the first lumen of the elongated interventional device and such that the elongated interventional instrument is guidable from the second proximal opening of the handle to the distal portion of the handle and then into the second lumen of the elongated interventional device,
wherein the spacing between the first proximal opening and the second proximal opening from center line to center line is within a range of 10 to 15 mm.
12. The interventional apparatus of claim 11 , further comprising the optical shape sensing fiber and a tube into which the optical shape sensing fiber is embedded, wherein the tube is at least partially disposed outside of the handle.
13. The interventional apparatus as defined in claim 11 , wherein the handle comprises an elongated body having a first proximal body opening to which an elongated extension element, made of a material being more flexible than a material of which the elongated body is made, is attached having a proximal extension element opening forming the first proximal opening of the handle, the first guide being adapted to guide the optical shape sensing fiber from the proximal extension element opening through the first proximal body opening to the distal portion of the handle.
14. The interventional apparatus as defined in claim 13 , wherein the elongated body has a second proximal body opening forming the second proximal opening of the handle such that the second guide guides the elongated interventional instrument from the second proximal body opening to the distal portion of the handle.
15. The interventional apparatus as defined in claim 11 , wherein at least one of the first guide and the second guide is formed by a tube extending from the respective first or second proximal opening of the handle towards the distal portion of the handle.
16. The interventional apparatus as defined in claim 11 , wherein at least one of the first guide and the second guide is formed by a tube extending from the respective first or second proximal opening of the handle towards the distal portion of the handle.
17. An interventional apparatus for performing an interventional procedure, the interventional apparatus comprising:
an elongated interventional device comprising a first lumen accommodating an optical shape sensing fiber for allowing determination of a position of the elongated interventional device by optical shape sensing, and a second lumen for accommodating an elongated interventional instrument;
an optical shape sensing device for determining the position of the elongated interventional device by optical shape sensing using the optical shape sensing fiber; and
a handle comprising a) a first guide for guiding the optical shape sensing fiber, which is also guided within the elongated interventional device, from a first proximal opening of the handle to a distal portion of the handle, wherein the distal portion of the handle is adapted to be connected to a proximal portion of the elongated interventional device, and b) a second guide for guiding the elongated interventional instrument from a second proximal opening of the handle to the distal portion of the handle, wherein portions of the first guide and the second guide close to the first proximal opening and the second proximal opening are parallel to each other,
wherein the elongated interventional device and the handle are attached to each other such that the optical shape sensing fiber is guided from the first proximal opening of the handle to the distal portion of the handle and then into the first lumen of the elongated interventional device and such that the elongated interventional instrument is guidable from the second proximal opening of the handle to the distal portion of the handle and then into the second lumen of the elongated interventional device, and
wherein the handle comprises an elongated body having a first proximal body opening to which an elongated extension element, made of a material being more flexible than a material of which the elongated body is made, is attached having a proximal extension element opening forming the first proximal opening of the handle, the first guide being adapted to guide the optical shape sensing fiber from the proximal extension element opening through the first proximal body opening to the distal portion of the handle.
18. The interventional apparatus as defined in claim 17 , wherein the elongated body has a second proximal body opening forming the second proximal opening of the handle such that the second guide guides the elongated interventional instrument from the second proximal body opening to the distal portion of the handle.
19. The interventional apparatus of claim 17 , further comprising the optical shape sensing fiber and a tube into which the optical shape sensing fiber is embedded, wherein the tube is at least partially disposed outside of the handle.
20. A position determination method for determining a position of the elongated interventional device of the interventional apparatus as defined in claim 1 , the position determination method comprising determining the position by optical shape sensing by using the optical shape sensing device and the optical shape sensing fiber guided from the first proximal opening of the handle to the distal portion of the handle and then into the first lumen of the interventional device.