U.S. patent application number 12/012795 was filed with the patent office on 2008-09-11 for robotic surgical instrument and methods using bragg fiber sensors.
This patent application is currently assigned to Hansen Medical, Inc.. Invention is credited to Frederic H. Moll, Randall L. Schlesinger.
Application Number | 20080218770 12/012795 |
Document ID | / |
Family ID | 39661452 |
Filed Date | 2008-09-11 |
United States Patent
Application |
20080218770 |
Kind Code |
A1 |
Moll; Frederic H. ; et
al. |
September 11, 2008 |
Robotic surgical instrument and methods using bragg fiber
sensors
Abstract
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.
Inventors: |
Moll; Frederic H.; (San
Francisco, CA) ; Schlesinger; Randall L.; (San Mateo,
CA) |
Correspondence
Address: |
VISTA IP LAW GROUP LLP
12930 Saratoga Avenue, Suite D-2
Saratoga
CA
95070
US
|
Assignee: |
Hansen Medical, Inc.
Mountain View
CA
|
Family ID: |
39661452 |
Appl. No.: |
12/012795 |
Filed: |
February 1, 2008 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
60899048 |
Feb 2, 2007 |
|
|
|
60900584 |
Feb 8, 2007 |
|
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Current U.S.
Class: |
356/614 |
Current CPC
Class: |
A61B 2034/2061 20160201;
A61B 34/71 20160201; A61B 2034/102 20160201; A61B 2034/2051
20160201; A61G 13/10 20130101; A61G 7/0503 20130101; A61B 90/361
20160201; A61G 13/101 20130101; A61B 34/30 20160201; A61B 90/50
20160201; A61B 2017/00261 20130101; A61B 34/20 20160201 |
Class at
Publication: |
356/614 |
International
Class: |
G01B 11/14 20060101
G01B011/14 |
Claims
1. A positionable medical instrument assembly, comprising: a first
member; a second member coupled to the first member by a movable
joint; and a Bragg sensor optical fiber 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 sensor optical fiber, the Bragg sensor optical
fiber having a proximal end operatively coupled to a controller
configured to receive signals from respective Bragg gratings on a
fiber core of the Bragg sensor optical fiber 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.
2. The instrument assembly of claim 1, wherein the movable joint
allows for pivotal motion of the second member relative to the
first member in a single plane, and wherein the determined relative
position of the first and second members about the movable joint
comprises an angular displacement of the second member relative to
the first member.
3. The instrument assembly of claim 1, wherein the movable joint
allows for movement of the second member relative to the first
member in at least three degrees of freedom.
4. The instrument assembly of claim 1, wherein the assembly
comprises a robotic instrument driver configured to maneuver an
elongate medical instrument movably coupled to the second
member.
5. A positionable medical instrument assembly, comprising: a
plurality of positionable members, including a first member coupled
to a second member by a first movable joint, and a third member
coupled to the second member by a second movable joint; and one or
more Bragg sensor optical fibers, each coupled to at least two of
the first, second and third members such that relative movement of
the first and second members about the first movable joint causes a
corresponding bending of at least one Bragg sensor optical fiber,
and a relative movement of the second and third members about the
second movable joint causes a corresponding bending of a same or
different at least one Bragg sensor optical fiber, each of the one
or more Bragg sensor optical fibers having a proximal end
operatively coupled to a controller configured to receive signals
therefrom indicative of a bending of one or more portions thereof,
the controller configured to analyze the signals to determine a
relative position of the first, second and third members about the
respective first and second movable joints.
6. The instrument assembly of claim 5, wherein the first movable
joint allows for movement of the second member relative to the
first member in at least three degrees of freedom, and wherein the
second movable joint allows for movement of the third member
relative to the second member in at least three degrees of
freedom.
7. The instrument assembly of claim 6, the one or more Bragg sensor
optical fibers including a first Bragg sensor optical fiber coupled
to the first, second and third members, such that relative movement
of the first and second members about the first movable joint, and
relative movement of the second and third members about the second
movable joint causes a bending of at least first and second
respective portions of the first Bragg sensor optical fiber, and
wherein the controller is configured to analyze signals received
from the first Bragg sensor optical fiber to determine a relative
position of the first, second and third members about the
respective first and second movable joints.
