Back to results
US 9,918,659 B2Granted
Shape sensor systems for tracking interventional instruments and mehods of use
AssigneeIntuitive Surgical Operations, Inc.
InventorsPrashant Chopra, Vincent Duindam, Tao Zhao, John A Cole
Life of this patent
Estimating the term…
Abstract
A medical tracking system comprises a fiducial apparatus that includes a sensor docking feature configured to mate with a mating portion of a sensor device. The sensor docking feature retains the mating portion in a known configuration. The fiducial apparatus also includes at least one imageable fiducial marker and a surface configured for attachment to an anatomy of a patient.
Claims38
A medical tracking system comprising:
- a fiducial apparatus body including
- a sensor docking feature formed in the fiducial apparatus body and configured to mate with a mating portion of a reference body that retains a reference portion of a sensor device in a known shape configuration;
- at least one imageable fiducial marker;
- and
- a surface of the fiducial apparatus body configured for attachment to an anatomy of a patient, wherein
- the reference body, including the mating portion, includes a sensor connection component for interfacing the sensor device with a sensor interrogation system, the sensor device including a first shape sensor, the reference portion of the sensor device being a portion of the first shape sensor that passes through the reference body.
3 more elements
A method for medical instrument tracking, the method comprising:
- receiving a model of an anatomic structure, the model defining an image reference frame and including an image of a fiducial apparatus including at least one fiducial marker;
- registering a reference portion of a first shape sensor device to the at least one fiducial marker when the fiducial apparatus including the at least one fiducial marker is coupled to the first shape sensor device, by a mating feature and a docking feature, such that the reference portion of the first shape sensor device passes through a reference body such that the reference portion is retained by the reference body in a known shape configuration relative to the at least one fiducial marker;
- receiving first shape sensor information in a first sensor reference frame from a first shape sensor of the first shape sensor device;
- and
- determining a pose of the first shape sensor in the image reference frame based on a correlation between the image reference frame and the first sensor reference frame to register the first shape sensor device to the model.
2 more elements
A method for medical instrument tracking, the method comprising:
- receiving a model of an anatomic structure, the model defining an image reference frame and including a model of at least one fiducial marker;
- receiving first shape sensor information in a first reference frame from a first shape sensor including a reference portion that passes through a reference body such that the reference portion is retained by the reference body in a known shape configuration with respect to the at least one fiducial marker, the reference portion being included in the first shape sensor;
- receiving second shape sensor information in a second reference frame from a second shape sensor positioned within the anatomic structure;
- and
- determining a pose of the second shape sensor in the image reference frame based on a correlation between the first reference frame, the second reference frame, and the image reference frame, wherein
- the first shape sensor includes a sensor connection component for interfacing the first shape sensor with a sensor interrogation system.
3 more elements
A system comprising:
- a memory for storing a model data set representing an anatomic structure, the model data set having a plurality of model data points for the anatomic structure with a known relation to one or more fiducial markers, and for storing received shape data from an optical fiber sensor in an instrument interacting with the anatomic structure;
- and
- a processor configured to:
- receive the model data set representing the anatomic structure, the model defining an image reference frame and including an image of at least one fiducial marker;
- register a reference portion of a first shape sensor device to the at least one fiducial marker when a fiducial apparatus including the at least one fiducial marker is coupled to the first shape sensor device such that the reference portion of the first shape sensor device passes through a reference body such that the reference portion is retained by the reference body in a known shape configuration relative to the at least one fiducial marker;
- receive first shape sensor data in a first sensor reference frame from a first shape sensor of the first shape sensor device, the first shape sensor data including shape sensor data from the reference portion of the first shape sensor device;
- and
- determine a pose of the first shape sensor in the image reference frame based on a correlation between the image reference frame and the first sensor reference frame.
5 more elements
A medical system comprising:
- a fiducial apparatus for attachment to a patient;
- and
- a coupling for holding a first portion of a fiber optic shape sensor in a predetermined shape configuration relative to the fiducial apparatus wherein the coupling includes a reference body having a winding channel configured to receive and retain the first portion of the fiber optic shape sensor in the predetermined shape configuration, the coupling including a sensor connection component for interfacing the fiber optic shape sensor with a sensor interrogation system, wherein
- the first portion of the fiber optic shape sensor passes through the reference body including the winding channel.
1 more element
Dependencies are inferred from the claim text.