Animated position display of OSS intervention equipment

Abstract

An OSS animation display system for an interventional device (40), the interventional device comprising an integration of one or more optical shape sensors and one or more interventional tools. The OSS animation display system uses a monitor (121) and a display controller (110), the display controller being used to control the real-time display of an animation of a spatial position relationship between the OSS interventional device (40) and a target (50) on the monitor (121). The display controller (110) derives the animation of the spatial position relationship between the OSS interventional device (40) and the target (50) based on the shape of the (one or more) optical shape sensors.

Description

Technical Field

[0001] The invention of the present disclosure generally relates to real-time display of images illustrating the tracked position of an interventional device within an anatomical region based on optical shape sensing (OSS) technology.

[0002] The invention of the present disclosure more particularly relates to animation of a real-time display of a tracked position of an interventional device within an anatomical region based on optical shape sensing technology, thereby providing visualization of the tracked position of the interventional device relative to anatomical landmarks or other OSS interventional devices. Background Art

[0003] Intravascular procedures typically rely on fluorescence imaging to track the position (ie, location and / or orientation) of the interventional tool within the anatomical region throughout the procedure, wherein the fluorescence imaging field of view is manually updated throughout the procedure to keep the interventional tool within the fluorescence imaging field of view.

[0004] As an alternative or in addition to fluorescence imaging tracking, position tracking techniques as known in the art of the present disclosure may be used to track the position (ie, location and / or orientation) of the interventional tool within the anatomical region.

[0005] For example, optical shape sensing (OSS) technology uses light along single-core or multi-core optical fibers for device positioning and navigation during surgical interventions. The principles involved exploit distributed strain measurements in optical fibers using characteristic Rayleigh backscattering or controlled grating patterns. The shape along the fiber begins at a specific point along the sensor (called the launch or z=0) and the subsequent shape position and orientation of the fiber are described relative to that point.

[0006] OSS fibers can be integrated into interventional tools (e.g., vascular tools, intraluminal tools, and plastic surgery tools) to provide live visual guidance via a monitor of the interventional tool during minimally invasive procedures (e.g., intravascular procedures), wherein the integrated OSS fibers provide the position (i.e., location and / or orientation) of part or all of the interventional tool.

[0007] A key feature of fiber optic shape sensing is that it provides three-dimensional ("3D") information about the entire shape of the device in which the optical fiber is embedded. One challenge is how to properly visualize and communicate the 3D information of an optical shape sensing interventional tool to a navigator of the interventional tool. Summary of the invention

[0008] In order to improve existing systems, controllers and methods for displaying navigation of an interventional tool within an anatomical region during any type of interventional procedure, the present disclosure provides an invention for animating an image illustrating navigation of an interventional device within an anatomical region based on optical shape sensing information of the position (i.e., location and / or orientation) of the interventional device within the anatomical region.

[0009] One embodiment of the invention of the present disclosure is an OSS animation display system for an interventional device, the interventional device comprising an integration of one or more optical shape sensors and one or more interventional tools. The OSS animation display system employs a monitor and a display controller, the display controller being used to control the real-time display of an animation of a spatial positional relationship between the OSS interventional device and a target on the monitor. The display controller is configured to derive the animation of the spatial positional relationship between the OSS interventional device and the target based on a shape of the optical shape sensor.

[0010] A second embodiment of the present invention of the present disclosure is a display controller, which adopts an image animator and an image display, wherein the image animator is configured to derive an animation of the spatial position relationship between the OSS intervention device and the target based on the shape of (one or more) optical shape sensors, and the image display is configured to control the real-time display of the animation of the spatial position relationship between the OSS intervention device and the target on a monitor.

[0011] A third embodiment of the invention of the present disclosure is an OSS animation display method, which involves: a display controller deriving an animation of the spatial position relationship between an OSS intervention device and a target based on the shape of (one or more) optical shape sensors; and the display controller controlling the real-time display of the animation of the spatial position relationship between the OSS intervention device and the target derived by the display controller on a monitor.

[0012] For the purposes of describing and claiming the invention of the present disclosure:

[0013] (1) Terms in the field of the present disclosure (including but not limited to “monitor”, “imaging modality”, “registration” and “real-time”) should be interpreted as being known in the field of the present disclosure and exemplarily described in the present disclosure;

[0014] (2) The term "anatomical region" broadly encompasses one or more anatomical systems known in the art of the present disclosure and exemplarily described in the present disclosure, wherein each anatomical system has a natural or surgical structural configuration for navigating an anatomical device therein. Examples of anatomical regions include, but are not limited to, the mesenteric system (e.g., skin and appendages), skeletal system, muscular system, nervous system, endocrine system (e.g., glands and pancreas), digestive system (e.g., stomach, intestines, and colon), respiratory system (e.g., airways and lungs), circulatory system (e.g., heart and blood vessels), lymphatic system (e.g., lymph nodes), urinary system (e.g., kidneys), and reproductive system (e.g., uterus);

[0015] (3) The term "interventional tool" should be interpreted broadly as interventional tools known in the field of the present disclosure, including interventional tools known before and conceived after the present disclosure. Examples of interventional tools include, but are not limited to, vascular interventional tools (e.g., guidewires, catheters, stent sheaths, balloons, atherectomy catheters, IVUS imaging probes, deployment systems, etc.), intracavitary interventional tools (e.g., endoscopes, bronchoscopes, etc.), and orthopedic interventional tools (e.g., K-wires and screwdrivers);

[0016] (4) The term "OSS sensor" broadly encompasses an optical fiber as known in the art of the present disclosure and contemplated hereinafter that is configured to extract high density strain measurements of an optical fiber based on light that is launched into the optical fiber, propagates through the optical fiber, is reflected back within the optical fiber in the opposite direction of the light propagation, and / or is transmitted from the optical fiber in the direction of the light propagation. Examples of OSS sensors include, but are not limited to, an optical fiber configured under the principles of optical frequency domain reflectometry (OFDR) to extract high density strain measurements of an optical fiber based on light that is launched into the optical fiber, propagates through the optical fiber, is reflected back within the optical fiber in the opposite direction of the light propagation, and / or is transmitted from the optical fiber in the direction of the light propagation via a controlled grating pattern within the optical fiber (e.g., a fiber Bragg grating), characteristic backscattering of the optical fiber (e.g., Rayleigh backscattering), or any other arrangement of reflective node element(s) and / or transmissive node element(s) embedded, etched, imprinted, or otherwise formed in the optical fiber;

[0017] (5) "Integration of one or more optical shape sensors with one or more interventional tools" broadly encompasses any type of combination, abutment, attachment, mounting, insertion, blending, or other integration of (one or more) optical shape sensors into (one or more) interventional tools to form an interventional device as understood in the art of the present disclosure and exemplarily described in the present disclosure. Examples of such integration include, but are not limited to, fixed insertion of (one or more) optical shape sensors within the channels of catheters and guidewires incorporating (one or more) optical shape sensors;

[0018] (6) The term "optical shape sensing animation display system" broadly encompasses all interventional systems as known in the art of the present disclosure and hereinafter contemplated for use in an interventional procedure incorporating the inventive principles of the present disclosure for animated display of images illustrating navigation of an interventional device within an anatomical region based on optical shape sensing information of the location (i.e., position and / or orientation) of the interventional device within the anatomical region. Examples of such interventional systems include all interventional systems commercially supplied and sold by Philips as known in the art of the present disclosure and hereinafter contemplated for incorporating the inventive principles of the present disclosure;

