Feature detection and device characterization based on automated OSS

Abstract

Various embodiments of this disclosure include an optical shape sensing registration system employing an optical shape sensing guidewire (30) capable of translation within a guidewire-on-device (40), and also employing an optical shape sensing registration controller (20) for controlling autonomous device registration of the guidewire-on-device (40). In operation, the optical shape sensing registration controller (20) automatically detects one or more sensing features (e.g., shape, curvature, temperature, vibration, strain, etc.) of the optical shape sensing guidewire (30) based on optical shape sensing of translation within the guidewire-on-device (40), and then automatically determines one or more registration characteristics (e.g., device type, length, diameter, color, hub type, one or more treatment devices, one or more anatomical images, one or more anatomical models, one or more anatomical locations, process type, etc.) of the guidewire-on-device (40) based on the automatic detection of the one or more sensing features of the optical shape sensing guidewire (30).

Description

Technical Field

[0001] This disclosure generally relates to optical shape sensing. Specifically, this disclosure relates to optical shape sensing based on optical shape sensing for automatically detecting one or more features of an optical shape sensing guidewire and automatically determining one or more characteristics of a device over-the-wire in which the optical shape sensing guidewire is translated. Background Technology

[0002] During surgical interventions, optical shape sensing (OSS) uses light along a multi-core optical fiber for device positioning and navigation. The principle involved utilizes measurements of distributed strain in the fiber, defined by characteristic Rayleigh backscattering or a controlled grating pattern (e.g., a fiber Bragg grating). The shape along the fiber begins at a specific point along the sensor (referred to as the starting point or z=0), and the position and orientation of the subsequent shape are relative to that point.

[0003] Shape-sensing optical fibers can be integrated into medical devices to provide live guidance of the device during minimally invasive procedures. The integrated fiber provides the position and orientation of the entire device, for example, by loading a catheter onto a shape-sensing guidewire for navigation to an anatomical target, which in turn facilitates the overlay of the catheter in preoperative computed tomographic images of the anatomical target.

[0004] The registration characteristics of medical devices must be known to support spatial tracking of the devices during minimally invasive procedures. These registration characteristics need to be determined in a manner that minimizes any disruption to the workflow of the minimally invasive procedure. Summary of the Invention

[0005] For a wide range of applications involving spatial tracking of over-the-wire (OTW) devices, this disclosure describes controllers, systems, and methods for automatically determining required device characteristics. These controllers, systems, and methods enable accurate and robust tracking of OTW devices via optical shape sensing (OSS) guidewires in a manner that minimizes any disruption to the application's workflow, or for annotation, reporting, documentation, etc. Examples of such applications include, but are not limited to, vascular applications (e.g., via catheters, sheaths, deployment systems, etc.), endovascular applications (e.g., via endoscopy), and orthopedic applications (via Kirschner wires and screwdrivers).

[0006] This disclosure can be implemented as follows:

[0007] (1) The OSS registration controller disclosed herein;

[0008] (2) An OSS registration system including the OSS registration controller described herein; and

[0009] (3) OSS registration method using the OSS registration controller of this disclosure.

[0010] In various embodiments, the OSS registration system of this disclosure includes an OSS guidewire that can be translated within an OTW device, and also includes an OSS registration controller for controlling autonomous device registration of the OTW device.

[0011] In operation, the OSS registration controller (1) automatically detects one or more sensing features of the OSS guidewire (e.g., shape, curvature, temperature, vibration, strain, torsion, α, etc.) based on optical shape sensing of the translation of the OSS guidewire within the device on the guidewire, and (2) automatically determines one or more registration characteristics of the OTW device (e.g., type, length, diameter, color, hub, (one or more) treatment devices, (one or more) anatomical images, (one or more) anatomical models, (one or more) anatomical locations, etc.) based on the automatic detection of the one or more sensing features of the OSS guidewire.

[0012] Various embodiments of the OSS registration controller disclosed herein include a non-transient machine-readable storage medium encoded with instructions for execution by one or more processors to control autonomous device registration of an OTW device capable of translation within the OSS guidewire.

[0013] The non-transient machine-readable storage medium includes instructions for performing the following operations: (1) automatically detecting one or more sensing features of the OSS guidewire (e.g., shape, curvature, temperature, vibration, strain, etc.) based on optical shape sensing of the translation of the OSS guidewire within the OTW device, and (2) automatically determining one or more registration characteristics of the OTW device (e.g., type, length, diameter, color, hub, (one or more) disposal devices, (one or more) anatomical images, (one or more) anatomical models, (one or more) anatomical locations, etc.) based on the automatic detection of the one or more sensing features of the OSS guidewire.

[0014] Various embodiments of the OSS registration method disclosed herein use an OSS registration controller to control autonomous device registration of an OTW device that can translate within the OSS guidewire.

[0015] The OSS registration method involves an optical shape sensing registration characteristic controller (1) automatically detecting one or more sensing features of the OSS guidewire (e.g., shape, curvature, temperature, vibration, strain, torsion, α, etc.) based on optical shape sensing of the translation of the OSS guidewire within the OTW device, and (2) automatically determining one or more registration characteristics of the OTW device (e.g., device type, length, diameter, color, hub type, (one or more) treatment devices, (one or more) anatomical images, (one or more) anatomical models, (one or more) anatomical locations, etc.) based on the automatic detection of the one or more sensing features of the OSS guidewire.

[0016] The foregoing and other embodiments of this disclosure, as well as the various structures and advantages of this disclosure, will become more apparent from the following detailed description of various embodiments in conjunction with the accompanying drawings. The detailed description and drawings are for illustrative purposes only and are not intended to limit the scope of this disclosure, which is defined by the claims and their equivalents. Attached Figure Description

[0017] This disclosure will present in detail the following description of exemplary embodiments with reference to the accompanying drawings, in which:

[0018] Figure 1 An exemplary embodiment of the OSS registration system according to this disclosure is illustrated;

[0019] Figure 2 An exemplary embodiment of the OSS registration method according to this disclosure is illustrated;

[0020] Figure 3 The diagram illustrates the content of this disclosure. Figure 2 A flowchart of a first exemplary embodiment of the OSS registration method;

[0021] Figure 4 The illustration shows a flowchart illustrating an exemplary embodiment of the automatic hub detection method according to the present disclosure;

[0022] Figure 5A and Figure 5B An exemplary graphical automatic hub detection is illustrated according to this disclosure;

[0023] Figure 6 The illustration shows a flowchart illustrating an exemplary embodiment of an automated OTW device measurement method according to the present disclosure;

