Fiber Optic Shape Sensing for Steerable Medical Instruments
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Solution Overview
Problem
Conventional medical instruments for minimally invasive procedures lack accurate shape measurement capabilities, leading to errors in control and navigation due to unmodeled anatomical constraints and environmental interactions, which affect the actual position and shape of shapeable instruments during procedures.
Innovation Solution
A robotic medical system that incorporates a localization system to measure the shape of shapeable instruments using fiber optic sensors and other localization technologies, providing real-time shape data for feedback to improve control and navigation by comparing actual shapes with desired configurations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional control systems are used without shape measurement, then the device complexity is lower, but the control precision and navigation accuracy deteriorate due to unmodeled anatomical constraints
Solution Approach 1:
The patent replaces mechanical shape sensing methods with optical fiber-based sensing. Optical fibers are embedded within the shapeable instrument to directly measure shape, eliminating the need for complex mechanical models and inference algorithms. This substitution provides direct shape measurements with high precision while keeping the overall system relatively simple.
Solution Approach 2:
The patent changes the measurement parameter from indirect mechanical inference to direct optical measurement. By using optical fibers that detect shape through light propagation characteristics, the system achieves precise shape measurement without requiring complex mechanical models or multiple sensors, thus improving measurement precision without proportionally increasing system complexity.
2Reliability
If shape measurement is not incorporated, then the device complexity is lower, but the control reliability deteriorates due to errors from unmodeled constraints
Solution Approach 1:
The patent implements feedback by continuously measuring the actual shape of the shapeable instrument using embedded optical fibers and comparing it with the desired configuration. The control system generates correction signals based on the shape differential, creating a closed-loop control mechanism that improves reliability by compensating for unmodeled anatomical constraints and environmental interactions.
3Measurement precision
If fiber optic sensors are embedded in the instrument, then the shape measurement precision improves, but the device complexity increases
Solution Approach 1:
The patent applies nesting by embedding optical fibers within the existing structure of the shapeable instrument. The optical fibers are integrated into the instrument body, utilizing the existing lumens and structural spaces. This nesting approach allows shape measurement functionality to be added without significantly increasing the external dimensions or overall complexity of the instrument.
4Measurement precision
If real-time shape feedback is provided, then the navigation accuracy improves, but the use of energy increases due to continuous measurement and processing
Solution Approach 1:
The patent implements periodic action by updating shape measurements and control signals at discrete time intervals rather than continuously. The system captures shape data at regular intervals, processes the information, and updates control commands periodically. This approach maintains navigation accuracy by providing timely feedback while reducing energy consumption by avoiding constant measurement and processing operations.
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 medical instrument control by providing real-time shape feedback, reducing errors and improving navigation within anatomical regions, thereby improving procedure outcomes.
Implementation Method 1
at least one optical fiber in communication with one or more optical gratings and having a distal end configured to measure a shape of at least a portion of the elongate member
Implementation Method 2
obtaining a plurality of data of Rayleigh scatter of the optic fiber
Data Source
Figure 1A~1B
Figure 1C~1D(c)
Figure 2A~2B
AI summary
Systems are described herein that improve control of a shapeable or steerable instrument using shape data. Additional systems use such shape data for improved mapping or adjusting models of the instrument. Such systems include robotic medical systems for controlling a shapeable instrument within an anatomical region having a controller, one or more actuators, and a localization system for guiding one or more shapeable instruments.