[0019] (7) The term "optical shape sensing animation display method" broadly encompasses all interventional methods as known in the art of the present disclosure and hereinafter contemplated for use in an interventional procedure incorporating the inventive principles of the present disclosure for animating images illustrating navigation of an interventional device within an anatomical region based on optical shape sensing information of the location (i.e., position and / or orientation) of the interventional device within the anatomical region. Examples of such interventional methods include all interventional methods commercially supplied and sold by Philips as known in the art of the present disclosure and hereinafter incorporating the inventive principles of the present disclosure;

[0020] (8) The term "controller" broadly encompasses all structural configurations of a dedicated motherboard or application specific integrated circuit as exemplarily described later in this disclosure for controlling the application of the various inventive principles of this disclosure, said application being related to the automatic display of real-time display of images illustrating navigation of an interventional device within an anatomical region based on optical shape sensing (OSS) technology information of the location (i.e., position and / or orientation) of the interventional device within the anatomical region. The structural configuration of the controller may include, but is not limited to, processor(s), computer usable / computer readable storage medium(s), operating system(s), application module(s), peripheral device controller(s), interface(s), bus(s), slot(s), and port(s). The labels "OSS sensor", "OSS shape", and "display" used for the term "controller" in this disclosure distinguish a particular controller from other controllers described and claimed herein for identification purposes, without specifying or implying any additional limitation on the term "controller";

[0021] (9) The term "application module" broadly encompasses components of a controller including electronic circuitry and / or executable programs (e.g., executable software and / or firmware stored on (one or more) non-transitory computer-readable media) to run a particular application. The labels "shape reconstructor," "image animator," and "image display" used herein for the term "module" distinguish a particular module from other modules described and claimed herein for identification purposes and do not specify or imply any additional limitation on the term "application module"; and

[0022] (10) The terms "signal", "data" and "command" broadly encompass all forms of detectable physical quantities or pulses (e.g., voltage, current, or magnetic field strength) as understood in the art of the present disclosure and exemplarily described in the present disclosure for conveying information and / or instructions to support the application of the various inventive principles of the present disclosure described later in the present disclosure. Signal / data / command communication between components of the present disclosure may involve any communication method known in the art of the present disclosure and conceived hereinafter, including but not limited to signal / data / command transmission / reception via any type of wired or wireless media / data link and reading of signals / data / commands uploaded to computer-usable storage media / computer-readable storage media.

[0023] The foregoing embodiments and other embodiments of the invention of the present disclosure and various features and advantages of the invention of the present disclosure will become more apparent from the detailed description of various embodiments of the invention of the present disclosure read in conjunction with the accompanying drawings below. The detailed description and the accompanying drawings are merely illustrations of the invention of the present disclosure and are not limitations, and the scope of the invention of the present disclosure is defined by the claims and their equivalents. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] 1A-1C illustrate exemplary embodiments of optical shape sensors as known in the art of the present disclosure.

[0025] FIG. 2 illustrates an exemplary embodiment of an OSS interventional device as known in the field of the present disclosure.

[0026] 3A and 3B illustrate an exemplary embodiment of integrating an OSS sensor into a guidewire as is known in the art of the present disclosure.

[0027] Figure 4 An exemplary embodiment of control of a real-time display according to the inventive principles of this disclosure is illustrated.

[0028] Figure 5 An exemplary embodiment of an OSS animation display system according to the inventive principles of this disclosure is illustrated.

[0029] Figure 6 An exemplary embodiment of a flow chart representing an OSS animation display according to the inventive principles of this disclosure is illustrated.

[0030] Figures 7A-7C A first exemplary minimum distance animation according to the inventive principles of this disclosure is illustrated.

[0031] Figure 8 A second exemplary minimum distance animation according to the inventive principles of this disclosure is illustrated.

[0032] Fig. 9 A third exemplary minimum distance animation according to the inventive principles of this disclosure is illustrated.

[0033] Figures 10A-10C A first exemplary clinical alignment animation according to the inventive principles of the present disclosure is illustrated.

[0034] Figures 11A-11D A second exemplary clinical alignment animation according to the inventive principles of the present disclosure is illustrated.

[0035] Fig.12 A third exemplary clinical alignment animation according to the inventive principles of the present disclosure is illustrated.

[0036] Fig.13An exemplary clinical depth animation according to the inventive principles of the present disclosure is illustrated. DETAILED DESCRIPTION

[0037] As an improvement over the prior art display of images illustrating navigation of an interventional device within an anatomical region, the invention of the present disclosure is premised on generating multiple spatial images illustrating an anatomical region within an image space. An optical shape sensing position of a tracking node of an OSS interventional device relative to the image space determines an autonomous selection of one of the spatial images for display, and may further determine an autonomous display format of the selected spatial image.

[0038] To facilitate understanding of the various inventions of the present disclosure, the following description of Figures 1A-3B describes an exemplary embodiment of an OSS interventional device. Based on the description of Figures 1A-3B, one of ordinary skill in the art will understand how to practice various embodiments of an OSS interventional device.

[0039] Referring to 1A, an optical shape sensor 20 suitable for the invention of the present disclosure includes an optical fiber 21 that is a single-core optical fiber (e.g., an optical fiber 21a having a single core 22 as shown in FIG. 1B) or an optical fiber 21 that is a multi-core optical fiber (e.g., a multi-core optical fiber 21b having multiple cores 22b, 22c, and 22d as shown in FIG. 1C). The core of the optical fiber 21 has a controlled grating pattern (e.g., a fiber Bragg grating), characteristic backscattering (e.g., Rayleigh backscattering), or any other arrangement of reflective elements and / or transmissive elements embedded, etched, imprinted, or otherwise formed in the optical fiber 21. In practice, an OSS node in the form of a controlled grating, characteristic backscattering, or reflective / transmissive element may extend along any segment of the optical fiber 21 or the entire optical fiber, as symbolically shown by a dashed line from a proximal end 21p (or a guidewire proximal end 31p in FIGS. 3A and 3B) to a distal end 21d (or a guidewire distal end 31d in FIGS. 3A and 3B). Likewise, in practice, the optical shape sensor 20 may include two (2) or more individual optical fibers 31, which may or may not be helical.

[0040] In practice, optical fiber 21 of optical shape sensor 20 may be made partially or completely of any glass, silica, phosphate glass or other glass, or of glass and plastic or plastic or other materials used to make optical fibers. To prevent any damage to optical shape sensor 20 when introduced into the patient's anatomy via manual or robotic insertion, optical fiber 21 of optical shape sensor 20 may be permanently surrounded by a protective sheath as known in the art.

[0041] In practice, the protective sleeve can be made of any flexible material with a specified hardness, including but not limited to nylon elastomers, nitinol, bifurcated tubes, and multi-stranded metal tubes. Likewise, in practice, the protective sleeve can include two or more tubular components with the same or different degrees of flexibility and hardness arranged in an overlapping and / or sequential manner.

[0042] The optical shape sensor 20 may also include an optical connector 23 for connecting the optical fiber 21 to another optical fiber, an origination point, or a light source (eg, an optical interrogator), as will be further described in this disclosure.