8. The instrument assembly of claim 6, the one or more Bragg sensor
optical fibers including a first Bragg sensor optical fiber coupled
to the first and second members, such that relative movement of the
first and second members about the first movable joint causes a
bending of at least a portion of the first Bragg sensor optical
fiber, and a second Bragg sensor optical fiber coupled to the
second and third members, such that relative movement of the second
and third members about the second movable joint causes a bending
of at least a portion of the second Bragg sensor optical fiber,
wherein the controller is configured to analyze respective signals
received from the first and second Bragg sensor optical fibers to
determine a relative position of the first, second and third
members about the respective first and second movable joints.
9. The instrument assembly of claim 5, further comprising an
elongate medical instrument movably coupled to the second
member.
10. A positionable medical instrument assembly, comprising: a first
member; a second member coupled to the first member by a movable
joint; and a plurality of Bragg sensor optical fibers 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 each of the Bragg sensor optical fibers,
the Bragg sensor optical fibers having respective proximal ends
operatively coupled to a controller configured to receive signals
from respective Bragg gratings located on the Bragg sensor optical
fibers and indicative of a respective bending thereof, the
controller configured to analyze the signals to determine a
relative position of the first and second members about the movable
joint.
11. The instrument assembly of claim 10, wherein the movable joint
allows for pivotal motion of the second member relative to the
first member in a single plane, and wherein the determined relative
position of the first and second members about the movable joint
comprises an angular displacement of the second member relative to
the first member.
12. The instrument assembly of claim 10, wherein the movable joint
allows for movement of the second member relative to the first
member in at least three degrees of freedom.
13. The instrument assembly of claim 10, wherein the assembly
comprises a robotic instrument driver configured to maneuver an
elongate medical instrument movably coupled to the second
member.
14. A medical instrument system, comprising: an instrument driver;
a sterile barrier; an elongate flexible instrument body operatively
coupled to the instrument driver through the sterile barrier; a
Bragg sensor optical fiber coupled to the elongate instrument body,
such that relative bending of the instrument body causes a
corresponding bending of at least a portion of the Bragg sensor
optical fiber, the Bragg sensor optical fiber having a proximal end
operatively coupled to a position sensor controller located on a
sterile field side of the sterile barrier and configured to receive
signals from respective Bragg gratings located on at least one
fiber core of the Bragg sensor optical fiber and indicative of a
bending thereof, the sensor controller configured to analyze the
signals to determine a relative position of the instrument.
15. The medical instrument system of claim 14, wherein the position
sensor controller transmits wireless signals to an instrument
driver controller located outside the sterile field to communicate
to the instrument driver a relative position of the instrument.
Description
RELATED APPLICATION DATA
[0001] The present application claims the benefit under 35 U.S.C.
.sctn. 119 to U.S. Provisional Patent Application Ser. Nos.
60/899,048, filed on Feb. 2, 2007, and 60/900,584, filed on Feb. 8,
2007. The foregoing applications are hereby incorporated by
reference into the present application in its entirety.
FIELD OF INVENTION
[0002] The invention relates generally to medical instruments
having multiple jointed devices, including for example telerobotic
surgical systems, and more particularly to a method, system, and
apparatus for sensing or measuring the position, temperature and/or
stress and strain at one or more positions along the multiple
jointed device.
BACKGROUND
[0003] Robotic interventional systems and devices are well suited
for use in performing minimally invasive medical procedures, as
opposed to conventional techniques wherein the patient's body
cavity is open to permit the surgeon's hands access to internal
organs. For example, there is a need for a highly controllable yet
minimally sized system to facilitate imaging, diagnosis, and
treatment of tissues which may lie deep within a patient, and which
may be accessed via naturally-occurring pathways such as blood
vessels, other lumens, via surgically-created wounds of minimized
size, or combinations thereof.
SUMMARY OF THE INVENTION
[0004] In one embodiment, 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. By way of
non-limiting example, the movable joint may allow for pivotal
motion of the second member relative to the first member in a
single plane, and wherein the determined relative position of the
first and second members about the movable joint comprises an
angular displacement of the second member relative to the first
member. Alternatively, the movable joint may allow for movement of
the second member relative to the first member in at least three
degrees of freedom.