[0024] Figure 7 The illustration shows a flowchart illustrating an exemplary embodiment of the OSS peak measurement method according to the present disclosure;

[0025] Figure 8An exemplary OSS peak measurement according to this disclosure is illustrated;

[0026] Figure 9 The illustration shows a flowchart illustrating an exemplary embodiment of the OSS distal curvature measurement method according to the present disclosure;

[0027] Figure 10 An exemplary OSS distal curvature measurement is illustrated in accordance with this disclosure;

[0028] Figure 11 The illustration shows a flowchart illustrating an exemplary embodiment of the OSS shape matching measurement method according to the present disclosure;

[0029] Figure 12 The illustration depicts an exemplary OSS shape matching measurement according to this disclosure;

[0030] Figure 13 The diagram illustrates the content of this disclosure. Figure 2 A flowchart of a second exemplary embodiment of the OSS registration method; and

[0031] Figure 14 An exemplary embodiment of an OSS registration controller according to this disclosure is illustrated. Detailed Implementation

[0032] This disclosure improves device registration during applications involving Space Tracking Wire (OTW) devices by: (1) automatically detecting one or more sensing features of the OSS guidewire (e.g., shape, curvature, temperature, vibration, strain, torsion, α, etc.) based on optical shape sensing of the translation of the optical shape sensing (OSS) guidewire within the guidewire-on-wire device; and (2) automatically determining one or more registration characteristics of the OTW device (e.g., type, length, diameter, color, hub, (one or more) disposal devices, (one or more) anatomical images, (one or more) anatomical models, (one or more) anatomical locations, etc.) based on the automatic detection of one or more sensing features of the OSS guidewire.

[0033] For the purposes of this disclosure and the claims:

[0034] (1) Terms in the art, including but not limited to “Optical Shape Sensing (OSS)”, “OSS Guidewire”, “On-Wire (OTW) Device”, “Hub”, “Hub Template”, “Autonomous (and its temporal aspects)”, and “Automatic (and its temporal aspects)”, should be interpreted as those known in the field of this disclosure and exemplarily described in this disclosure;

[0035] (2) More specifically, the term “OSS guidewire” broadly encompasses wires, springs, etc. known in the field of this disclosure and contemplated below, including optical shape sensing for guiding the spatial positioning of OTW devices.

[0036] (3) Examples of OTW devices include, but are not limited to, conduits, deployment systems, and sheaths;

[0037] (4) More specifically, the term “hub” broadly encompasses any object known in the field of this disclosure and contemplated below for reference to optical shape sensing of an OTW device via an OSS guidewire. Examples of hubs include, but are not limited to, single catheter hubs, Luer lock hubs, catheter-on-catheter hubs, hemostatic valve hubs, guidewire torque hubs, and introducer hubs.

[0038] (5) More specifically, the term “hub template” broadly encompasses any shape distribution profile, curvature distribution profile, or strain distribution profile of the OSS guidewire formed within the hub.

[0039] (6) The term “autonomous device registration” broadly encompasses one or more autonomous actions performed by a controller to determine registration characteristics of one or more OTW devices associated with a spatial tracking OTW device, as exemplarily described in this disclosure.

[0040] (7) The term “automatic” broadly encompasses one or more autonomous actions performed by a controller that depend on optical shape sensing of the translation of the OSS guidewire within the OTW device, as exemplarily described in this disclosure;

[0041] (8) The term “sensing characteristic” broadly encompasses characteristics of an OSS guidewire known within the field of this disclosure, derived from optical interrogation of the OSS guidewire. Such sensing characteristics may be derived from the OSS guidewire itself, a hub that causes the characteristic in the OSS guidewire, or an OTW device that causes the characteristic in the OSS guidewire. Examples of sensing characteristics of an OSS guidewire include, but are not limited to, the shape, curvature, temperature, vibration, and strain of a section of the OSS guidewire or the entire OSS guidewire;

[0042] (9) The term “registration characteristics” broadly encompasses characteristics of an OTW device known in the field of this disclosure for spatial registration purposes between an OTW device and an OSS device, which are used for tracking purposes. Examples of registration characteristics of an OTW device include, but are not limited to, the device type, length, diameter, and color of the OTW device, as well as the hub type, disposal device(s), anatomical images(s), anatomical models(s), anatomical locations(s), and process types associated with the OTW device;

[0043] (10) The term “lookup table” or “LUT” covers a database of templates or device characteristics that may be defined before or during a process. Examples of such databases include, but are not limited to, lookup tables known in the field of this disclosure and artificial intelligence-generated databases;

[0044] (11) The term “controller” broadly encompasses all structural configurations of one or more main circuit boards and / or one or more integrated circuits having the principles for controlling the various aspects of the present disclosure as understood in the field of this disclosure and exemplarily described in this disclosure;

[0045] (12) The term "application module" broadly encompasses an application program incorporated within or accessible by a controller that includes electronic circuitry (e.g., electronic components and / or hardware) and / or an executable program (e.g., executable software stored on (one or more) non-transient computer-readable media and / or firmware) for running a specific application of this disclosure as exemplarily described herein; and

[0046] (13) The terms “signal” and “data” broadly encompass all forms of detectable physical quantities or pulses (e.g., voltage, current, or magnetic field strength) understood in the field of this disclosure and exemplarily described in this disclosure for transmitting information and / or instructions supporting various inventive principles of this disclosure as subsequently described herein. Various signal / data communication components of this disclosure may relate to any communication method known in the field of this disclosure, including but not limited to signal / data transmission / reception via either a wired or wireless data link and reading of signals / data uploaded to a computer-usable / computer-readable storage medium.

[0047] To facilitate understanding of the contents of this disclosure, Figure 1 and Figure 2 The following descriptions teach exemplary embodiments of the OSS registration system and OSS registration method according to this disclosure. Figure 1 and Figure 2 Based on the description, those skilled in the art will recognize how this disclosure can be applied to create and use additional embodiments of the OSS registration system and OSS registration method of this disclosure for use in any type of OTW device.

[0048] refer to Figure 1 The OSS registration system disclosed herein uses an OSS registration controller 20 and an OSS guidewire 30.

[0049] In practice, the OSS guidewire 30 is a guidewire known in the art of this disclosure that has an optical shape sensor in which an optical fiber is embedded.

[0050] In one exemplary embodiment, the optical shape sensor is based on a fiber Bragg grating (FBG) sensor. A fiber Bragg grating (FBG) is a short segment of optical fiber that reflects a specific wavelength of light while transmitting all other wavelengths. This is achieved by adding a periodic refractive index variation to the fiber core, which creates a wavelength-specific dielectric mirror. Therefore, a fiber Bragg grating can be used as an inline optical filter to block certain wavelengths or as a wavelength-specific reflector.

