Patent application number | Description | Published |
20080218770 | Robotic surgical instrument and methods using bragg fiber sensors - A positionable medical instrument assembly, e.g., a robotic instrument driver configured to maneuver an elongate medical instrument, includes a first member coupled to a second member by a movable joint, with a Bragg fiber sensor coupled to the first and second members, such that relative movement of the first and second members about the movable joint causes a bending of at least a portion of the Bragg fiber sensor. The Bragg fiber sensor has a proximal end operatively coupled to a controller configured to receive signals from the Bragg fiber sensor indicative of a bending thereof, the controller configured to analyze the signals to determine a relative position of the first and second members about the movable joint. | 09-11-2008 |
20080285909 | OPTICAL FIBER SHAPE SENSING SYSTEMS - A medical instrument system includes an elongate flexible instrument body with an optical fiber substantially encapsulated in a wall of the instrument body, the optical fiber including one or more fiber gratings. A detector is operatively coupled to the optical fiber and configured to detect respective light signals reflected by the one or more fiber gratings. A controller is operatively coupled to the detector, and configured to determine a twist of at least a portion of the instrument body based on detected reflected light signals. The instrument may be a guide catheter and may be robotically or manually controlled. | 11-20-2008 |
20090137952 | ROBOTIC INSTRUMENT SYSTEMS AND METHODS UTILIZING OPTICAL FIBER SENSOR - Robotic medical instrument systems and associated methods utilizing an optical fiber sensors such as Bragg sensor optical fibers. In one configuration, an optical fiber is coupled to an elongate instrument body and includes a fiber core having one or more Bragg gratings. A controller is configured to initiate various actions in response thereto. For example, a controller may generate and display a graphical representation of the instrument body and depict one or more position and/or orientation variables thereof, or adjust motors of an instrument driver to reposition the catheter or another instrument. Optical fibers having Bragg gratings may also be utilized with other system components including a plurality of working instruments that are positioned within a sheath lumen, an instrument driver, localization sensors, and/or an image capture device, and may also be coupled to a patient's body or associated structure that stabilizes the body. | 05-28-2009 |
20090254083 | ROBOTIC ABLATION CATHETER - Assemblies, systems, and methods related to remotely-steerable ablation procedures are described. A necked-down ablation catheter may be coupled within a working lumen of a robotically-steerable sheath configured to be driveably coupled to an electromechanical instrument driver. The ablation catheter may be an irrigated ablation catheter having an irrigation fluid reservoir at its distal tip. The outer diameter of the distal portion of the ablation catheter is generally larger than that of the more proximal aspects due, in part, to the fact that the proximal aspects are designed to fit through a relatively low-profile steerable sheath. | 10-08-2009 |
20090312756 | IRRIGATED ABLATION CATHETERS - An apparatus for ablating tissue includes an elongate flexible member having a proximal end and a distal end. The elongate flexible member includes an irrigation lumen disposed between the proximal end and the distal end of the elongate flexible member. The irrigation lumen is configured to deliver irrigation fluid from the proximal portion of the elongate flexible member to the distal portion of the elongate flexible member. An ablation member is coupled to the distal end of the elongate flexible member. The ablation member is in fluid communication with the irrigation lumen. The ablation member comprises of a shell having a side wall and a distal wall. The side wall and distal walls of the shell define a cavity or reservoir for containing the irrigation fluid. The side wall includes a plurality of ports for dispensing fluid from the reservoir. A thermocouple is disposed from the proximal end of the elongate flexible member to a distal portion of the elongate member, wherein a distal tip of the thermocouple is positioned proximal to the irrigation reservoir and the thermocouple is electrically isolated from the ablation member. | 12-17-2009 |
20100048998 | AUXILIARY CAVITY LOCALIZATION - A method and system for maintaining calibration of a distributed localization system are presented. After a baseline calibration of sensors distributed on a working instrument and reference instrument, if movement of the reference instrument is detected, shape sensing data from a Bragg shape sensing fiber also coupled to the reference instrument may be utilized to recalibrate the localization system. The reference instrument preferably is located intraoperatively in a relatively constrained anatomical environment, such as in the coronary sinus of the heart, to prevent significant movement. | 02-25-2010 |