[0043] 2 , the invention of the present disclosure provides an integration 41 of an optical shape sensor 20 with one or more interventional tools 30, thereby configuring an OSS interventional device 40 to execute an interventional procedure involving navigation of the OSS interventional device 40 within one or more anatomical regions (e.g., the heart and blood vessels of the cardiovascular system, the airways and lungs of the respiratory system, the stomach and intestines of the digestive system, and the orifices of the musculoskeletal system).

[0044] Examples of interventional tools 30 include, but are not limited to, vascular interventional tools (e.g., guidewires, catheters, stent sheaths, balloons, atherectomy catheters, IVUS imaging probes, deployment systems, etc.), intracavitary interventional tools (e.g., endoscopes, bronchoscopes, etc.), and orthopedic interventional tools (e.g., K-wires and screwdrivers).

[0045] In practice, the integration of the optical shape sensor 20 with the interventional tool 30 may be in any configuration suitable for a particular interventional procedure.

[0046] In addition, in practice, the proximal device node 42p of the OSS intervention device 40 may be the proximal OSS node 22p of the optical shape sensor 20. Alternatively, the proximal device node 42p of the OSS intervention device 40 may be a proximal tool node 32p mapped to the proximal OSS node 22p of the optical shape sensor 20 via a mechanical relationship mapping between the proximal OSS node 22p and the proximal tool node 32p or a shape template-based mapping as known in the art of the present disclosure.

[0047] Similarly, in practice, the remote device node 42d of the OSS intervention device 40 may be the remote OSS node 22d of the optical shape sensor 20. Alternatively, the remote device node 42d of the OSS intervention device 40 may be a remote tool node 32d mapped to the remote OSS node 22d of the optical shape sensor 20 via a mechanical relationship mapping between the remote OSS node 22d and the remote tool node 32d or a shape template-based mapping as known in the art of the present disclosure.

[0048] For example, Fig. 3A illustrates an optical shape sensor 20 axially embedded within a guidewire 30a to configure an OSS interventional device 40 in the form of an OSS guidewire 40a as known in the art of the present disclosure. The OSS guidewire 40a can be incorporated into any interventional procedure involving the use of a guidewire, whereby the OSS guidewire 40a can be navigated within an anatomical region as desired via the shape reconstruction capabilities of the optical shape sensor 20 as known in the art of the present disclosure.

[0049] The proximal device node 42p of the OSS intervention device 40a may be the proximal OSS node 22p of the optical shape sensor 20. Alternatively, the proximal device node 42p of the OSS intervention device 40a may be a proximal tool node 32p mapped to the proximal OSS node 22p of the optical shape sensor 20 via a mechanical relationship mapping between the proximal OSS node 22p and the proximal tool node 32p or a shape template-based mapping as known in the art of the present disclosure.

[0050] The distal device node 42d of the OSS intervention device 40a may be the distal OSS node 22d of the optical shape sensor 20. Alternatively, the distal device node 42d of the OSS intervention device 40a may be the distal tool node 32d mapped to the distal OSS node 22d of the optical shape sensor 20 via a mechanical relationship mapping between the distal OSS node 22d and the distal tool node 32d or a shape template-based mapping as known in the art of the present disclosure.

[0051] By way of further example, FIG3B illustrates that an optical shape sensor 20 or an OSS guidewire 30a as shown may be temporarily or permanently inserted into a channel of a catheter 30b to configure an OSS interventional device 40 in the form of a universal catheter 40b as known in the art. The universal catheter 40b may be incorporated into any interventional procedure involving the use of the working channel 31 of the catheter 30b, whereby the universal catheter 40b may be navigated within (one or more) anatomical regions as desired as known in the art of the present disclosure via the shape reconstruction capabilities of the optical shape sensor 20.

[0052] The proximal device node 42p of the OSS intervention device 40b may be the proximal OSS node 22p of the optical shape sensor 20. Alternatively, the proximal device node 42p of the OSS intervention device 40b may be a proximal tool node 32p mapped to the proximal OSS node 22p of the optical shape sensor 20 via a mechanical relationship mapping between the proximal OSS node 22p and the proximal tool node 32p or a shape template-based mapping as known in the art of the present disclosure.

[0053] The remote device node 42d of the OSS intervention device 40b may be the remote OSS node 22d of the optical shape sensor 20. Alternatively, the remote device node 42d of the OSS intervention device 40b may be the remote tool node 32d mapped to the remote OSS node 22d of the optical shape sensor 20 via a mechanical relationship mapping between the remote OSS node 22d and the remote tool node 32d or a shape template-based mapping as known in the art of the present disclosure.

[0054] Referring back to FIG. 2 , for the purpose of the invention of the present disclosure, a tracking node of the OSS intervention device 40 includes any fixed or dynamic point or part of the OSS intervention device 40 or the entire OSS intervention device 40 between the proximal device node 42 p and the distal device node 42 d .

[0055] For example, the tracking node of the OSS interventional device 40 may be the distal end of the interventional tool positioned at the distal device node 42d.

[0056] By way of further example, the tracking node of the OSS interventional device 40 may be a portion of the OSS interventional device 40 associated with a therapeutic device (eg, a balloon or stent) between the proximal device node 42p and the distal device node 42d.

[0057] By way of yet further example, the tracking node of the OSS interventional device 40 may be any portion of the OSS interventional device 40 extending into the anatomical region between the proximal device node 42p and the distal device node 42d.

[0058] By way of yet another example, the tracking node of the OSS interventional device 40 may be any portion of the OSS interventional device 40 between the proximal device node 42d and the distal device node 42d that is positioned in the image space of the anatomical region.

[0059] refer to Figure 4 The invention of the present disclosure relates to controlling a real-time display 54 of an animation 53 of a spatial positional relationship 52 between an OSS interventional device 40 and a target 50 (e.g., an anatomical feature, a therapeutic device, or an additional OSS interventional device 40) derived from the shape of an optical shape sensor 20 of the OSS interventional device 40.

[0060] In particular, interventional device 40 and target 50 are relatively positioned within a space 51 represented by an XYZ coordinate system.

[0061] In one embodiment, the minimum distance between the OSS intervention device 40 and the target 50 defines a spatial positional relationship 52 between the OSS intervention device 40 and the target 50, whereby, as will be further described herein, the animation 53 includes one of the following: an in-plane indicator of the OSS intervention device 40 being within a plane having an imaging of the target 50; a forward out-of-plane indicator of the forward-facing orientation of the OSS intervention device 40 being outside the plane having an imaging of the target 50; a rearward out-of-plane indicator of the rearward-facing orientation of the OSS intervention device 40 being outside the plane having an imaging of the target 50; and a contact indicator of the predicted degree of any contact between the OSS intervention device 40 and the target 50.

[0062] In a second embodiment, the clinical alignment between the OSS interventional device 40 and the target 50 defines a spatial position relationship 52 between the OSS interventional device 40 and the target 50, whereby, as will be further described herein, the animation 53 includes one of: an in-line indicator for alignment of the OSS interventional device 40 with the target 50 according to the interventional procedure; and an out-of-line indicator for misalignment of the OSS interventional device 40 with the target 50 according to the interventional procedure.