[0005] In another embodiment, a positionable medical instrument
assembly includes a plurality of positionable members, including a
first member coupled to a second member by a first movable joint,
and a third member coupled to the second member by a second movable
joint. One or more Bragg fiber sensors are provided, each coupled
to at least two of the first, second and third members, such that
relative movement of the first and second members about the first
movable joint causes a corresponding bending of at least one Bragg
fiber sensor, and a relative movement of the second and third
members about the second movable joint causes a corresponding
bending of at least one Bragg fiber sensor. Each of the one or more
Bragg fiber sensors having a proximal end operatively coupled to a
controller configured to receive signals therefrom indicative of a
bending of one or more portions thereof, the controller configured
to analyze the signals to determine a relative position of the
first, second and third members about the respective first and
second movable joints. By way of non-limiting examples, the first
movable joint may allow for movement of the second member relative
to the first member in at least three degrees of freedom, and the
second movable joint may allow for movement of the third member
relative to the second member in at least three degrees of
freedom.
[0006] In one such embodiment, the one or more Brag fiber sensors
include a first Bragg fiber sensor coupled to the first, second and
third members, such that relative movement of the first and second
members about the first movable joint, and relative movement of the
second and third members about the second movable joint causes a
bending of at least first and second respective portions of the
first Bragg fiber sensor. In this embodiment, the controller is
configured to analyze signals received from the first Bragg fiber
sensor to determine a relative position of the first, second and
third members about the respective first and second movable
joints.
[0007] In another such embodiment, the one or more Brag fiber
sensors include a first Bragg fiber sensor coupled to the first and
second members, such that relative movement of the first and second
members about the first movable joint causes a bending of at least
a portion of the first Bragg fiber sensor, and a second Bragg fiber
sensor coupled to the second and third members, such that relative
movement of the second and third members about the second movable
joint causes a bending of at least a portion of the second Bragg
fiber sensor, wherein the controller is configured to analyze
respective signals received from the first and second Bragg fiber
sensors to determine a relative position of the first, second and
third members about the respective first and second movable
joints.
[0008] In yet another embodiment, a positionable medical instrument
assembly includes a first member coupled to a second member by a
movable joint, with a plurality of Bragg fiber sensors 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 each of the plurality of the Bragg fiber
sensors. The Bragg fiber sensors have respective proximal ends
operatively coupled to a controller configured to receive signals
from each of the Bragg fiber sensors indicative of a respective
bending thereof. The controller is configured to analyze the
signals to determine a relative position of the first and second
members about the movable joint. By way of example, the movable
joint may allow for pivotal motion of the second member relative to
the first member in a single plane, wherein the determined relative
position of the first and second members about the movable joint
comprises an angular displacement of the second member relative to
the first member. By way of another example, the movable joint may
allow for movement of the second member relative to the first
member in at least three degrees of freedom. In various
embodiments, the assembly comprises a robotic instrument driver
configured to maneuver an elongate medical instrument movably
coupled to the second member.
[0009] In still another embodiment, a medical instrument system is
provided, the system including an instrument driver, a sterile
barrier, an elongate flexible instrument body operatively coupled
to the instrument driver through the sterile barrier, and a Bragg
fiber sensor coupled to the elongate instrument body, such that
relative bending of the instrument body causes a corresponding
bending of at least a portion of the Bragg fiber sensor. The Bragg
fiber sensor has a proximal end operatively coupled to a position
sensor controller located on a sterile field side of the sterile
barrier and configured to receive signals from the Bragg fiber
sensor indicative of a bending thereof, the sensor controller
configured to analyze the signals to determine a relative position
of the instrument. In one such embodiment, the position sensor
controller transmits wireless signals to an instrument driver
controller located outside the sterile field to communicate to the
instrument driver a relative position of the instrument.
BRIEF DESCRIPTION OF THE DRAWINGS
[0010] The drawings illustrate the design and utility of
illustrated embodiments of the invention, in which similar elements
are referred to by common reference numerals.