20100114115 | FIBER OPTIC INSTRUMENT SENSING SYSTEM - A medical instrument system comprises an elongate instrument body; an optical fiber coupled in a constrained manner to the elongate instrument body, the optical fiber including one or more Bragg gratings; 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 Bragg gratings; and a controller operatively coupled to the detector, wherein the controller is configured to determine a geometric configuration of at least a portion of the elongate instrument body based on a spectral analysis of the detected reflected portions of the light signals. | 05-06-2010 |
20100121138 | APPARATUS AND METHOD FOR SENSING FORCE - A medical system comprises a medical probe including an elongated probe body, a lumen extending within the probe body, an axially flexible section, and a push-pull rod slidably disposed within the lumen. The system comprises a ditherer mechanically coupled to the rod for cyclically displacing it axially back and forth within the lumen, such that the ends of the probe body are axially displaced relative to each other via the axially flexible section. The system further comprises a sensor for sensing a force axially applied to the distal end of the probe body. A method comprises introducing a medical probe into a patient, axially dithering the distal end of the medical probe back and forth relative to the proximal end of the medical probe, and sensing a force applied between tissue of the patient and the distal end of the medical probe while the distal end is axially dithered. | 05-13-2010 |
20100121269 | APPARATUS AND METHOD FOR SENSING FORCE ON A ROBOTICALLY CONTROLLED MEDICAL INSTRUMENT - A medical system comprises a medical probe including an elongated probe body, a lumen extending within the probe body, an axially flexible section, and a push-pull member slidably disposed within the lumen. The system comprises a ditherer mechanically coupled to the member for cyclically displacing it axially back and forth within the lumen, such that the ends of the probe body are axially displaced relative to each other via the axially flexible section. The system further comprises a sensor for sensing a force axially applied to the distal end of the probe body. A method comprises introducing a medical probe into a patient, axially dithering the distal end of the medical probe back and forth relative to the proximal end of the medical probe, and sensing a force applied between tissue of the patient and the distal end of the medical probe while the distal end is axially dithered. | 05-13-2010 |
20110172680 | OPTICAL FIBER SHAPE SENSING SYSTEMS - A medical instrument system includes an elongate instrument body defining a longitudinal axis and capable of being twisted about its longitudinal axis and an optical fiber sensor coupled to the instrument body. A detector is operatively coupled to the optical fiber sensor and configured to detect respective light signals transmitted on the optical fiber sensor. A controller is operatively coupled to the detector and configured to determine a twist of a portion of the instrument body about its longitudinal axis based on an analysis of detected light signals. | 07-14-2011 |
20110295247 | SYSTEM AND METHOD FOR AUTOMATED MINIMALLY INVASIVE THERAPY USING RADIOMETRY - Systems and methods are described for automating aspects of minimally invasive therapeutic treatment of patients. In one embodiment a robotic catheter system may comprise a controller including a master input device; and an electromechanically steerable elongate instrument having a proximal interface portion and a distal portion, the proximal interface portion being configured to be operatively coupled to an electromechanical instrument driver in communication with the controller, the distal portion being configured to be interactively navigated adjacent internal tissue structures of a patient's body in response to signals from the controller; wherein the distal portion of the elongate instrument comprises an antenna operatively coupled to the controller, and wherein the controller is configured to determine the temperature of structures adjacent to the distal portion of the elongate instrument utilizing radiometry analysis. | 12-01-2011 |