[0063] In a third embodiment, the clinical depth between the OSS interventional device 40 and the target 50 defines the spatial positional relationship between the OSS interventional device 40 and the target 50, whereby, as will be further described herein, the animation 53 includes one of the following: an in-depth indicator for the OSS interventional device 40 being within the depth range of the target 50 according to the interventional procedure; or an out-of-depth indicator for the OSS interventional device 40 being outside the depth range of the target 50 according to the interventional procedure.

[0064] In order to promote a further understanding of the invention of the present disclosure, the following Figure 5 and Figure 6 The description of the invention describes an exemplary embodiment of an OSS animation display system and method incorporating the inventive principles of the present disclosure. Figure 5 and Figure 6 With the above description, those skilled in the art will understand how to apply the inventive principles of the present disclosure to practice various embodiments of the OSS animation display system and method incorporating the inventive principles of the present disclosure.

[0065] refer to Figure 5 The OSS animation display system of the present disclosure uses an OSS intervention device 40 (FIG. 2), an imaging system 70, and a control network 90 (including an OSS shape controller 100 and a display controller 110 installed on a workstation 120). The OSS intervention system provides for the use of the OSS intervention device 40 (FIG. 2), an imaging system 70, and a control network 90 (including an OSS shape controller 100 and a display controller 110 Figure 4The inventive principles of the present disclosure described in the present disclosure provide for automatic updating of a real-time display of an image illustrating navigation of an OSS interventional device 40 within an anatomical region of a patient P by a workstation 120 based on an optical shape sensing position (i.e., location and / or orientation) of the OSS interventional device 40 within the anatomical region of the patient P.

[0066] In practice, the OSS interventional device 40 includes the integration of the optical shape sensor 20 with one or more interventional tools 40, as previously described in this disclosure in conjunction with Figures 1A-3B. For example, the OSS interventional device 40 can be an OSS guidewire 40a (Figure 3A) or a universal catheter 40b (Figure 3A).

[0067] In practice, the imaging system 70 may implement any type of imaging modality for generating volumetric image(s) of anatomical region(s) of the patient P (eg, an X-ray system, an MRI system, a CT system, an ultrasound system, etc.).

[0068] In practice, the OSS shape controller 100 and the display controller 110 may embody any arrangement of hardware, software, firmware and / or electronic circuitry for automatically updating a real-time display of an image illustrating navigation of the OSS interventional device 40 within an anatomical region of a patient P via a workstation 120 in accordance with the inventive principles of the present disclosure.

[0069] In one embodiment, the OSS shape controller 100 and the display controller 110 may include a processor, memory, a user interface, a network interface, and a storage device interconnected via one or more system buses.

[0070] The processor may be any hardware device capable of executing instructions stored in a memory or storage device or otherwise processing data as known in the art of the present disclosure or conceived below. In a non-limiting example, the processor may include a microprocessor, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), or other similar device.

[0071] The memory may include various memories as known in the art of the present disclosure or as contemplated below, including but not limited to L1, L2 or L3 cache memory or system memory. In non-limiting examples, the memory may include static random access memory (SRAM), dynamic RAM (DRAM), flash memory, read-only memory (ROM), or other similar memory devices.

[0072] The operator interface may include one or more devices as known in the art of the present disclosure or conceived below for enabling communication with a user such as an administrator. In a non-limiting example, the operator interface may include a command line interface or a graphical user interface that may be presented to a remote terminal via a network interface.

[0073] The network interface may include one or more devices as known in the art of the present disclosure or conceived hereinafter for enabling communication with other hardware devices. In a non-limiting example, the network interface may include a network interface card (NIC) configured to communicate according to the Ethernet protocol. In addition, the network interface may implement a TCP / IP stack for communicating according to the TCP / IP protocol. Various alternative or additional hardware or configurations for the network interface will be apparent.

[0074] As known in the field of the present disclosure or conceived below, the storage device may include one or more machine-readable storage media, including but not limited to read-only memory (ROM), random access memory (RAM), disk storage medium, optical storage medium, flash memory device or similar storage medium. In various non-limiting embodiments, the storage device can store instructions for being run by a processor or data that can operate with the processor. For example, the storage device can store a basic operating system for various basic operations of the control hardware. The storage device can also store one or more application modules in the form of executable software / firmware.

[0075] More specifically, still referring to Figure 5 An application module of the OSS shape controller 100 is a shape reconstructor 101 for reconstructing a part or the whole of the shape of the OSS interventional device 40 in response to the shape sensing data 82 as known in the art of the present disclosure and further exemplarily described in the present disclosure.

[0076] In addition, the application module of the display controller 110 includes an image animator 111 and an image display 112. The image animator 111 is used to autonomously select a tracking image from multiple spatial images according to the inventive principles of the present disclosure, which will be further exemplarily described in the present disclosure; the image display 112 is used to control the display of the selected tracking image according to the inventive principles of the present disclosure, which will be further exemplarily described in the present disclosure.

[0077] Still reference Figure 5 , workstation 120 includes a known arrangement of monitor 121 , keyboard 122 , and computer 123 .

[0078] In practice, the control network 90 may alternatively or concurrently be installed on other types of processing devices, including but not limited to tablet computers or workstations and servers accessible to the tablet computers, or the control network 90 may be distributed throughout the network to support the operation of interventional processes involving the OSS interventional devices 40.

[0079] Likewise, in practice, the OSS shape controller 100 and the display controller 110 may be integrated components, isolated components, or logically partitioned components of the control network 90 .

[0080] Still reference Figure 5 In operation, the imaging system 70 generates volumetric image data 71 for displaying a volumetric image of (one or more) object anatomical regions of the patient P before and / or during surgery. The volumetric image data 71 is communicated to the control network 90 (e.g., streaming or uploading of the volumetric image data 71), whereby the image display 112 can control the superimposed display of the reconstructed shape of the OSS interventional device 40 on the volumetric image of (one or more) anatomical regions of the patient P as known in the art of the present disclosure. For example, the monitor 121 can superimpose the reconstructed shape of the OSS interventional device 40 on the volumetric image of the vascular structure of the patient P.

[0081] The OSS interventional device 40 extends distally from a launch 61, which is shown adjacent to a rail of a patient bed PB, or alternatively adjacent to a cart (not shown) next to the patient bed PB, or alternatively adjacent to a workstation (e.g., a workstation 100 or a tablet (not shown)). An optical fiber 60 extends proximally from the launch 61 to an optical interrogator 81. In practice, the optical fiber 60 can be a separate optical fiber connected to the optical shape sensor 20 of the OSS interventional device 40 at the launch 61, or a proximal extension of the optical shape sensor 20 extending through the launch 61.

[0082] As is known in the art of the present disclosure, the OSS sensor controller 80 controls the periodic emission of light into the optical shape sensor 20 by the optical interrogator 81 via the optical fiber 60, whereby the light propagates through the optical shape sensor 20 to the distal end of the OSS interventional device 40, thereby generating shape sensing data 82 informing the shape of the OSS interventional device 40 relative to the launch 61 used as a fixed reference position. In practice, the distal end of the optical shape sensor 20 can be closed, particularly for light-reflecting embodiments of the optical shape sensor 20; or can be open, particularly for light-transmissive embodiments of the optical shape sensor 20.

