Shapeable Catheter Control Using Fiber Optic Shape Feedback
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Solution Overview
Problem
Conventional systems for controlling shapeable medical instruments lack accurate shape measurement, leading to errors in positioning and control due to unmodeled anatomical constraints and environmental interactions, which are not effectively addressed by existing position sensors like electromagnetic sensors.
Innovation Solution
A robotic medical system incorporating a localization system, such as a fiber optic or electromagnetic system, to measure the shape of a shapeable instrument, providing feedback for improved control by comparing actual shape data with desired configurations and adapting kinematic models.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional medical devices are used without shape measurement capabilities, then the device structure remains simple, but control accuracy and positioning precision deteriorate due to unmodeled anatomical constraints
Solution Approach 1:
The patent embeds optical sensors (fiber optic cables with Bragg gratings) within the lumen of the catheter body, nesting the measurement system inside the existing device structure. This allows shape measurement capability to be added without significantly increasing external device complexity or size.
Solution Approach 2:
The patent replaces complex mechanical shape sensing mechanisms with optical sensing technology. Instead of using mechanical joints, linkages, or encoders to detect shape, the system uses fiber optic Bragg gratings that passively sense strain and curvature through optical wavelength shifts, eliminating moving parts and reducing mechanical complexity.
2Manufacturing precision
If shape measurement feedback is incorporated into the control system, then control accuracy and positioning precision improve, but the system complexity and computational requirements increase
Solution Approach 1:
The patent implements a feedback control loop where real-time shape measurements from the fiber optic sensors are continuously fed back to the control system. The measured shape data is compared with the desired trajectory, and control inputs are adjusted to minimize positioning error, enabling adaptive compensation for anatomical constraints and device interactions.
Solution Approach 2:
The patent creates a virtual model (copy) of the catheter's actual shape based on sensor measurements. This digital twin is used for visualization and control planning, allowing operators to see the real-time configuration and plan subsequent movements without physically manipulating the device, thereby simplifying the interaction complexity.
3Reliability
If real-time shape monitoring is implemented, then control reliability improves by accounting for environmental interactions, but the use of energy and computational resources increases
Solution Approach 1:
The fiber optic Bragg grating sensors are passive elements that require no external power source at the distal end of the catheter. They automatically sense shape changes through optical wavelength shifts caused by mechanical strain, and the sensing mechanism serves itself without requiring energy consumption for active sensing or signal generation at the measurement location.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enhances the precision and accuracy of controlling shapeable instruments by reducing errors and enabling real-time adaptation to anatomical obstructions, improving navigation and safety during medical procedures.
Implementation Method 1
an optical fiber in communication with one or more optical gratings; and a detector operably coupled to a proximal end of the optical fiber and configured to detect respective light signals reflected by the one or more optical gratings
Implementation Method 2
an optical fiber coupled in a constrained manner to the elongate instrument body, the optical fiber is in communication with one or more optical gratings
Data Source
AI summary
Systems and methods are described herein that improve control of a shapeable or steerable instrument using shape data. Additional methods include preparing a robotic medical system for use with a shapeable instrument and controlling advancement of a shapeable medical device within an anatomic path. Also described herein are methods for altering a data model of an anatomical region.