# US 12,178,400 B2 · Methods and systems for shape sensing

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- Number: US 12,178,400 B2
- Document ID: US12178400B2
- Status: Granted
- Kind: B2
- Application number: 17/310,903
- Filed: 2020-03-04
- Published: 2022-04-14
- Granted: 2024-12-31
- Earliest claimed: 2019-03-05
- Assignees: Fbgs Technologies GmbH; Fbgs International NV
- Applicants: Fbgs Technologies GmbH; Fbgs International NV
- Inventors: Jan Van Roosbroeck; Johan Vlekken; Bram Van Hoe; Christian Voigtlander; Eric Lindner
- Web page: https://patentgrep.com/patent/US12178400B2

## CPC

- A61B 1/00154: {using guiding arrangements for insertion}
- A61B 1/00165: {with light-conductive means, e.g. fibre optics (A61B1/07 takes precedence)}
- A61B 1/009: {with bending or curvature detection of the insertion part}
- A61B 1/018: for receiving instruments
- A61B 1/3132: {for laparoscopy}
- A61B 1/3137: {for examination of the interior of blood vessels}
- A61B 5/0084: {for introduction into the body, e.g. by catheters (A61B5/1459 takes precedence)}
- A61B 5/061: {Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body (A61B1/00158 takes precedence)}
- A61B 5/065: {Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe}
- G01B 11/02: for measuring length, width or thickness (G01B11/08 takes precedence)
- G01B 11/165: {by means of a grating deformed by the object}
- G01B 11/18: {using photoelastic elements}
- G01B 11/24: for measuring contours or curvatures
- A61B 5/01: Measuring temperature of body parts {; Diagnostic temperature sensing, e.g. for malignant or inflamed tissue} (clinical contact thermometers G01K13/20)
- A61B 5/4854: {Diagnosis based on concepts of alternative medicine, e.g. homeopathy or non-orthodox}
- A61B 5/6851: {Guide wires}
- A61B 5/6852: {Catheters}
- A61B 2034/2061: {using shape-sensors, e.g. fiber shape sensors with Bragg gratings}
- G02B 6/02042: {Multicore optical fibres}
- G02B 6/02076: {Refractive index modulation gratings, e.g. Bragg gratings}
- G02B 6/022: {using mechanical stress, e.g. tuning by compression or elongation, special geometrical shapes such as "dog-bone" or taper (G02B6/02204 takes precedence; optical modulation using photo-elastic effect G02F1/0131)}
- G02B 6/3624: {Fibre head, e.g. fibre probe termination (optical details of light guide terminations G02B6/241; reshaping of light guides G02B6/2552; optical details of coupling light into or out of fibre end G02B6/262)}
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- G01B: MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G02B: OPTICAL ELEMENTS, SYSTEMS OR APPARATUS

## Abstract

A measurement system for assisting in guiding a tubular-shaped medical device in a body includes a multicore fiber for insertion into a tubular-shaped medical device such that a position of the tip of the multicore fiber corresponds with a position near the tip of the tubular medical device. A plurality of Bragg gratings is inscribed in the multicore fiber. The plurality of Bragg gratings is spaced apart from each other and positioned along the length of the multicore fiber. A measurement device for reading out optical signals is obtained as a function of a total length of a multicore fiber portion inserted in the body. The measurement device is adapted for deriving shape information of the multicore fiber when the multicore fiber is inserted.

## Claims

### Claim 1

A measurement system for assisting in guiding a tubular-shaped medical device in a body, the measurement system comprising:
a multicore fiber for insertion into a tubular shaped medical device such that a position of a tip of the multicore fiber corresponds with a position near the tip of the tubular shaped medical device, the multicore fiber comprising a plurality of cores, whereby a plurality of Bragg gratings are inscribed in the multicore fiber, the plurality of Bragg gratings being spaced apart from each other and being positioned along a length of the multicore fiber, and
a measurement device for:
reading out optical signals obtained of the plurality of cores of the multicore fiber as function of total length of a multicore fiber portion that has been inserted in the body when the tubular shaped medical device comprising the multicore fiber is inserted into the body, and
deriving, based thereon, shape information of the multicore fiber and for deriving therefrom shape information from the tubular shaped medical device wherein the multicore fiber is inserted,
wherein deriving shape information comprises obtaining a difference in bending planes between two different subsequent Bragg gratings along the length in the tip of the multicore fiber and using previously recorded optical measurements of the plurality of Bragg gratings.