[0051] More specifically, FBG sensors can utilize Fresnel reflection at each interface in an interface where the refractive index is changing. For some wavelengths, the reflected light of each period is in phase, resulting in constructive interference for reflection and thus destructive interference for transmission. The Bragg wavelength is sensitive to strain and temperature. This means that Bragg gratings can be used as sensing elements in fiber optic sensors. In FBG sensors, the measured quantity (e.g., strain) causes a shift in the Bragg wavelength.

[0052] In a second exemplary embodiment, the optical shape sensor is based on inherent backscattering. One such method uses Rayleigh scattering (or other scattering) in standard single-mode communication optical fibers. Rayleigh scattering occurs due to random fluctuations in the refractive index within the fiber core. These random fluctuations can be modeled as Bragg gratings with random variations in amplitude and phase along the grating length. By using this effect in three or more cores extending within a single length of multi-core fiber, it is possible to follow the 3D shape and dynamics of the surface of interest.

[0053] One advantage of the OSS guidewire 30 is its ability to distribute individual sensor elements along the length of the optical fiber. Incorporating three or more cores with individual sensors (meters) along the length of the fiber embedded in the structure allows for precise determination of the three-dimensional form of this structure, typically with an accuracy better than 1 mm. Numerous FBG sensors can be positioned at various locations along the length of the fiber. Based on the strain measurements of each FBG, the structural curvature at that location can be inferred. Based on the numerous measurement locations, the overall three-dimensional form can be determined.

[0054] Still referencing Figure 1In practice, the OSS registration controller 20 or other controller is connected to an optical interrogator interface known in the art of this disclosure, including a light source or working with a light source. The controller 20 (or other controller) controls the operation of the optical interrogator, known in the art of this disclosure, for sending and receiving optical signals (e.g., the shape, curvature, temperature, vibration, and strain of a segment of the OSS guidewire (30) or the entire OSS guidewire) representing one or more sensed characteristics of the OSS guidewire 30. The controller 20 (or other controller) also controls the reconstruction of the shape of the OSS guidewire 30 based on the received optical signals (i.e., shape sensing data), known in the art of this disclosure.

[0055] Still referencing Figure 1 The OSS registration system of this disclosure also employs an OTW device having conduits 40a and 40b, the conduit 40a having a hub 50 attached to its proximal end (e.g., via a Luer lock), the OTW device being equipped with a hub 50 (not shown) that can be attached to its proximal end. The hub 50 includes a unique template formed in the hub body, known in the art of this disclosure, for distinguishing portions of the OSS guidewire 30 within the hub body via shape sensing data.

[0056] In practice, OTW devices may be alternative forms known in the field of this disclosure, including but not limited to deployment systems and sheaths.

[0057] Moreover, in practice, the catheter 40 can be loaded onto the OSS guidewire 30 from the front or back in a manual or robotic manner, thereby the OSS registration controller 20 controls the determination of device registration of the catheter 40, which involves one or more autonomous actions performed by the OSS registration controller 20 to determine one or more registration characteristics of the catheter 40 associated with the spatial tracking catheter 40.

[0058] Examples of registration characteristics of catheter 40 include catheter type, length, diameter and color of catheter 40, as well as hub type, treatment device(s), anatomical images(s), anatomical models(s), anatomical locations(s), and one or more procedure types associated with catheter 40.

[0059] In one exemplary embodiment, the registration characteristic of the catheter 40 is the type of hub 50 to which or which can be attached to the catheter 40. To determine this registration characteristic, the OSS registration controller 20 employs a hub detection module to automatically detect the hub 50 relative to the hub template of the OSS guidewire 30 based on optical shape sensing of the translation of the OSS guidewire 30 through the hub template, as will be further described in this disclosure, or to automatically detect the device type of the catheter 40b based on optical shape sensing of the translation of the OSS guidewire 30 within the catheter 40b, as will be further described in this disclosure.

[0060] In a second exemplary embodiment, the registration characteristic of catheter 40 is the length of catheter 40. To determine this registration characteristic, OSS registration controller 20 employs an OTW device measuring instrument to automatically derive the measurement result of the length of catheter 40 based on optical shape sensing of the translation of OSS guidewire 30 through the translation of catheter 40, as will be further described in this disclosure.

[0061] refer to Figure 2 This will indicate that it is implemented as an OSS guidewire (e.g., Figure 1 The state machine 60 of the OSS registration method 60 of the present disclosure (OSS guidewire 30) in an OTW device (e.g., Figure 1 The catheter 40) is translated inside.

[0062] State ST61 of state machine 60 includes: the OSS registration controller of this disclosure (e.g., Figure 1 The controller 20) controls the interrogation of the OSS guidewire that moves within the OTW device via command signal 70a.

[0063] State ST62 of state machine 60 includes: OSS registration controller processing OSS data 71 generated via OSS guidewire interrogation as known in the art of this disclosure to detect one or more sensing features of the OSS guidewire (e.g., shape, curvature, temperature, vibration, and strain of a segment of the OSS guidewire or the entire OSS guidewire).

[0064] State ST63 of state machine 60 includes: OSS registration controller processing feature data 72 that indicates the characteristics of the detected OSS guidewire to evaluate whether one or more registration characteristics of the OTW device can be derived based on the characteristics of the detected OSS guidewire.

[0065] If one or more registration characteristics of the OTW device are derived from the characteristics of the detected OSS guidewire, then the OSS registration controller outputs device registration characteristic data 73 of the OTW device to facilitate spatial tracking of the OTW device (e.g., device type, length, diameter and color of the OTW device, as well as hub type, (one or more) treatment devices, (one or more) anatomical images, (one or more) anatomical models, (one or more) anatomical locations and process types associated with the OTW device).

[0066] More specifically, the characteristics of the detected OSS guidewire can be used to delineate the anatomical location. For example, the shape of the detected OSS guidewire can correspond to a specific shape of the anatomical location, thereby indicating the positioning and / or orientation of the OSS guidewire (and OTW device) at that anatomical location when the OSS guidewire is being navigated within the anatomical area.