[0083] The shape sensing data 82 is used as position tracking data, whereby the OSS sensor controller 80 controls the communication of a sequence of time frames of the shape sensing data 82 as known in the art of the present disclosure to the OSS shape controller 100. More particularly, each frame includes a single interrogation cycle of the strain sensors of the optical shape sensor 20 (e.g., fiber Bragg grating or Rayleigh backscattering), whereby the shape reconstructor 101 reconstructs the shape of the optical shape sensor 20 on a time frame basis as known in the present disclosure, which provides a partial or entire reconstruction of the shape of the OSS interventional device 40 derived from the specific integration of the optical shape sensor 20 with the interventional tool(s) 40.

[0084] In practice, the shape reconstructor 101 may implement any reconstruction technique for reconstructing part / whole of the shape of the OSS interventional device 40 as known in the art of the present disclosure.

[0085] In one reconstruction embodiment, the shape reconstructor 101 performs a partial / whole pose depiction of the shape of the OSS interventional device 40 via the shape sensing data 82 on a time frame basis within a coordinate system corresponding to the optical interrogator 81 .

[0086] In a second reconstruction embodiment, the shape reconstructor 101 performs a registration of the coordinate system of the optical interrogator 81 to the coordinate system of the imaging system 70, whereby the shape reconstructor 101 can position and orient a partial overall depiction of the shape of the OSS interventional device 40 via the shape sensing data 82 within the coordinate system of the imaging system 70 on a time frame basis.

[0087] Figure 6 The diagram shows the Figure 5 FIG. 130 is a flowchart of the OSS animation display method of the present disclosure implemented by the OSS animation display system.

[0088] Prior to or during the execution of the flowchart 130, the spatial image is independently registered to the optical shape sensor 20 ( Figure 5 )’s three-dimensional (3D) shape.

[0089] In one embodiment, the 3D shape of the optical shape sensor 20 is registered to the image space of the aerial images, thereby generating an individual registration matrix for each aerial image. The OSS shape controller 100 can utilize any spatial registration method suitable for the subject medical procedure, including, for example, target feature detection, marker detection, point-based registration, or external tracking methods.

[0090] refer to Figure 5 and Figure 6, stage S132 of flowchart 130 encompasses the shape reconstructor 101 reconstructing part or all of the shape of the OSS interventional device 40 in response to the shape sensing data 82 as is known in the art of the present disclosure.

[0091] In an exemplary embodiment, the shape reconstructor 101 may reconstruct the overall shape of the OSS interventional device 40 between the proximal device node 42 p and the distal device node 42 d .

[0092] In a second exemplary embodiment, the shape reconstructor 101 may reconstruct a portion of the OSS interventional device 40 between the proximal device node 42 p and the distal device node 42 d .

[0093] In a third exemplary embodiment, the shape reconstructor 101 may reconstruct a portion of the OSS interventional device 40 between an intermediate device node identified as a node at an entry point of the anatomical region AR and a distal device node 42d as known in the art of the present disclosure.

[0094] In a fourth exemplary embodiment, the shape reconstructor 101 may reconstruct a portion of the OSS interventional device 40 between an intermediate device node and a distal device node 42d, wherein the intermediate device node is identified as a node at an entry point of the image space of the registered spatial image.

[0095] In a fifth exemplary embodiment, the shape reconstructor 101 may reconstruct a portion of the OSS interventional device 40 that encloses a treatment device (eg, a balloon, stent, endoluminal graft, etc.) between the proximal tool node 32p and the distal tool node 32d.

[0096] Return to reference Figure 5 and Figure 6 , stage S134 of flowchart 130 involves animation display of the selected tracking image in the registered spatial image. The following is a description of three embodiments of stage S134.

[0097] Three-dimensional (3D) shortest distance Typically, in conjunction with the imaging system 70 ( Figure 5) registration, the integration of the optical shape sensor 20 into the interventional tool 30 to form the OSS interventional device 40 as shown in FIG. 2 provides the following information, from which any calculated distance in real time in 3D can be derived, which is either the distance between multiple OSS interventional devices 40 or the distance between the OSS interventional device 40 and any landmark of interest in the anatomical structure or imaging device. Therefore, the real-time shortest distance in 3D between the OSS interventional device 40 and any other point of interest (OSS interventional device 40 or anatomical landmark) in the same space can be calculated. By visualizing the relationship between the positioning of the OSS interventional device 40 relative to the anatomical structure of interest or relative to another OSS interventional device 40, the calculated distance can be displayed to the operator and the operator can use the calculated distance to guide the navigation and / or deployment of the OSS interventional device 40 in a safe manner.

[0098] For example, the through-the-wire technique for intravascular procedures involves introducing a soft 0.035 hydrophilic OSS guidewire 140 from the brachial artery access through a 6F 10 cm sheath to a soft 0.035 hydrophilic guidewire 141 from the femoral artery access, such as Fig. 7A A 15 to 20 mm OSS trap (endovascular trapping system) is introduced via the brachial artery, and a transfemoral guidewire is trapped and expressed through the brachial artery portal. Figure 7B An example of an OSS trap 150 imaged under X-ray is shown, and Figure 7C The trapping action of the OSS guidewire 140 is shown with the benefit of 3D shortest distance calculation as further described in the present disclosure. After establishing the brachial-femoral through-wire, it becomes feasible to place the stent graft through the tortuous aortic anatomy. The through-wire technique can also be applied by trapping the transbrachial guidewire by introducing a trap from the femoral artery entrance, or by placing the guidewire in other anatomical regions as well, for example, by capturing the transfemoral guidewire on the aortic bifurcation from the left common iliac artery to the right common iliac artery (crossing over the left and right common iliac arteries). There are currently many variations of this technique, for example, the dual-wire technique, which has been successfully applied to cerebral aneurysm repair.

[0099] Other situations where 3D shortest distance calculations are applicable to the present disclosure include, but are not limited to (1) meeting a retrograde line with an antegrade line during CTO crossing, (2) cannulation of the contralateral portal during abdominal aneurysm repair, (3) navigating a device to a specific anatomical target (e.g., navigating a transseptal needle to a landmark placed by an operator), and (4) navigating a device to a position on another medical device (e.g., cannulating a FEVAR graft through the left kidney).

[0100] More specifically, for the relationship between the OSS interventional device 40 of the present disclosure and the anatomical structure, for intravascular procedures, the interaction between the OSS interventional device 40 and the anatomical structure is key to the planned deployment of treatment. Generally, the relationship between the OSS interventional device 40 and the anatomical structure can be divided into two different groups.

[0101] For the first group of embodiments, the OSS interventional device 40 and the anatomical structure should avoid contact with vascular tissue, and most importantly, avoid contact with thrombus, calcification, and atherosclerotic plaque. After 3D real-time visualization of the OSS interventional device 40 and the anatomical structure, the minimum 3D distance between the OSS interventional device 40 and the anatomical structure or its part and the anatomical landmark of interest (e.g., calcification, severe stenosis area, thrombus) is given in the 3D anatomical image data set to warn the user and guide the deployment of the OSS interventional device 40 and the anatomical structure inside the blood vessel in a safer and more effective manner. The calculated minimum distance can be given in real time, and the critical closing position on the OSS interventional device 40 can be displayed with respect to the anatomical element of interest.