### Claim 2 (depends on 1)

The measurement system according to claim 1, wherein the plurality of Bragg gratings comprises at least two Bragg gratings positioned in the tip of the multicore fiber and wherein the shape information is derived based on the optical signals from said gratings in the tip in the multicore fiber.

### Claim 3 (depends on 1)

The measurement system according to claim 1, wherein the length information of the portion of the multicore fiber inserted in the body is being determined based on optical signals from the plurality of cores of the multicore fiber.

### Claim 4 (depends on 1)

The measurement system according to claim 1, wherein the plurality of Bragg gratings comprises Bragg gratings positioned along substantially a full length of the multicore fiber.

### Claim 5 (depends on 1)

The measurement system according to claim 1, wherein the measurement device is adapted for determining, based on the optical signals measured from the multicore fiber, a known shape applied to the multicore fiber, and for deriving based thereon, a length of the portion of the multicore fiber that has been introduced in the body.

### Claim 6 (depends on 5)

The measurement system according to claim 5, wherein the system furthermore comprises a guiding means for guiding the tubular shaped medical device, said guiding means being positionable at a known distance with reference to an entrance point of a catheter in the body, the guiding means inducing a known shape to the tubular shaped medical device and the multicore fiber inserted therein and the measurement device being adapted for determining, based on the optical signals measured from the multicore fiber, the position of the known shape on the tubular shaped medical device and for determining the length of the inserted portion of the tubular shaped medical device based thereon.

### Claim 7 (depends on 6)

The measurement system according to claim 6, wherein the shape information of the tubular shaped medical device includes a view of a 3D shape of the tubular shaped medical device with respect to the guiding means or with respect to a known shape.

### Claim 8 (depends on 1)

The measurement system according to claim 1, wherein the measurement device is adapted for obtaining information regarding the length of the portion of the multicore fiber inserted in the body based on fitting obtained shape information of the optical fiber at a location of a known shape.

### Claim 9 (depends on 1)

The measurement system according to claim 1, wherein the measurement device is adapted for obtaining information regarding the shape of the portion of the multicore fiber inserted in the body based on optical signals obtained during insertion or retraction of the multicore fiber from the Bragg gratings in the tip of the multicore fiber.

### Claim 10 (depends on 1)

The measurement system according to claim 1, wherein the measurement system furthermore comprises an output means adapted for outputting shape information taking into account referencing of a coordinate system coupled to the multicore fiber with respect to a coordinate system of the body.

### Claim 11 (depends on 1)

The measurement system according to claim 1, wherein the measurement device is adapted for determining a relative orientation of the tip of a tubular shaped medical device with respect to a coordinate system of the body.

### Claim 12 (depends on 1)

The measurement system according to claim 1, wherein the measurement device is adapted for determining, based on the optical signals, a speed of inserting or retracting of the tubular shaped medical device comprising the multicore fiber.

### Claim 13 (depends on 1)

The measurement system according to claim 1, wherein the multicore fiber and/or the tubular shaped medical device furthermore comprises an anti-twisting means positioned at the tip of the multicore fiber and/or at the tip of the tubular shaped medical device for further reducing twist of the tip of the multicore fiber.

### Claim 14 (depends on 1)

A graphical user interface adapted for, using the measurement system according to claim 1, showing shape information based on optical signals obtained from a plurality of cores of a multicore fiber as function of the total length of the multicore fiber portion that has been inserted into a body when a tubular shaped medical device comprising the multicore fiber is inserted into the body.

### Claim 15 (depends on 1)

A non-transitory computer program product adapted for, using the measurement system according to claim 1, when run on a processor, performing the steps of determining shape information based on optical signals obtained from a plurality of cores of a multicore fiber as function of the total length of the multicore fiber portion that has been inserted into a body when a tubular shaped medical device comprising the multicore fiber is inserted into the body.