20110295248 | SYSTEM AND METHOD FOR AUTOMATED MINIMALLY INVASIVE INSTRUMENT COMMAND - In one embodiment a system may comprise a controller including a master input device; and an electromechanically steerable elongate instrument having proximal interface and portions, the proximal interface portion being configured to be operatively coupled to an electromechanical instrument driver in communication with the controller, the distal portion being configured to be interactively navigated adjacent internal tissue structures of a patient's body in response to signals from the controller; wherein the controller is operatively coupled to a treatment interactivity variable sensor selected from the group consisting of: a cardiac electrogram electrode, an RF generator power output sensor, an instrument distal portion impedance sensor, and an instrument distal portion force sensor; and wherein the controller is configured to affect the operation of the electromechanically steerable elongate catheter by automatically executing an instrument movement or treatment command based upon changes in information received from the treatment interactivity variable sensor. | 12-01-2011 |
20120191083 | System and method for endoluminal and translumenal therapy - A system for conducting denervation of the neural plexus adjacent the renal artery, comprises a pre-shaped ablative element operatively coupled to an elongate deployment member configured to be navigated into the renal artery, the pre-shaped ablative element comprising one or more RF electrodes disposed in an arcuate pattern; and an energy source operatively coupled to the one or more RF electrodes and being configured to cause current to flow from the pre-shaped ablative element and cause localized heating sufficient to denervate nearby neural tissue. | 07-26-2012 |
20120316432 | OPTICAL FIBER INSTRUMENT SYSTEM FOR DETECTING TWIST OF ELONGATED INSTRUMENTS - An instrument system that includes an elongate body and an optical fiber is provided. The elongate body has a longitudinal axis and capable of being twisted about the longitudinal axis. The optical fiber is operatively coupled with the elongate body and having a strain sensor provided thereon. The strain sensor is configured to indicate twist of the elongate body. | 12-13-2012 |
20120321243 | OPTICAL FIBER INSTRUMENT SYSTEM FOR DETECTING AND DECOUPLING TWIST EFFECTS - An instrument system that includes an elongate body, an optical fiber, and a detector is provided. The elongate body is capable of being twisted. The optical fiber includes a first portion coupled to the elongate body and a second portion having a curved shape adapted to reduce transfer of twisting or bending from the elongate body to the second portion, the second portion having a strain sensor provided thereon. The detector is coupled to the optical fiber and adapted to receive a signal from the strain sensor. | 12-20-2012 |
20120323075 | OPTICAL FIBER SHAPE SENSING SYSTEMS - A method for measuring bending is provided. The method includes receiving a reflected signal from a strain sensor provided on an optical fiber; determining a spectral profile of the reflected signal; and determining bending of the optical fiber based on a comparison of the spectral profile of the reflected signal with a predetermined spectral profile. | 12-20-2012 |
20120323115 | OPTICAL FIBER INSTRUMENT SYSTEM FOR DYNAMIC RECALIBRATION - A method for tracking an elongate body is provided. The method includes determining a spatial relationship between an elongate body and an optical fiber, wherein the optical fiber is located in a structure having a substantially constant shape; receiving a signal from a strain sensor provided on the optical fiber; and determining, based on the signal, whether a position of the optical fiber relative to the structure has changed. | 12-20-2012 |
20120323116 | OPTICAL FIBER INSTRUMENT SYSTEM FOR DYNAMIC RECALIBRATION - An instrument system that includes an elongate body, an optical fiber and a controller is provided. The optical fiber is at least partially separate from the elongate body. The controller is operatively coupled to the elongate body and to the optical fiber and the controller is adapted to receive a signal from the optical fiber, detect movement of the optical fiber based on the signal; and update a position of the elongate body relative to the optical fiber based on the detected movement. | 12-20-2012 |
20120327392 | SYSTEM AND METHOD FOR SENSING SHAPE OF ELONGATED INSTRUMENT - An instrument system that includes an elongate body and an optical fiber is provided. The elongate body includes a first elongate portion having a hollow lumen and a second elongate portion adjacent to the first elongate portion. The optical fiber is located in the lumen of the first elongate portion and in the second elongate portion. The optical fiber has a strain sensor provided thereon. The lumen is adapted to allow the optical fiber to move in the lumen relative to the elongate body, and the second elongate portion is adapted to prohibit all movement of the optical fiber relative to the elongate body. | 12-27-2012 |
20130012809 | SYSTEM AND METHOD FOR SENSING SHAPE OF ELONGATED INSTRUMENT - An instrument system that includes an elongate body, an optical fiber, and a controller is provided. The optical fiber is operatively coupled to the elongate body and has a strain sensor and a localization sensor provided thereon. The controller is operatively coupled to the elongate body and to the optical fiber and adapted to receive a first signal from the strain sensor, receive a second signal from the localization sensor, and determine a position of the elongate body based on the first signal and the second signal. | 01-10-2013 |