[0102] For the second group of embodiments, the goal of the intravascular technique is to navigate the OSS interventional device 40 towards specific anatomical landmarks and / or regions of interest. In this case, the minimum 3D distance between the OSS interventional device 40 or a portion thereof and the anatomical landmark of interest is calculated. The anatomical landmark will be given by a 3D CTA data set or 3D intraoperative CT (cone beam CT, 3D rotational angiography) that has been co-registered with the OSS interventional device 40. Similarly, the position of the instrument closest to the anatomical landmark of interest can be displayed in real time together with the distance. In a two-dimensional (2D) display of the scene, an indicator (color, size, halo) can also indicate whether the OSS interventional device 40 is in a plane with the target or outside the plane with the target (indicating near and far in different ways). Figure 8 An example of an OSS interventional device 40 approaching a landmark 160 is shown, wherein a halo 142 at the end of the OSS interventional device 140 indicates green when in-plane, red when out-of-plane toward a viewer, and blue when out-of-plane away from a viewer.

[0103] More particularly, the relationship between the OSS interventional device 40 of the present disclosure and a vascular treatment device (e.g., an endoluminal graft or stent) or a specific portion thereof is critical to the technical success of an intravascular procedure. In this case, a calculated value of the shortest distance between the OSS interventional device 40 or a portion thereof and the vascular treatment device or a portion thereof given by a 3D image data set (preoperative 3D CT or intraoperative cone beam CT or 3D rotational angiography) can provide enhanced guidance for the operator to cannulate the stent graft (or a portion thereof) or avoid getting too close to the stent graft. In the case where the treatment device is also tracking the OSS interventional device 40, the 3D shortest distance between the OSS interventional device 40 or a portion thereof and the OSS representation of the vascular treatment device or a portion thereof can be calculated and displayed in real time.

[0104] More specifically, for the relationship between the OSS interventional device 40 of the present disclosure and the planar imaging of the anatomical structure, the shortest distance to one plane is useful when only the anatomical information on one plane is known. In this embodiment, the shortest distance between the OSS interventional device 40 or a portion thereof projected on the plane and the anatomical element of interest (such as imaged on the plane by fluoroscopy) can be calculated in real time. In a dual-plane embodiment, the shortest distance between the OSS interventional device 40 or a portion thereof and the anatomical element (such as imaged by X-ray (either using fluoroscopy (with a dual-plane system) or using DSA from two different C-arm orientations)) can be calculated in real time on two planes.

[0105] More particularly, for the relationship between the OSS interventional device 40 of the present disclosure and the anatomical structure or the additional OSS interventional device 40, it may be relevant to know whether the position of the OSS interventional device 40 may encounter the target anatomical element or the additional OSS interventional device 40. If there is a 3D model of the anatomical structure, this information can be combined with the two positions to predict whether they are likely to encounter. This is most relevant in the case of antegrade + retrograde CTO intersections, where it is difficult to navigate both OSS interventional devices 40 to the same vessel. The centerline can be extracted based on the 3D model of the anatomical structure. In addition, the vector between the two OSS interventional devices 40 can be calculated. If the vector crosses between unique centerlines, it can be predicted with low confidence that the two OSS interventional devices 40 will encounter. Fig. 9 An example is shown of OSS interventional device 240b along with vessel 251 attempting to meet OSS interventional device 240a along with vessel 250. Vector 252 crosses between the unique centerlines of vessels 250 and 251, so the confidence that the two OSS interventional devices 240 meet can be predicted with low confidence.

[0106] Clinically relevant eventsBalloon catheters, endoluminal grafts, and stents are vascular treatment devices frequently used to treat vascular diseases such as atherosclerosis, stenosis, and aneurysms. During cardiovascular interventions, it is necessary to position multiple devices relative to each other, relative to anatomical targets, and monitor the deployment of treatment mechanisms. In practice, clinicians perform positioning and monitoring tasks under fluoroscopic guidance. The display controller 110 ( Figure 5 ) visually enhances device activity in real time in a context-relevant manner. In particular, a virtual representation of the OSS interventional device 40 is visually enhanced and / or animated to consistently represent clinically relevant events in the context of the intervention. An exemplary scenario is cannulation of a fenestrated endoluminal graft using an OSS interventional device (e.g., an OSS guidewire 40a (FIG. 3A) or an OSS catheter 40b (FIG. 3B)). When the OSS interventional device is aligned with the fenestration, a digital element representing the fenestration will light up, indicating that the OSS interventional device is ready to advance through the fenestration.

[0107] More specifically, if Fig. 10A As shown in the virtual representation 300 , the OSS intervention device 340 is not near any fenestration, so the ring retains its default green or blue color. Fig. 10B A virtual representation 301 of the OSS interventional device 340 is shown in position to cannulate the left annulus, which is illuminated in yellow to indicate readiness to be advanced through the fenestration, and Fig. 10C An alternative virtual representation 302 of the OSS interventional device 340 in position to cannulate the left annulus is shown, flashing to indicate readiness to advance through the fenestration. Conversely, when the OSS interventional device 340 is pointed away, the fenestration illumination dims. These visual aids reduce the cognitive burden of determining the relative position and orientation of the OSS interventional devices 340 relative to each other. This can help overcome the visualization and positioning challenges of performing such tasks using 2D projections as a guide, thereby potentially improving workflow, increasing productivity, and reducing radiation and costs.

[0108] In practice, the display controller 110 controls the display of the virtual device animation to consistently highlight clinically significant activities. To this end, the image animator 111 operates to align the virtual device representation with the correct absolute position on the OSS interventional device 40 of the present disclosure (e.g., via Fig.11A 400 ), track the position of the OSS interventional device 40 and other physical devices (e.g., vascular treatment devices) to determine their spatial relationship to each other, and track the deployment of physical devices to fully determine the configuration of device features (e.g., via Fig. 11B ), calculating the alignment of relevant device features (e.g., the trajectory of the catheter tip with the fenestration on the graft) (e.g., via Fig. 11C), and animating the virtual device element based on the calculated alignment (e.g., via Fig.11D As exemplarily shown in the virtual representation 403 in FIG.

[0109] In one embodiment, the image animator 111 monitors the alignment of tracked devices, such as endoluminal grafts and catheters, and then animates one or more of the devices based on the alignment or coincidence of key features.

[0110] In a second embodiment, the image animator 111 monitors the alignment of the tracked device with the anatomical target. This embodiment is similar to the previous embodiment, but instead of making fenestration marks on the graft, virtual markers are placed on the medical image to reference anatomical targets such as vascular branches. These anatomical markers may or may not be tracked depending on whether the medical image is intraoperative (e.g., X-ray, ultrasound) or preoperative (e.g., CT scan). Fig.12 An exemplary virtual representation 404 of an anatomical reference image is shown in which anatomical markers are superimposed to indicate the branches from the abdominal aorta to the renal arteries. These markers may be placed manually or automatically during or before surgery.

[0111] When the OSS interventional device (cyan) is pointed at a vessel opening, the marker corresponding to that opening lights up. This contrasts with the dark green markers corresponding to unrelated vessel openings. The animation or highlighting may take the alternative forms discussed previously in this disclosure.