[0011] FIG. 1 illustrates a conventional manually-steerable
catheter;
[0012] FIG. 2 illustrates one embodiment of a robotically-driven
steerable catheter;
[0013] FIGS. 3A-3C illustrate one embodiment of a
robotically-steerable catheter having an optical fiber positioned
along one aspect of the wall of the catheter;
[0014] FIG. 4 illustrates a cross sectional view of a portion of
FIG. 3A;
[0015] FIG. 5 illustrates another embodiment wherein a composite
fiber bundle is positioned within the wall of the catheter;
[0016] FIG. 6A illustrates a perspective view of a da Vinci
telesurgical system including its operator control station and
surgical work station;
[0017] FIG. 6B shows a perspective view of a cart of the
telesurgical system carrying three robotically controlled
manipulator arms, each have a Bragg fiber assembly mounted
thereon;
[0018] FIG. 6C is a perspective view of a da Vinci robotic surgical
arm cart system;
[0019] FIG. 6D is a side view of a robotic arm and surgical
instrument assembly from a da Vinci system, the instrument assembly
having a sensor cable connected to its Bragg fiber bundle;
[0020] FIG. 6E illustrates a surgical instrument of the da Vinci
system;
[0021] FIG. 6F illustrates an exemplary operating room installation
of a patient-side telesurgical system;
[0022] FIG. 6G-L illustrate various embodiments of fiber bragg
sensors operably coupled to articulated robotic instrument
configurations;
[0023] FIG. 7A illustrates a perspective view of a system for
magnetically assisted surgery;
[0024] FIG. 7B illustrates a patient lying on the patient support
and having a Stereotaxis magnetic catheter including a Bragg fiber
introduced into the patient's head;
[0025] FIGS. 7C-7E illustrate various embodiments of magnetic
ablation catheters having one or more Bragg fiber bundles;
[0026] FIG. 8A illustrates one embodiment of a Mako haptic guidance
surgical system that utilizes method of position determination with
a Bragg fiber;
[0027] FIG. 8B illustrates one embodiment of a Mako haptic
robot;
[0028] FIG. 9A illustrates one embodiment of a radiosurgery system
employing a Bragg fiber position sensing scheme;
[0029] FIG. 9B illustrates the distal portion of the Accuray robot
arm to which the beaming apparatus is mounted;
[0030] FIG. 10A illustrates one embodiment of a steerable
endoscope;
[0031] FIG. 10B illustrates a cross-sectional side view of a
patient's head;
[0032] FIG. 10C illustrates a cross-sectional anterior view of a
heart;
[0033] FIGS. 10D-10F show examples of a treating atrial
fibrillation using an endoscopic device that includes a Bragg
sensor fiber;
[0034] FIG. 10G illustrates an endoscope having a guide tube which
is slidably insertable within the lumen of a guide tube;
[0035] FIG. 10H illustrates a colonoscopy procedure wherein a
NeoGuide steerable endoscope with a Bragg sensor fiber is advanced
through a colon;
DETAILED DESCRIPTION OF THE ILLUSTRATED EMBODIMENTS
[0036] The present invention is directed to various interventional
medical instruments, such as jointed positioning instruments,
catheters and endoscopic devices, with Bragg fiberoptic grating
guidance systems. Advantageously, each of the embodiments of the
present invention described herein may be utilized with robotic
catheter systems, which can control the positioning of the devices
within a patients body, and may also control the operation of other
functions of the devices, such as imaging devices, ablation
devices, cutting tools, or other end effectors. The devices may be
controlled using a closed-loop servo control in which an instrument
is moved in response to a command, and then the determined position
may be utilized to further adjust the position; or an open loop
control in which an instrument is moved in response to a user
command, the determined position is then displayed to the user, and
the user can then input another command based on the displayed
position.
[0037] In addition, by determining the strain or deflection of
various portions of an instrument and utilizing kinematics and
mechanics of materials relationships pertinent to the structures of
the instrument, applied loads (preferably including magnitude and
vector) may be estimated. In other words, by utilizing a kinematic
model of an instrument fitted with one or more Bragg fiber
sensor(s), and a mechanics model of how the instrument should
deflect or strain under load, a comparison may be made between the
expected position of the instrument, as determined utilizing the
kinematic and/or mechanics relationships, and the actual position
of the instrument, determined utilizing the Bragg fiber sensor
data. The difference between actual and expected may then be
analyzed utilizing the kinematic and/or mechanics relationships to
determine what kind of load must have been applied to cause the
difference between actual and expected--and thereby the load may be
characterized. For example, taking a two-link instrument wherein
the distal link is basically a flexible polymeric cylinder; a
kinematic model can be used to predict how the cylinder should move
relative to the more proximal pieces when actuated, and it should
retain its original shape unless it is subjected to an external
load; if the Bragg fiber sensor data indicates that the cylinder is
bending, then the applied load can be calculated (e.g. a formula
relating the bending to the load can be determined, or a lookup
table of predetermined empirical data could be used). Thus, by
using the Bragg fiber sensor to measure deflections or strains in
different parts of the instrument, forces on the instrument and
stresses within the instrument may be determined.