[0067] If one or more registration characteristics of the OTW device cannot be derived based on the detected characteristics of the OSS guidewire, then as the OSS guidewire is further translated within the OTW device, the OSS registration controller controls the interrogation of the OSS guidewire via command signal 70b, thereby repeating states ST61-ST63 until one or more registration characteristics of the OTW device are derived based on the detected characteristics of the OSS guidewire. To facilitate a further understanding of this disclosure, the following... Figure 3-13 The descriptions respectively teach the following based on this disclosure: Figure 1 OSS registration system and Figure 2 OSS registration methods, such as Figure 2 The taught OSS registration system and method are used to detect one or more OSS guidewire features as a basis for capturing one or more registration characteristics of one or more OTW devices. Based on the... Figure 3-13 From the description herein, those skilled in the art will realize how to apply this disclosure to make and use [the product / service]. Figure 1 OSS registration system and Figure 2 Additional embodiments of the OSS registration method are provided for use with any type of OTW device.

[0068] Figure 3 Flowcharts 100 and 200 illustrate an OSS registration method representing the present disclosure, which is particularly applicable to OTW devices (e.g., within an attached hub) Figure 1 (catheter 40).

[0069] refer to Figure 3Flowcharts 100 and 200 include workflows for determining registration characteristics that define spatial tracking of conduit 40 relative to the attached hub 50 or spatial tracking of another OTW device relative to the attached hub.

[0070] Typically, the implementation of the first phase of the user action / controller operation includes phases S102 and S104 of flowchart 100 and phases S202 and S204 of flowchart 200. This first phase is used to detect the hub template when the OSS guide wire 30 translates through the hub 50, thereby determining the type of hub 50.

[0071] The implementation of the second phase of the user action / controller operation includes phases S106 and S108 of flowchart 100 and phases S206 and S208 of flowchart 200. This second phase is used to measure the catheter 40 when the OSS guidewire 30 is translated through the catheter 40.

[0072] Prior to flowcharts 100 and 200, a lookup table (LUT) 203 is defined as an array of predefined hub types and associated unique templates. The detected hub templates enable the lookup table to locate the corresponding hub type, as will be further described in this disclosure. In practice, different hub templates may include single-duct hubs with varying degrees of curvature or different shapes.

[0073] Additionally, a LUT 207 can be defined as an array of predefined catheters and associated shape or curvature distribution profiles, thereby enabling the detection of catheter shape and curvature to be used to look up a specific type of catheter using a lookup table. For example, the LUT 207 may include shape or curvature distribution profiles of several known devices (e.g., Cobra catheters, SOS catheters, VS1 catheters, etc.).

[0074] Still referencing Figure 3 Phase S102 of flowchart 100 includes a first user action involving attaching the hub 50 to the conduit 40, and phase S104 of flowchart 100 includes a second user action involving translating the OSS guidewire 30 manually or robotically through the hub 50. Phases S102 and S104 of flowchart 100 initiate phases S202 and S204 of flowchart 200 for automatically detecting which type of hub 50 is attached to the conduit 40. The initiation of phases S202 and S204 of flowchart 200 occurs based on one or more of the following inputs.

[0075] In one exemplary embodiment, user input 301 may provide the controller 20 with the following indication: the hub 50 is attached to the conduit 40 and the insertion process of the OSS guidewire 30 into the hub 50 is about to begin. User input 310 may be in the form of visual, verbal, and / or manual prompts.

[0076] In a second exemplary embodiment, a sensor can be incorporated into the hub 50, whereby the sensor sends a sensor input signal 302 to the controller 20 when the sensor senses that the hub 50 is attached to the conduit 40 or that the OSS guidewire 30 is in contact with the hub 50. Alternatively, additional sensors can be incorporated into other devices such as on a table or in a room to sense stages S102 and / or S104 that have occurred.

[0077] In a third exemplary embodiment, controller 20 (or another controller) may run an algorithm to continuously examine shape data from OSS guidewire 30 to detect the formation of a minimum curvature in the distal end of OSS guidewire 30. Once the algorithm observes a minimum curvature in the shape data, algorithm signal 303 triggers stage S202.

[0078] In the fourth exemplary embodiment, imaging information 304 extracted from X-ray, ultrasound, optical / camera, or other imaging methods may also be used to identify when the conduit 40 is present or whether the hub 30 is being used. This identification is used as a trigger for the initiation phase S202.

[0079] The first phase, implemented by phases S202 and S204, involves the continuous processing of shape sensing data of the OSS guidewire 30 during phase S202, because the OSS guidewire translates through the hub template during phase S104, thereby causing the controller 20 to attempt to match the current shape data of the OSS guidewire 30 to a predefined hub template in the LUT 203 during phase S204. The predefined hub template with the lowest error is defined as the hub with the best match, and this hub type (or classification) is saved.

[0080] Figure 4 An exemplary embodiment of the first stage is illustrated.

[0081] refer to Figure 4Phase S402 of flowchart 400 includes: optical shape sensing of the translation of the OSS guidewire 30 by means of the translation of the hub 50 after attaching the hub 50 to the conduit 40 as shown and loading the hub 50 onto the OSS guidewire 30 from the front or back. During phase S402, the user can click a button to initialize the controller 20, or alternatively, the controller 20 can run continuously and be capable of detecting when the hub 50 is connected to the conduit 40 based on signal processing and signal optimization techniques known in the art.

[0082] Phase S404 of flowchart 400 includes controller 20 comparing the current shape data of OSS guide wire 30 with the predefined hub template of LUT 203, thereby selecting the predefined hub template with the lowest error as the detected hub template. The error function can conform to the following formula [1].

[0083]

[0084] For IDX match =1...shape.length

[0085] In practice, the area under the hub template can be normalized; otherwise, smaller templates may be preferred over larger ones.

[0086] The template location can be displayed to the user. If an incorrect template location or template is selected, the user can "window-manage" the search range. The search range can also be window-managed without user input to exclude portions of the OSS guidewire 30 inside or outside the body, or very distal portions (e.g., the last 10 cm) of the sensor (by viewing the gradient in the axial strain).

[0087] Once the template location is selected during stage S406 of flowchart 400, stage S408 of flowchart 400 includes controller 20 capturing (extracting) the actual hub template curvature from the shape of the region aligned with the stored hub template.

[0088] Figure 5A A predefined hub template is shown that matches the curvature of the optically shape-sensed OSS guidewire 30 translated through the hub template, and Figure 5B A magnified view showing the correct match is displayed.

[0089] Return to reference Figure 3Stage S106 of flowchart 100 includes a third user action of manually or robotically translating the OSS guidewire 30 through the catheter 40, and stage S108 of flowchart 100 includes a fourth user action of manually or robotically extending the tip of the OSS guidewire 30 from the hub 50. Stages S106 and S108 of flowchart 100 initiate stages S206 and S208 of flowchart 200 for automatically measuring the length of the catheter 40.

