# US 12,178,596 B2 · Apparatus, methods and computer-accessible media for in situ three-dimensional reconstruction of luminal structures > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,178,596 B2 - Document ID: US12178596B2 - Status: Granted - Kind: B2 - Application number: 18/484,155 - Filed: 2023-10-10 - Published: 2024-02-01 - Granted: 2024-12-31 - Earliest claimed: 2017-03-23 - Assignees: The General Hospital Corporation - Applicants: The General Hospital Corporation - Inventors: Guillermo J. Tearney; Joseph A. Gardecki; Kanwarpal Singh - Web page: https://patentgrep.com/patent/US12178596B2 ## CPC - A61B 5/0066: {Optical coherence imaging} - A61B 5/42: {Detecting, measuring or recording for evaluating the gastrointestinal, the endocrine or the exocrine systems (A61B1/00, A61B5/4857, A61B5/486, A61B5/4866, A61B5/4869 take precedence)} - A61B 5/0084: {for introduction into the body, e.g. by catheters (A61B5/1459 takes precedence)} - A61B 5/0093: {Detecting, measuring or recording by applying one single type of energy and measuring its conversion into another type of energy} - A61B 5/33: specially adapted for cooperation with other devices - A61B 8/5261: {combining images from different diagnostic modalities, e.g. ultrasound and X-ray} - G06T 17/00: Three-dimensional [3D] modelling for computer graphics - A61B 5/0086: {using infrared radiation} - A61B 8/12: in body cavities or body tracts, e.g. by using catheters - A61B 2562/0266: Optical strain gauges - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ## Abstract An apparatus for determining a shape of a luminal sample including: a catheter including a lens, the catheter disposed within a strain-sensing sheath such that the lens rotates and translates; a structural imaging system optically coupled to the catheter; a strain-sensing system optically coupled to the catheter; and a controller coupled to the strain-sensing system and the structural imaging system. The controller determines: a first position of the catheter relative to the luminal sample at a first location within the strain-sensing sheath; a second position of the catheter relative to the luminal sample at a second location within the strain-sensing sheath; a first strain of the strain-sensing sheath at the first location; a second strain of the strain-sensing sheath at the second location; a local curvature of the luminal sample relative to the catheter; a local curvature of the catheter; and a local curvature of the luminal sample. ## Claims ### Claim 1 An apparatus for determining a shape of a luminal sample, comprising: a catheter comprising a lens, the catheter disposed within a strain-sensing sheath such that the lens rotates and translates within the strain-sensing sheath; a structural imaging system optically coupled to the catheter; a strain-sensing system optically coupled to the catheter; and a controller coupled to the strain-sensing system and the structural imaging system, the controller, using the structural imaging system, configured to: determine a first position of the catheter relative to the luminal sample at a first location within the strain-sensing sheath, and determine a second position of the catheter relative to the luminal sample at a second location within the strain-sensing sheath, the first location being different from the second location, the controller, using the strain-sensing system, configured to: determine a first strain of the strain-sensing sheath at the first location based on fluorescence spectroscopy of a first strain-sensing molecule associated with the strain-sensing sheath, and determine a second strain of the strain-sensing sheath at the second location based on fluorescence spectroscopy of a second strain-sensing molecule associated with the strain-sensing sheath, and the controller further configured to: determine a first local curvature of the luminal sample relative to the catheter between the first location and the second location based on determining the first position and the second position of the catheter relative to the luminal sample, determine a second local curvature of the catheter between the first location and the second location based on determining the first strain and the second strain of the strain-sensing sheath, and perform a three-dimensional (3D) reconstruction of the luminal sample. ### Claim 2 (depends on 1) The apparatus of claim 1, wherein performing the 3D reconstruction of the luminal sample includes segmenting one or more images generated by the structural imaging system and creating a curvature map from the first and second location of the luminal sample. ### Claim 3 (depends on 2) The apparatus of claim 2, wherein the one or more images are generated while helically moving the lens through the strain-sensing sheath along the luminal sample. ### Claim 4 (depends on 1) The apparatus of claim 1, wherein a first fluorescence spectrum obtained from the first location includes a first angular and first lateral location, and a second fluorescence spectrum obtained from the second location includes a second angular and second lateral location. ### Claim 5 (depends on 2) The apparatus of claim 2, wherein the curvature map is converted to a 3D catheter centerline by solving modified Frenet-Serret equations. ### Claim 6 (depends on 5) The apparatus of claim 5, wherein the one or more images are superimposed on the catheter's centerline and converted to a 3D mesh. ### Claim 7 (depends on 1) The apparatus of claim 1, wherein the structural imaging system comprises an optical coherence tomography (OCT) system. ### Claim 8 (depends on 1) The apparatus of claim 1, wherein the strain-sensing sheath comprises a sheath wall. ### Claim 9 (depends on 8) The apparatus of claim 8, wherein the first and second strain-sensing molecules are associated with the sheath wall. ### Claim 10 (depends on 9) The apparatus of claim 9, wherein the first and second strain-sensing molecules are associated with an inside face of the sheath wall. ### Claim 11 (depends on 9) The apparatus of claim 9, wherein the first and second strain-sensing molecules are embedded within the sheath wall. ### Claim 12 (depends on 9) The apparatus of claim 9, wherein the first and second strain-sensing molecules are associated with an outside face of the sheath wall. ### Claim 13 (depends on 12) The apparatus of claim 12, wherein the first and second strain-sensing molecules are associated with a plurality of wires attached to the outside face of the sheath wall. ### Claim 14 (depends on 9) The apparatus of claim 9, wherein the first and second strain-sensing molecules comprise single-walled carbon nanotubes (SWCNTs). ### Claim 15 (depends on 1) The apparatus of claim 1, wherein the controller, when determining the first strain, is further configured to: transmit a first light towards the strain-sensing sheath, obtain a second light from the strain-sensing sheath, and determine the first strain based on obtaining the second light, and wherein the controller, when determining the second strain, is further configured to: transmit a third light towards the strain-sensing sheath, obtain a fourth light from the strain-sensing sheath, and determine the second strain based on obtaining the fourth light. ### Claim 16 (depends on 15) The apparatus of claim 15, wherein the controller, when determining the first strain, is further configured to: determine the first strain based on detecting a spectral shift in the second light, and wherein the controller, when determining the second strain, is configured to: determine the second strain based on detecting a spectral shift in the fourth light. ### Claim 17 (depends on 1) The apparatus of claim 1, wherein the controller, when determining the first strain, is further configured to: determine the first strain based on at least one of Raman spectroscopy or absorption spectroscopy, and wherein the controller, when determining the second strain, is further configured to: determine the second strain based on at least one of Raman spectroscopy or absorption spectroscopy. ### Claim 18 (depends on 1) The apparatus of claim 1, wherein the strain-sensing system and the structural imaging system are optically coupled to the catheter by a rotary junction. ### Claim 19 (depends on 1) The apparatus of claim 1, wherein the luminal sample comprises a coronary artery.