Instrument Registration Using Fiber Shape Sensing in Image-Guided Surgery
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Solution Overview
Problem
Traditional instrument tracking systems for minimally invasive medical procedures disturb the clinical environment or workflow, necessitating the development of systems and methods for image-guided surgery with minimal clinical disturbances.
Innovation Solution
A method involving a teleoperational assembly with a shape sensor and position sensor system for a medical instrument, coupled with a processing unit, to determine and register spatial information with anatomical model data, minimizing disturbances by using fiber optic bend sensors and electromagnetic tracking systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional electromagnetic sensing tracking systems are used for instrument tracking, then navigation accuracy is improved, but clinical environment and workflow are disturbed
Solution Approach 1:
The patent replaces traditional electromagnetic sensing tracking systems with an optical fiber-based shape sensing system. The optical fiber shape sensor uses optical principles (light propagation and bend sensing) instead of electromagnetic fields to track instrument position and shape, thereby achieving accurate navigation without disturbing the clinical environment or interfering with other electromagnetic医疗设备.
Solution Approach 2:
The patent introduces optical fiber as an intermediary sensing medium that physically follows the instrument's shape without emitting or detecting electromagnetic fields. The optical fiber acts as a passive mediator that translates instrument deformation into measurable optical signals, enabling tracking without active electromagnetic emission that would disturb the clinical environment.
2Measurement precision
If complex instrument tracking systems are implemented to achieve precise navigation, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent combines the shape sensing function and position tracking function into a single integrated optical fiber sensor system. The optical fiber simultaneously measures both the instrument's shape (through bend sensing along its length) and its position (through the overall configuration), eliminating the need for separate tracking systems and reducing overall device complexity.
Solution Approach 2:
The optical fiber shape sensor serves multiple functions: it acts as both the instrument's structural component and the sensing element, simultaneously providing shape measurement, position tracking, and navigation guidance. This multi-functionality reduces the number of separate components needed and simplifies the overall system architecture.
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
Enables precise navigation of medical instruments within anatomical passageways with minimal clinical disturbances, enhancing the accuracy and efficiency of minimally invasive procedures.
Implementation Method 1
collecting a set of spatial information from an optical fiber shape sensor extending within a medical instrument
Implementation Method 2
receiving a set of position information from a position sensor for a drive system
Data Source
AI summary
A method includes collecting, from an optical fiber shape sensor extending within an instrument coupled to a teleoperational system, spatial information as a reference point of a proximal portion of the instrument is positioned at a plurality of locations along an insertion path and receiving, from a position sensor for a drive system of the teleoperational system, position information when the reference point is at each of the plurality of locations along the insertion path. The method further includes, based on the position information from the position sensor and the spatial information from the optical fiber shape sensor, determining relative position data for the reference point and, based on the relative position data, determining an orientation of an insertion stage defining the insertion path along which the proximal portion of the instrument moves.