[0090] Figure 6 An exemplary embodiment of the second phase is illustrated.

[0091] refer to Figure 6 Stage S502 of flowchart 500 includes optical shape sensing of the translation of the OSS guidewire 30 through the catheter 40, either manually or robotically, as shown in the figure, followed by... Figure 4 The optical shape sensing shown is used to translate the OSS guidewire 30 via manual or robotic translation of the hub template.

[0092] Phase S504 of flowchart 500 includes the detector 21 of controller 20 automatically deriving a measurement of the length of catheter 40 based on optical shape sensing of the translation of OSS guidewire 30 via catheter 40 in phase S502, the translation involving aligning or extending the distal tip 31 of OSS guidewire 30 to the distal tip 41 of catheter 40. For this purpose, the detector 21 of controller 20 may include a database 209 of catheter shapes 51a, including but not limited to Tiger catheters, Jacky catheters, Amplatz left catheters, LCB catheters, RCB catheters, Judkins left catheters, Judkins right catheters, multipurpose A2 catheters, IM catheters, 3D Lima catheters, and IM VB-1 catheters.

[0093] Phase S506 of the flowchart includes controller 20 capturing the measured catheter length for optical shape sensing reconstruction of the shape of catheter 40, which is known in the field of this disclosure or contemplated below.

[0094] An exemplary embodiment of phase S504 will now be described herein.

[0095] Figure 7 A flowchart 510 illustrating the OSS peak measurement method of this disclosure is shown. (Reference) Figure 7Phase S512 of flowchart 510 includes the controller 20 storing the average curvature at the tip 31 of the OSS guidewire 30 at each time point as the guidewire 30 begins proximal to the catheter 40 and is pushed toward and beyond the distal tip 41 of the catheter 40, and plotting the relationship between the average tip curvature and the position of the hub 50. Phase S512 results in a large, rapid increase in the average curvature of the tip 31 of the OSS guidewire 30 as it reaches the distal tip 41 of the catheter 40, followed by a sharp decrease in the average curvature of the tip 31 of the OSS guidewire 30. The peaks in curvature define the points where the tips 31, 41 of the two devices 30, 40 align.

[0096] For example, Figure 8 The following diagram illustrates the following: When the tip 31 of the OSS guidewire 30 reaches the distal tip 41 of the catheter 40, the average curvature of the tip 31 of the OSS guidewire 30 increases rapidly, followed by a sharp decrease in the average curvature of the tip 31 of the OSS guidewire 30. The peak in the curvature defines the point at which the tips 31, 51 of the two devices 30, 50 align.

[0097] Return to reference Figure 7 In stage S514 of flowchart 510, the controller 20 continuously monitors and plots the decrease in average tip curvature. When the controller 20 identifies a decrease in average tip curvature, stage S516 of flowchart 510 involves the controller 20 using this peak in the average tip curvature to extract the single-conduit hub index location that can be extracted at that peak, thereby defining the length of the conduit 40. Accordingly, additional device characteristics can be captured by matching the current OTW device or hub with a predefined device characteristic lookup table.

[0098] Figure 9 A flowchart 520 illustrating the OSS distal curvature method representing the present disclosure is shown. (Reference) Figure 9 Phase S522 of flowchart 500 includes the controller 20 storing the curvature at the distal tip of the OSS guidewire 30 at each time point as the OSS guidewire 30 begins proximal to the catheter 40 and is pushed toward and beyond the distal tip 41 of the catheter 40, and plotting the relationship between the tip curvature and the position of the hub 50. Peaks in the curvature signal are found in each frame. Each peak has a label, for example, A, B, C or 1, 2, 3. The labels are initialized using the first frame of data. With each new frame, the label is applied to the peak closest to the last peak—in this way, a specific bend in the catheter 40 is labeled and can be consistently located relative to the OSS guidewire 30.

[0099] Figure 10 An exemplary graph 153 is illustrated, plotting the curvature of the distal tip of the OSS guidewire 30. The colored lines are from three (3) different time points, where the distal tip of the OSS guidewire 30 is at different locations 80, 81, and 82 within the catheter 40. Numbered circles indicate labels for each peak in the curvature distribution profile.

[0100] More specifically, Figure 10 The first time point (blue) is shown when the OSS guidewire 30 is still within the catheter 40. At this point, a bend in the OSS guidewire 30 is identified and labeled (1). At a second time point (purple), when the OSS guidewire 30 is still within the catheter 40 but has advanced slightly, the bend (1) shifts further proximally towards the OSS guidewire 30. As this shift continues, the endpoint of the bend (1) gets closer and closer to the proximal side of the OSS guidewire 30. At the next time point (pink), the tip of the OSS guidewire 30 extends beyond the upper tip of the guidewire, and a new bend (2) appears. In this way, bends can be calculated and a threshold can be defined for when the OSS guidewire 30 leaves the catheter 40.

[0101] Return to reference Figure 9 Phase S524 of flowchart 520 includes identifying the exit point of OSS guidewire 30 from catheter 40, thereby defining the length of catheter 40 during phase S526 of flowchart 520.

[0102] Figure 11 A flowchart 530 illustrating the OSS distal curvature method representing the present disclosure is shown. (Reference) Figure 11 Phase S532 of flowchart 530 includes the controller 20 receiving the current reconstructed shape of the OSS guidewire 30, and phase S534 of flowchart 530 includes the measuring device 22 attempting to match the reconstructed OSS guidewire 30 with a predefined bend of the catheter stored in a lookup table of predefined bends and associated lengths. Phases S532 and S534 are run cyclically until the controller 20 identifies a match with the lowest error, which indicates the shape of the OSS guidewire 30 that looks most like the tip of the OSS guidewire 30 and is aligned with the catheter 40. Phase S536 of flowchart 530 includes the controller 20 capturing the matched predefined catheter length as the length of the catheter 40.

[0103] Figure 12The illustration shows the current reconstructed shape 140 of the OSS guidewire 50 matching the multipurpose A2 catheter 141h in a lookup table that includes the Tiger catheter 141a, Jacky catheter 141b, Amplatz left catheter 141c, LCB catheter 141d, RCB catheter 141e, Judkins left catheter 141f, Judkins right catheter 141g, multipurpose A2 catheter 141h, IM catheter 141i, 3D lima catheter 141j, and IM VB-1 catheter 141k.

[0104] Figure 13 Flowcharts 110 and 210 illustrate an OSS registration method representing the present disclosure, which is particularly suitable for OTW devices without an attached hub (e.g., Figure 1 (Catheter 41).