20130028554 | APPARATUS AND METHODS FOR FIBER INTEGRATION AND REGISTRATION - Systems and methods for integrating and/or registering a shape sensing fiber in or to various instruments are described herein. Registration fixtures and registration techniques for matching the coordinate system of a fiber to the coordinate system of an elongate instrument or other device are provided. Various systems and methods for integrating a shape sensing fiber into an elongate instrument or other device are also described herein. | 01-31-2013 |
20130030363 | SYSTEMS AND METHODS UTILIZING SHAPE SENSING FIBERS - Systems and methods that utilize shape sensing fibers are described herein. In certain variations, a fiber may include a service loop or other length that allows for sliding or displacing of a fiber within the lumen of an elongate instrument when the distal portion of the elongate instrument is articulated. Systems and methods for registering a shape sensing fiber, including registration fixtures and registration techniques are also described herein. | 01-31-2013 |
20130083310 | FIBER OPTIC INSTRUMENT ORIENTATION SENSING SYSTEM AND METHOD - An instrument system that includes an image capture device, an elongate body, an optical fiber and a controller is provided. The elongate body is operatively coupled to the image capture device. The optical fiber is operatively coupled to the elongate body and has a strain sensor provided on the optical fiber. The controller is operatively coupled to the optical fiber and adapted to receive a signal from the strain sensor and to determine a position or orientation of the image capture device based on the signal. | 04-04-2013 |
20130085330 | SYSTEM AND METHOD FOR ERROR ANALYSIS OF FIBER OPTIC INSTRUMENT DATA - An instrument system that includes an elongate body, a first optical fiber, a second optical fiber, and a controller is provided. The first optical fiber is operatively coupled to the elongate body and has a first strain sensor provided on the first optical fiber. The second optical fiber is operatively coupled to the elongate body and has a second strain sensor provided on the second optical fiber. The controller is operatively coupled to the first optical fiber and the second optical fiber and is adapted to receive a first signal from the first strain sensor and a second signal from the second strain sensor and to compare the first signal with the second signal. | 04-04-2013 |
20130085331 | SYSTEM AND METHOD FOR SELECTIVE MEASUREMENT OF FIBER OPTIC INSTRUMENT SENSORS - An instrument system that includes an elongate body, an optical fiber, and a controller is provided. The optical fiber is operatively coupled to the elongate body and has a plurality of strain sensors provided on the optical fiber. The controller is operatively coupled to the optical fiber and adapted to obtain signals from one of the plurality of strain sensors more frequently than from another of the plurality of strain sensors and to determine a position of the elongate body based on the obtained signals from the one of the plurality of strain sensors. | 04-04-2013 |
20130085332 | SYSTEM AND METHOD FOR CALIBRATION OF OPTICAL FIBER INSTRUMENT - An instrument system that includes an elongate body in a geometric configuration, an optical fiber, and a controller is provided. The optical fiber is operatively coupled to the elongate body and has a strain sensor provided on the optical fiber, wherein at least a portion of the optical fiber is in the geometric configuration. The controller is operatively coupled to the optical fiber and adapted to receive, from a source other than the optical fiber, information indicative of the geometric configuration, receive a signal from the strain sensor, and associate the signal with the geometric configuration. | 04-04-2013 |
20130085333 | FIBER OPTIC INSTRUMENT SHAPE SENSING SYSTEM AND METHOD - An instrument system that includes an elongate body, a first optical fiber, a second optical fiber, and a controller is provided. The first optical fiber is operatively coupled to the elongate body and has a first strain sensor provided on the first optical fiber. The second optical fiber is not directly coupled to the elongate body and has a second strain sensor provided on the second optical fiber. The controller is operatively coupled to the first optical fiber and to the second optical fiber. The controller is adapted to receive a first signal from the first strain sensor and to receive a second signal from the second strain sensor. The first optical fiber has a different size than the second optical fiber. | 04-04-2013 |