[0112] The examples above demonstrate binary on / off illumination of device features, but other variations are possible. For example, the illumination of a feature can increase in brightness as the corresponding device is aligned. Alternatively, portions of a device feature closer to the device overlap can be animated, while features further away from the overlap remain dimmed. Finally, animation can take the form of subtle size or shape deformations. For example, when a catheter is pointed toward an opening, Fig.12 The rings may be enlarged or pulsated in size, or become diamond-shaped, or any deformation indicating the clinical event without causing confusion to the clinician.

[0113] In another embodiment, virtual device animations can also be incorporated into non-compliant balloon inflation. More specifically, as known in the art of the present disclosure, animations for non-compliant balloon inflation include size changes to indicate balloon expansion, color changes to indicate balloon pressurization, and flashes to indicate balloon rupture. Other parameters of clinical interest include under / over sizing of the balloon and relative point against the vessel to be treated.

[0114] More specifically, balloon oversizing occurs when the diameter of the balloon catheter is too large for the vessel, for example, if the vessel diameter is underestimated due to an erroneously generated fluoroscopic projection. Oversizing is a concern because it may cause excessive damage to the vessel (including dissection). When oversizing is detected, the animation of the balloon can take a variety of forms, including on / off flashing, flashing between different colors, superimposed patterns (e.g., stripes), superimposed indicative markings (e.g., arrows), etc. The advantage in each case is that the oversize alarm is consistently shown where the clinician's eyes are focused, thereby reducing the probability of missing the alarm. The interpretation of the condition is intuitive - for example, the clinician will not think that the balloon is changing color and will recognize the clinical event.

[0115] Similar animations can be performed for undersizing and correct sizing. Alternatively, the undersizing / correct / oversizing information can be conveyed under a unified animation scheme, such as gradually changing from green to red, where green represents a freely inflated balloon, red represents an undersized balloon, and intermediate colors represent a normally placed balloon against a vessel.

[0116] Distance to target . For this embodiment, the relative depth is visualized by selecting colors to encode the relative depth between the OSS intervention device 40 (Figure 2) and the target, for example, when the end of the OSS intervention device 40 is too close, the color of the target is orange; when the end of the OSS intervention device 40 is too far, the color of the target is blue; and when the end of the OSS intervention device 40 is aligned with the target, the color of the target is green. In addition, color coding can help make a "crisp" transition between an acceptable relative depth and an unacceptable relative depth. In addition, the sense of depth can also be increased through other visualization techniques (such as size changes, blurring, and transparency, which will have a more "soft" transition than color).

[0117] In practice, the relative depth between two objects is calculated in 3D based on the registered position of the OSS interventional device 40 in the imaging space. For example, the depth of an anatomical object can be calculated as the distance from the anatomical object to the X-ray source, or calculated in other ways based on the projection viewpoint. The relative depth between the OSS interventional device 40 and the anatomical landmark will be the difference in their depths in the imaging space.

[0118] The simplest way to define a target is to use a point, in which case the interaction of obtaining the point and the calculation of the relative depth are well known in the art of the present disclosure. Nevertheless, the target can be defined differently, such as by defining the target as a closed curve. In that case, for example, as required, the color coding can be set to encode the depth difference to the center of the target, or alternatively, to encode the information whether the depth of the tool is within the depth range of the target, for example, when the tip depth is within the depth range of the target, the color remains green.

[0119] exist Fig.13 , an example of an OSS interventional device 540 navigating toward a marked fenestration in a graft is reconstructed from an X-ray and 3D modeled with an ellipse 500. The color code of the ellipse indicates whether the tip of the OSS interventional device 540 is within its depth range (in which case it can be pushed forward) or if the tip of the OSS interventional device 540 is too close or too far from the fenestration (in which case the interventionalist needs to navigate the guidewire accordingly until the ellipse is the correct color).

[0120] return Figure 6 , stages S132 and S134 are repeated during the interventional procedure to facilitate optimal observation of the interventional procedure.

[0121] 1-13, those of ordinary skill in the art will appreciate the many benefits of the present disclosure, including, but not limited to, providing improvements over prior art systems, controllers, and methods for performing interventional procedures by providing an animated display of images illustrating navigation of an interventional device within an anatomical region based on optical shape sensing information of the interventional device's position (i.e., location and / or orientation) within the anatomical region.

[0122] In addition, as will be appreciated by those of ordinary skill in the art in view of the teachings provided herein, the features, elements, components, etc. described in the present disclosure / specification and / or depicted in the accompanying drawings can be implemented in various combinations of electronic components / circuits, hardware, executable software, and executable firmware, and provide functionality that can be combined in a single element or multiple elements. For example, the functionality of the various features, elements, components, etc. shown / illustrated / depicted in the accompanying drawings can be provided by using dedicated hardware and hardware capable of running software associated with appropriate software. When provided by a processor, the functionality can be provided by a single dedicated processor, by a single shared processor, or by multiple individual processors (some of which can be shared and / or multiplexed). In addition, the explicit use of the term "processor" should not be interpreted as referring exclusively to hardware capable of running software, and can implicitly include, without limitation, digital signal processor ("DSP") hardware, memory (e.g., read-only memory ("ROM"), random access memory ("RAM"), non-volatile storage, etc. for storing software), and substantially any unit and / or machine (including hardware, software, firmware, combinations thereof, etc.) capable of (and / or configurable to) execute and / or control a process.

[0123] In addition, all statements of the principles, aspects and embodiments of the present invention and its specific examples are recorded herein, and are intended to cover its structural and functional equivalents. In addition, such equivalents are intended to include currently known equivalents and equivalents of future development (i.e., any element developed that can perform the same or substantially similar function regardless of its structure). Therefore, for example, in view of the teachings provided herein, it should be appreciated by those of ordinary skill in the art that any block diagram presented herein can represent the conceptual view of the illustrative system components and / or circuits implementing the principles of the present invention. Similarly, in view of the teachings provided herein, it should be appreciated by those of ordinary skill in the art that any flow chart, flow chart, etc. can represent various processes, and the various processes can be basically represented in a computer-readable storage medium, and run in this way by a computer, a processor or other device with processing power, regardless of whether such a computer or processor is explicitly shown.

[0124] In addition, exemplary embodiments of the present disclosure can take the form of a computer program product or application module, which can be accessed from a computer-usable storage medium or a computer-readable storage medium, which provides program codes and / or instructions for use by, for example, a computer or any instruction execution system or in combination with, for example, a computer or any instruction execution system. According to the present disclosure, a computer-usable storage medium or a computer-readable storage medium can be, for example, any device that can include, store, communicate, propagate or convey a program for use by, for example, an instruction execution system, a device or an apparatus or in combination with an instruction execution system, a device or an apparatus. Such exemplary media can be, for example, an electronic, magnetic, optical, electromagnetic, infrared or semiconductor system (or device or equipment) or a propagation medium. Examples of computer-readable media include, for example, semiconductor or solid-state memory, magnetic tape, removable computer floppy disk, random access memory (RAM), read-only memory (ROM), flash (drive), hard disk and optical disk. Current examples of optical disks include compact disk-read-only memory (CD-ROM), compact disk-read / write (CD-R / W) and DVD. In addition, it should be understood that any new computer-readable media that may be developed in the future should also be considered as computer-readable media that can be used or related to the exemplary embodiments of the present invention and the disclosed content.