[0105] refer to Figure 13 Flowcharts 110 and 210 include workflows for determining registration characteristics that define spatial tracking of conduit 41 or another OTW device without an attached hub, and for controller operations.

[0106] Stage S112 of flowchart 110 includes a first user action of manually or robotically translating the OSS guidewire 30 through the catheter 41, and stage S114 of flowchart 110 includes a second user action of manually or robotically extending the tip of the OSS guidewire 30 from the distal tip of the catheter 41. Stages S112 and S114 of flowchart 110 initiate stages S212 and S214 of flowchart 210 for automatically measuring the length of the catheter 41.

[0107] The initiation of stages S212 and S214 in flowchart 210 occurs based on one or more of the following inputs.

[0108] In one exemplary embodiment, user input 301 may provide the controller 20 with the following instruction: the insertion process of the OSS guidewire 30 into the catheter 41 is about to begin. User input 310 may be in the form of visual, verbal, and / or manual prompts.

[0109] In a second exemplary embodiment, a sensor can be incorporated into the catheter 41, whereby the sensor sends a sensor input signal 302 to the controller 20 when it senses that the OSS guidewire 30 is in contact with the catheter 41. Alternatively, additional sensors can be incorporated into other devices such as on a table or in a room to sense stages S112 and / or S114 that have occurred.

[0110] In a third exemplary embodiment, controller 20 (or another controller) may run an algorithm to continuously examine shape data from OSS guidewire 30 to detect the formation of a minimum curvature in the distal end of OSS guidewire 30. Once the algorithm observes a minimum curvature in the shape data, algorithm signal 303 triggers stage S212.

[0111] In the fourth exemplary embodiment, imaging information 304 extracted from X-ray, ultrasound, optical / camera, or other imaging methods may also be used to identify when the OSS guidewire 30 approaches or contacts the catheter 41. This identification is used as a trigger for the initiation phase S212.

[0112] Phases S212 and S214 involve the continuous processing of shape sensing data of the OSS guidewire 30 during phase S212, because the OSS guidewire translates through the catheter 41 during phase S102, and thus during phase S214, the controller 20 attempts to match the current shape data of the OSS guidewire 30 to a predefined catheter shape in the lookup table (LUT) 213. The predefined catheter shape with the lowest error is defined as the catheter type with the best match, and this catheter type (or classification) is saved, from which registration characteristics can be derived.

[0113] In one embodiment of stage S214, controller 20 receives the current reconstructed shape of OSS guidewire 30 and attempts to match the reconstruction of OSS guidewire 30 to a predefined bend of catheter stored in a lookup table of predefined bends and associated characteristics including hub type. Controller 20 identifies the match with the lowest error, which indicates the shape of OSS guidewire 30 that looks most like the tip of OSS guidewire 30 and is aligned with catheter 41, and controller 20 captures the registration characteristics of the matched predefined catheter shape as the registration characteristics of catheter 41.

[0114] As mentioned above, Figure 12 The illustration shows the current reconstructed shape 140 of the OSS guidewire 50 matched to the multipurpose A2 catheter 141h in a lookup table. This lookup table includes the Tiger catheter 141a, Jacky catheter 141b, Amplatz left catheter 141c, LCB catheter 141d, RCB catheter 141e, Judkins left catheter 141f, Judkins right catheter 141g, multipurpose A2 catheter 141h, IM catheter 141i, 3Dlima catheter 141j, and IM VB-1 catheter 141k. Therefore, the registration characteristics of the multipurpose A2 catheter 141h become the registration characteristics of the catheter 41, specifically the type of hub to be attached to the catheter 41.

[0115] To facilitate a further understanding of the contents of this disclosure, the following is a summary. Figure 14The description teaches exemplary embodiments of an OSS registration controller according to this disclosure. Figure 14 Based on the description, those skilled in the art will recognize how this disclosure can be applied to make and use additional embodiments of the OSS registration controller according to this disclosure.

[0116] refer to Figure 14 Exemplary Example 20a of OSS Registration Controller 20 Figure 1 It includes one or more processors 21, memory 22, user interface 23, network interface 24 and storage device 26, which are interconnected via one or more system buses.

[0117] Each processor 21 can be any hardware device known in the art of this disclosure or contemplated below, capable of executing instructions stored in memory 22 or other storage devices or processing data. In a non-limiting example, processor(s) 21 may include a microprocessor, a field-programmable gate array (FPGA), an application-specific integrated circuit (ASIC), or other similar device.

[0118] Memory 22 may include various memories known in the art of this disclosure or contemplated below, including but not limited to L1, L2, or L3 buffer memories or system memories. In a non-limiting example, memory 22 may include static random access memory (SRAM), dynamic RAM (DRAM), flash memory, read-only memory (ROM), or other similar memory devices.

[0119] User interface 23 may include one or more devices known in the art of this disclosure or contemplated below for enabling communication with a user, such as an administrator. In a non-limiting example, the user interface may include a command-line interface or a graphical user interface that may be presented to a remote terminal via network interface 24.

[0120] Network interface 24 may include one or more devices known in the art of this disclosure or contemplated below for enabling communication with an imaging system (not shown) and additional tracking systems (not shown) (e.g., an electromagnetic tracking system). In a non-limiting example, network interface 24 may include a network interface card (NIC) configured to communicate according to the Ethernet protocol. Additionally, network interface 26 may implement a TCP / IP stack for communication according to the TCP / IP protocol. Various alternatives or additional hardware or configurations for network interface 26 will be readily apparent.

[0121] Storage device 26 may include one or more machine-readable storage media known in the art of this disclosure or contemplated below, including but not limited to read-only memory (ROM), random access memory (RAM), disk storage media, optical storage media, flash memory devices, or similar storage media. In various non-limiting embodiments, storage device 26 may store instructions for execution by one or more processors 21 or data operable thereto by one or more processors 21. For example, storage device 26 may store a basic operating system for controlling various basic operations of the hardware. Storage device 26 may also store feature detector 28a and feature manager 28b as application modules in the form of executable software / firmware for implementing various functions such as feature detection and registration feature determination as previously described in this disclosure. Storage device 26 may also store OSS query application modules (not shown) and / or OSS reconstruction application modules (not shown) known in the art of this disclosure or contemplated below. Furthermore, storage device 26 may store lookup tables (e.g., predefined OTW shapes) as previously described in this disclosure.