20130085334 | FIBER OPTIC INSTRUMENT SHAPE SENSING SYSTEM AND METHOD - An instrument system that includes an elongate body, an optical fiber, and a controller is provided. The optical fiber is operatively coupled to the elongate body and has a plurality of strain sensors provided on the optical fiber. Each of the plurality of strain sensors has a reflectivity, wherein one of the plurality of strain sensors has a different reflectivity than another one of the plurality of strain sensors. The controller is operatively coupled to the optical fiber and adapted to: receive one or more signals from the plurality of strain sensors; and determine a position of the elongate body based on the one or more signals. | 04-04-2013 |
20130085382 | SYSTEM AND METHOD FOR SENSING SHAPE OF ELONGATED INSTRUMENT - An instrument system that includes an elongate body, an optical fiber, a localization sensor and a controller is provided. The optical fiber is operatively coupled to the elongate body and has a strain sensor provided on the optical fiber. The localization sensor is operatively coupled to the elongate body. The controller is operatively coupled to the optical fiber and to the localization sensor and is adapted to receive a first signal from the strain sensor, receive a second signal from the localization sensor, and determine a position or orientation of the elongate body based on the first signal and the second signal. | 04-04-2013 |
20130085397 | OPTICAL FIBER INSTRUMENT SYSTEM AND METHOD WITH MOTION-BASED ADJUSTMENT - An instrument system that includes an optical fiber and a controller is provided. The optical fiber is coupled to an external structure of a patient and has a strain sensor provided thereon. The controller is operatively coupled to the optical fiber and adapted to receive a signal from the strain sensor and to determine a property of respiration of the patient based on the signal. | 04-04-2013 |
20130090528 | INSTRUMENT SYSTEMS AND METHODS UTILIZING OPTICAL FIBER SENSOR - A method for mapping an internal structure of a patient with an elongate body is provided. The method includes detecting, at a plurality of instances, contact between a distal portion of an elongate body and an internal structure of the patient; determining a plurality of geometric configurations of the distal portion, the plurality of geometric configurations corresponding to the plurality of instances of contact between the distal portion and the internal structure; determining a plurality of positions of the distal portion, the plurality of positions corresponding to the plurality of geometric configurations; and generating a map of the internal structure based on the plurality of positions of the distal portion. | 04-11-2013 |
20130090530 | INSTRUMENT SYSTEMS AND METHODS UTILIZING OPTICAL FIBER SENSOR - An instrument system that includes an elongate instrument body and an optical fiber sensor is provided. The optical fiber sensor includes an elongate optical fiber that is coupled to the elongate instrument body, wherein a portion of the optical fiber is coupled to the elongate instrument body in a manner to provide slack in the fiber to allow for axial extension of the elongate instrument body relative to the optical fiber. | 04-11-2013 |
20130090552 | SYSTEM AND METHOD FOR SENSING SHAPE OF ELONGATED INSTRUMENT - An instrument system that includes a first optical fiber, a second optical fiber and a controller is provided. The first optical fiber is operatively coupled to an elongate body that is adapted to be placed inside a patient. The second optical fiber is operatively coupled to the patient, to an actuating element adapted to actuate the elongate body, or to a portion of an imaging system adapted to identify a location of the portion relative to the elongate body. The controller is operatively coupled to the first optical fiber and the second optical fiber and is adapted to receive a first signal from the strain sensor provided on the first optical fiber, receive a second signal from the strain sensor provided on the second optical fiber; and determine a position or orientation of the elongate body based on the first signal and based on the second signal. | 04-11-2013 |
20130158477 | APPARATUS AND METHOD FOR SENSING FORCE ON A ROBOTICALLY CONTROLLED MEDICAL INSTRUMENT - A medical system comprises a medical probe including an elongated probe body, a lumen extending within the probe body, an axially flexible section, and a push-pull member slidably disposed within the lumen. The system comprises a ditherer mechanically coupled to the member for cyclically displacing it axially back and forth within the lumen, such that the ends of the probe body are axially displaced relative to each other via the axially flexible section. The system further comprises a sensor for sensing a force axially applied to the distal end of the probe body. A method comprises introducing a medical probe into a patient, axially dithering the distal end of the medical probe back and forth relative to the proximal end of the medical probe, and sensing a force applied between tissue of the patient and the distal end of the medical probe while the distal end is axially dithered. | 06-20-2013 |