[0125] Having described preferred and exemplary embodiments of the invention of the present disclosure (which embodiments are intended to be illustrative and not restrictive), it should be noted that modifications and variations can be made by one of ordinary skill in the art in accordance with the teachings provided herein (including the accompanying drawings). Therefore, it should be understood that changes within the scope of the embodiments disclosed herein can be made in / to the preferred and exemplary embodiments of the present disclosure.

[0126] In addition, it is contemplated that corresponding and / or related systems including and / or implementing devices according to the present disclosure or such as can be used / implemented in the devices are also contemplated and considered to be within the scope of the present disclosure. Moreover, corresponding and / or related methods for making and / or using devices and / or systems according to the present disclosure are also contemplated and considered to be within the scope of the present disclosure.

Claims

1. An OSS animation display system for displaying an OSS interventional device (40), the OSS interventional device comprising an integration of at least one optical shape sensor and at least one interventional tool, the OSS animation display system comprising: Monitor(121); as well as a display controller (110) for controlling the real-time display of the reconstructed shape of the OSS intervention device and the animation of the spatial positional relationship between the OSS intervention device (40) and the target (50) on the monitor (121), Wherein, the display controller (110) is configured to derive the animation of the spatial positional relationship between the OSS intervention device (40) and the target (50) according to the shape of the at least one optical shape sensor.

2. The OSS animation display system according to claim 1, in, The target is one of: an anatomical feature, a therapeutic device, or an additional interventional device (40).

3. The OSS animation display system according to claim 1, in, The display controller (110) is further configured to calculate a minimum distance between the OSS intervention device (40) and the target (50) based on the shape of the at least one optical shape sensor, the minimum distance defining the spatial positional relationship between the OSS intervention device (40) and the target (50); and in, The display controller (110) is further configured to control animation of the minimum distance between the OSS intervention device (40) and the target (50) calculated by the display controller (110).

4. The OSS animation display system according to claim 3, in, The animation of the minimum distance between the OSS intervention device (40) and the target (50) calculated by the display controller (110) includes one of the following: an in-plane indicator of the OSS intervention device (40) in a plane having an image of the target (50); a forward out-of-plane indicator for a forward-facing orientation of the OSS interventional device (40) out of a plane with the imaging of the target (50); a rearward out-of-plane indicator for a rearwardly facing orientation of the OSS interventional device (40) out of a plane with the imaging of the target (50); as well as A contact indicator of a predicted degree of any contact between the OSS intervention device (40) and the target (50).

5. The OSS animation display system according to claim 1, in, The display controller (110) is further configured to calculate a clinical alignment between the OSS interventional device (40) and the target (50) based on the shape of the at least one optical shape sensor, the clinical alignment defining the spatial positional relationship between the OSS interventional device (40) and the target (50); and in, The display controller (110) is further configured to control animation of the clinical alignment between the OSS interventional device (40) and the target (50) calculated by the display controller (110).

6. The OSS animation display system according to claim 5, in, The animation of the clinical alignment between the OSS interventional device (40) and the target (50) calculated by the display controller (110) includes one of: an in-line indicator of alignment of the OSS interventional device (40) with the target (50) according to an interventional procedure; as well as An out-of-line indicator of misalignment of the OSS interventional device (40) with the target (50) according to the interventional procedure.

7. The OSS animation display system according to claim 1, in, The display controller (110) is further configured to calculate a clinical depth between the OSS interventional device (40) and the target (50) based on the shape of the at least one optical shape sensor, the clinical depth defining the spatial positional relationship between the OSS interventional device (40) and the target (50); and in, The display controller (110) is further configured to control animation of the clinical depth between the OSS interventional device (40) and the target (50) calculated by the display controller (110).

8. The OSS animation display system according to claim 7, in, The animation of the clinical depth between the OSS interventional device (40) and the target (50) calculated by the display controller (110) includes one of the following: a depth indicator for the OSS intervention device (40) being within a depth range of the target (50) according to an intervention procedure; as well as An out-of-depth indicator indicates that the OSS interventional device (40) is outside the depth range of the target (50) according to the interventional procedure.

9. A display controller (110) for controlling the real-time display of an animation of a spatial positional relationship between an OSS intervention device (40) and a target (50) on a monitor (121), the OSS intervention device (40) comprising an integration of at least one optical shape sensor and at least one intervention tool, the display controller (110) comprising: an image animator (111) configured to derive said animation of said spatial positional relationship between said OSS intervention device (40) and said target (50) based on a shape of said at least one optical shape sensor; as well as An image display (112) is configured to control the real-time display of the reconstructed shape of the OSS intervention device and the animation of the spatial positional relationship between the OSS intervention device (40) and the target (50) on the monitor (121).

10. The display controller (110) according to claim 9, in, The image animator (111) is further configured to calculate a minimum distance between the OSS intervention device (40) and the target (50) based on the shape of the at least one optical shape sensor, the minimum distance defining the spatial positional relationship between the OSS intervention device (40) and the target (50); and The image display (112) is further configured to control animation of the minimum distance between the OSS intervention device (40) and the target (50) calculated by the display controller (110).

11. The display controller (110) according to claim 10, in, The animation of the minimum distance between the OSS intervention device (40) and the target (50) calculated by the display controller (110) includes one of the following: an in-plane indicator of the OSS intervention device (40) in a plane having an image of the target (50); a forward out-of-plane indicator for a forward-facing orientation of the OSS interventional device (40) out of a plane with the imaging of the target (50); a rearward out-of-plane indicator for a rearwardly facing orientation of the OSS interventional device (40) out of a plane with the imaging of the target (50); as well as A contact indicator of a predicted degree of any contact between the OSS intervention device (40) and the target (50).

12. The display controller (110) according to claim 9, in, The image animator (111) is further configured to calculate a clinical alignment between the OSS interventional device (40) and the target (50) based on the shape of the at least one optical shape sensor, the clinical alignment defining the spatial positional relationship between the OSS interventional device (40) and the target (50); and Wherein, the image display (112) is further configured to control the animation of the clinical alignment between the OSS interventional device (40) and the target (50) calculated by the display controller (110).

13. The display controller (110) according to claim 12, in, The animation of the clinical alignment between the OSS interventional device (40) and the target (50) calculated by the display controller (110) includes one of: an in-line indicator of alignment of the OSS interventional device (40) with the target (50) according to an interventional procedure; as well as An out-of-line indicator of misalignment of the OSS interventional device (40) with the target (50) according to the interventional procedure.

14. The display controller (110) according to claim 13, in, The image animator (111) is further configured to calculate a clinical depth between the OSS interventional device (40) and the target (50) based on the shape of the at least one optical shape sensor, the clinical depth defining the spatial positional relationship between the OSS interventional device (40) and the target (50); and Wherein, the image display (112) is further configured to control animation of the clinical depth between the OSS interventional device (40) and the target (50) calculated by the display controller (110).

15. The display controller (110) according to claim 14, in, The animation of the clinical depth between the OSS interventional device (40) and the target (50) calculated by the display controller (110) includes one of the following: a depth indicator for the OSS intervention device (40) being within a depth range of the target (50) according to an intervention procedure; as well as An out-of-depth indicator indicates that the OSS interventional device (40) is outside the depth range of the target (50) according to the interventional procedure.

Images