[0122] In practice, the OSS registration controller 20a can be integrated into a standalone workstation (e.g., a desktop, laptop, tablet, or smartphone) or into a workstation or server within the OSS system.

[0123] refer to Figure 1-14 Those skilled in the art will recognize the many benefits of this disclosure, including, but not limited to, automatically detecting the characteristics of the OSS guidewire to automatically determine the registration characteristics required by the OTW device for the accurate and robust spatial tracking of the OSS guidewire or other tracking devices suitable for a wide variety of applications. The determined device characteristics can be used (but are not limited to): recalling visualization properties, annotating procedures, logging important information, document generation, or setting device / imaging properties to improve procedure accuracy.

[0124] Furthermore, the exemplary embodiments described in this disclosure teach how features of the OSS guidewire can be detected to define device characteristics of the OTW device (e.g., catheter length). In the same principles of this disclosure, features of the OSS guidewire can be detected to delineate anatomical locations. For example, the specific shape of the OSS guidewire (or OSS guidewire and OTW device) is caused by the anatomical location, whereby the detected shape of the OSS guidewire (and OTW device) along with the anatomical location can be stored in a predefined LUT. As a result, during subsequent procedures, the detection of features facilitates the determination of the anatomical location or a specific type of procedure via the LUT.

[0125] Furthermore, as those skilled in the art will recognize from the teachings provided herein, the structures, elements, components, etc., described in this disclosure / specification and / or depicted in the drawings can be implemented in various combinations of hardware and software, providing functionality that can be combined in a single element or multiple elements. For example, the functionality of the various structures, elements, components, etc., shown / illustrated / depicted in the drawings can be provided by hardware using dedicated hardware and software capable of running appropriate software associated with additional functionality. When provided by a processor, the functionality can be provided by a single dedicated processor, a single shared processor, or multiple individual processors (some of which can be shared and / or multiplexed). Furthermore, the explicit use of the terms “processor” or “controller” should not be construed as referring exclusively to hardware capable of running software, and may implicitly include, but is not limited to, digital signal processor (“DSP”) hardware, memory (e.g., read-only memory (“ROM”), random access memory (“RAM”), non-volatile memory, etc. for storing software), and any unit and / or machine (including hardware, software, firmware, combinations thereof, etc.) that is substantially capable of (and / or configurable to) perform and / or control processes.

[0126] Furthermore, all statements herein recounting the principles, aspects, and embodiments of the invention, as well as specific examples thereof, are intended to cover their structural and functional equivalents. Additionally, such equivalents are intended to include both currently known equivalents and future developmental equivalents (i.e., any developed element capable of performing the same or substantially similar functions, regardless of its structure). Therefore, for example, in view of the teachings provided herein, those skilled in the art will recognize that any block diagram presented herein can represent a conceptual view of illustrative system components and / or circuits implementing the principles of the invention. Similarly, in view of the teachings provided herein, those skilled in the art will recognize that any flowchart, diagram, etc., can represent various processes that can be substantially represented in a computer-readable storage medium and thus operated by a computer, processor, or other device with processing capabilities, whether or not such a computer or processor is explicitly shown.

[0127] Having described numerous preferred and exemplary embodiments of the inventions disclosed herein (which are intended to be illustrative and not restrictive), it should be noted that modifications and variations can be made by those skilled in the art in accordance with the teachings provided herein (including the accompanying drawings). Therefore, it should be understood that changes can be made to the preferred and exemplary embodiments of the invention within the scope of the embodiments disclosed herein.

[0128] Furthermore, it should be anticipated that devices / systems, including and / or those implementing the present disclosure, or corresponding and / or related systems capable of being used / implemented in said devices, are also anticipated and considered to be within the scope of this disclosure. Additionally, corresponding and / or related methods for manufacturing and / or using devices and / or systems according to the present disclosure are also anticipated and considered to be within the scope of this disclosure.

[0129] Those skilled in the art, through studying the accompanying drawings, the disclosure, and the claims, will be able to understand and implement other variations of the disclosed embodiments when practicing the claimed invention. In the claims, the word "comprising" does not exclude other elements or steps, and the words "a" or "an" do not exclude a plurality. Although certain measures are described in dissimilar dependent claims, this does not indicate that combinations of these measures cannot be advantageously used. No reference numerals in the claims should be construed as limiting the scope.

Claims

1. An optical shape sensing and registration system, comprising: An optical shape sensing guidewire (30) is capable of translating within a device (40) on the guidewire; as well as An optical shape sensing registration controller (20) is configured to control autonomous device registration of the guidewire-on-device (40), wherein the optical shape sensing registration controller (20) is configured to: At least one sensing feature of the optical shape sensing guidewire (30) is automatically detected based on optical shape sensing of the translation of the optical shape sensing guidewire (30) within the device (40) on the guidewire; and At least one registration characteristic of the device on the guidewire (40) is automatically determined based on the automatic detection of at least one sensing feature of the optical shape sensing guidewire (30), wherein the at least one registration characteristic of the device on the guidewire (40) includes the length of the device on the guidewire (40), which is measured by means of analysis of the curvature of the optical shape sensing guidewire (30) through translation of the device on the guidewire (40): The optical shape sensing of the optical shape sensing guidewire (30) through the translation of the guidewire device (40) is matched with a plurality of predefined guidewire device shapes, and the length of the guidewire device (40) relative to a reference is measured according to one of the plurality of predefined guidewire device shapes that has the best shape match with the optical shape sensing of the optical shape sensing guidewire (30) through the translation of the guidewire device (40).

2. The optical shape sensing and registration system according to claim 1, in, The at least one registration feature of the guidewire device (40) further includes a hub (50); and The optical shape sensing registration controller (20) is configured to automatically identify the hub (50) based on the automatic detection of at least one sensing feature of the optical shape sensing guide wire (30).

3. The optical shape sensing and registration system according to claim 2, in, The hub (50) includes a hub template (51); and Wherein, when the hub (50) is attached to the guidewire device (40), the optical shape sensing registration controller (20) is configured to automatically identify the hub (50) based on the automatic detection of at least one sensing feature of the optical shape sensing guidewire (30), including the optical shape sensing registration controller (20) being configured to perform the following operations: The optical shape sensing of the optical shape sensing guidewire (30) translated through the hub (50) is compared with a plurality of predefined hub templates; and Select one of the predefined hub templates (51) that has the best shape match with the hub template (51).

4. The optical shape sensing and registration system according to claim 2, in, When the hub (50) is not attached to the guidewire device (40), the optical shape sensing registration controller (20) is configured to automatically identify the hub (50) based on the automatic detection of at least one sensing feature of the optical shape sensing guidewire (30), including the optical shape sensing registration controller (20) being configured to perform the following operations: The optical shape sensing of the optical shape sensing guidewire (30) is translated by the translation of the guidewire-on-device (40) and compared with the shape of each of the plurality of predefined guidewire-on-devices; Select one of the predefined guidewire-on-devices that has the best shape match with the optical shape sensing that translates the optical shape sensing guidewire (30) through the guidewire-on-device (40); and Identify the hub (50) associated with a selected predefined guidewire device among the predefined guidewire devices.

5. An optical shape sensing registration controller (20) for controlling autonomous device registration of a guidewire device (40), the optical shape sensing registration controller (20) comprising: A non-transient machine-readable storage medium encoded with instructions for execution by at least one processor, the non-transient machine-readable storage medium including instructions for performing the following operations: At least one sensing feature of the optical shape sensing guidewire (30) is automatically detected based on optical shape sensing of the translation of the optical shape sensing guidewire (30) within the device (40) on the guidewire; and At least one registration characteristic of the device on the guidewire (40) is automatically determined based on the automatic detection of at least one sensing feature of the optical shape sensing guidewire (30), wherein the at least one registration characteristic of the device on the guidewire (40) includes the length of the device on the guidewire (40), which is measured by means of analysis of the curvature of the optical shape sensing guidewire (30) through translation of the device on the guidewire (40): The optical shape sensing of the optical shape sensing guidewire (30) through the translation of the guidewire device (40) is matched with a plurality of predefined guidewire device shapes, and the length of the guidewire device (40) relative to a reference is measured according to one of the plurality of predefined guidewire device shapes that has the best shape match with the optical shape sensing of the optical shape sensing guidewire (30) through the translation of the guidewire device (40).

6. The optical shape sensing registration controller (20) according to claim 5. in, The at least one registration feature of the guidewire device (40) further includes a hub (50); and The instructions for automatically determining the at least one registration characteristic of the device (40) on the guidewire based on the automatic detection of at least one sensing feature of the optical shape sensing guidewire (30) include instructions for performing the following operations: The hub (50) is automatically identified based on the automatic detection of at least one sensing feature of the optical shape sensing guide wire (30).

7. The optical shape sensing registration controller (20) according to claim 6. in, The hub (50) includes a hub template (51); and Wherein, when the hub (50) is attached to the guidewire device (40), the instructions for automatically identifying the hub (50) based on the automatic detection of at least one sensing feature of the optical shape sensing guidewire (30) include instructions for performing the following operations: The optical shape sensing of the optical shape sensing guidewire (30) translated through the hub (50) is compared with a plurality of predefined hub templates; and Select one of the predefined hub templates (51) that has the best shape match with the hub template (51).

8. The optical shape sensing registration controller (20) according to claim 6, wherein, When the hub (50) is not attached to the guidewire device (40), the instructions for automatically identifying the hub (50) based on the automatic detection of at least one sensing feature of the optical shape sensing guidewire (30) include instructions for performing the following operations: The optical shape sensing of the optical shape sensing guidewire (30) is translated by the translation of the guidewire-on-device (40) and compared with the shape of each of the plurality of predefined guidewire-on-devices; Select one of the predefined guidewire-on-devices that has the best shape match with the optical shape sensing that translates the optical shape sensing guidewire (30) through the guidewire-on-device (40); and Identify the hub (50) associated with a selected predefined guidewire device among the predefined guidewire devices.

9. An optical shape sensing registration method operable by an optical shape sensing registration controller for controlling an on-wire device (40), the optical shape sensing registration method comprising: The optical shape sensing guidewire (30) is controlled to translate within the device (40) on the guidewire; and At least one sensing feature of the optical shape sensing guidewire (30) is automatically detected by the optical shape sensing controller based on optical shape sensing of the translation of the optical shape sensing guidewire (30) within the guidewire device (40); and At least one registration characteristic of the device on the guidewire (40) is automatically determined by the optical shape sensing registration controller based on the automatic detection of at least one sensing characteristic of the optical shape sensing guidewire (30), wherein the at least one registration characteristic of the device on the guidewire (40) includes the length of the device on the guidewire (40), which is measured by means of analysis of the curvature of the optical shape sensing guidewire (30) through the translation of the device on the guidewire (40): The optical shape sensing of the optical shape sensing guidewire (30) through the translation of the guidewire device (40) is matched with a plurality of predefined guidewire device shapes, and the length of the guidewire device (40) relative to a reference is measured according to one of the plurality of predefined guidewire device shapes that has the best shape match with the optical shape sensing of the optical shape sensing guidewire (30) through the translation of the guidewire device (40).

10. The optical shape sensing registration method according to claim 9, in, The at least one registration feature of the guidewire device (40) further includes a hub (50); and The automatic determination of at least one registration characteristic of the device (40) on the guidewire by the optical shape sensing registration controller based on the automatic detection of at least one sensing characteristic of the optical shape sensing guidewire (30) includes: The hub (50) is automatically identified by the optical shape sensing registration controller based on the automatic detection of at least one sensing feature of the optical shape sensing guide wire (30).

11. The optical shape sensing registration method according to claim 10, in, The hub (50) includes a hub template (51); and When the hub (50) is attached to the guidewire-on-device (40), the automatic determination of at least one registration characteristic of the guidewire-on-device (40) by the optical shape sensing registration controller based on the automatic detection of at least one sensing characteristic of the optical shape sensing guidewire (30) includes: The optical shape sensing, which involves translating the optical shape sensing guidewire (30) through the hub (50), is compared with a plurality of predefined hub templates via the optical shape sensing registration controller; and The optical shape sensing registration controller selects a predefined hub template (51) that has the best shape match with the predefined hub template (51).

12. The optical shape sensing registration method according to claim 10, in, When the hub (50) is not attached to the guidewire-on-device (40), the automatic determination of the at least one registration characteristic of the guidewire-on-device (40) by the optical shape sensing registration controller based on the automatic detection of at least one sensing characteristic of the optical shape sensing guidewire (30) includes: The optical shape sensing of the optical shape sensing guidewire (30) translated through the guidewire-on-device (40) is compared with the shape of each of a plurality of predefined guidewire-on-devices via the optical shape sensing registration controller. The optical shape sensing registration controller selects one of the predefined guidewire-on-devices that has the best shape match with the optical shape sensing of the optical shape sensing guidewire (30) translated through the guidewire-on-device (40); and The hub (50) is identified via the optical shape sensing registration controller as being associated with a selected predefined guidewire on-device.

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