[0038] Examples of robotic catheter systems and their components
and functions have been previously described in the following U.S.
patent applications, which are incorporated herein by reference in
their entirety: U.S. patent application Ser. Nos. 10/923,660, filed
Aug. 20, 2004; 10/949,032, filed Sep. 24, 2005; 11/073,363, filed
Mar. 4, 2005; 11/173,812, filed Jul. 1, 2005; 11/176,954, filed
Jul. 6, 2005; 11/179,007, filed Jul. 6, 2005; 11/202,925, filed
Aug. 12, 2005; 11/331,576, filed Jan. 13, 2006; 60/785,001, filed
Mar. 22, 2006; 60/788,176, filed Mar. 31, 2006; 11/418,398, filed
May 3, 2006; 11/481,433, filed Jul. 3, 2006; 11/637,951, filed Dec.
11, 2006; 11/640,099, filed Dec. 14, 2006; 60/833,624, filed Jul.
26, 2006 and 60/835,592, filed Aug. 3, 2006.
[0039] All of the following technologies may be utilized with
manually or robotically steerable instruments, such as those
described in the aforementioned patent application, U.S. Ser. No.
11/481,433. In addition, all of the following technologies may be
utilized with the robotic catheter systems and methods described in
the U.S. patent applications listed above, and incorporated by
reference herein.
[0040] For clarity, the sheath and guide catheter instruments
described in the exemplary embodiments below may be described as
having a single lumen/tool/end-effector, etc. However, it is
contemplated that alternative embodiments of catheter instruments
may have a plurality of lumens/tools/end-effectors/ports, etc.
Furthermore, it is contemplated that in some embodiments, multiple
catheter instruments may be delivered to a surgical site via a
single multi-lumen sheath, each of which is robotically driven and
controlled via an instrument driver. Some of the catheter
instruments described herein are noted as flexible. It is
contemplated that different embodiments of flexible catheters may
be designed to have varying degrees of flexibility and control. For
example, one catheter embodiment may have controlled flexibility
throughout its entire length whereas another embodiment may have
little or no flexibility in a first portion and controlled
flexibility in a second portion. Similarly, different embodiments
of these catheters may be implemented with varying degrees of
freedom.
[0041] With reference to the figures, the implementation of
fiberoptic Bragg grating sensing to various interventional medical
devices will be described. Fiberoptic Bragg grating sensing can be
implemented onto interventional medical devices to determine the
location of various parts of the device by positioning the
fiberoptic bundle longitudinally along the device and calculating
the deflection of the fiberoptic bundle. The determination of the
deflections of portions of a Fiberoptic Bragg grating sensor is
known in the relevant art, but the integration of strains or
deflections associated with various portions of a multi-part or
articulated medical instrument utilizing one or more Fiberoptic
Bragg grating sensors to predict the position of multi-part medical
instrument in space.
[0042] Referring to FIG. 1, a conventional manually-steerable
catheter (1) is depicted. A plurality of pullwires (2) may be
selectively tensioned through manipulation of a handle (3) on the
proximal portion of the catheter structure (1) to make a more
flexible distal portion (5) of the catheter bend or steer
controllably. A more proximal and conventionally less steerable
portion (4) of the catheter may be configured to be compliant to
loads from surrounding tissues (for example, to facilitate passing
the catheter, including portions of the proximal portion, through
tortuous pathways such as those formed by the blood vessels), yet
less steerable as compared with the distal portion (5).
[0043] Referring to FIG. 2, a robotically-driven steerable catheter
(6), similar to those described in detail in U.S. patent
application Ser. No. 11/176,598, incorporated by reference herein
in its entirety, is depicted. This catheter (6) has some
similarities with the manually-steerable catheter (1) of FIG. 1 in
that it has pullwires (10) associated distally with a more flexible
section (8) configured to steer or bend when the pullwires (10) are
tensioned in various configurations, as compared with a less
steerable proximal portion (7) configured to be stiffer and more
resistant to bending or steering. The depicted embodiment of the
robotically-driven steerable catheter (6) comprises proximal axles
or spindles (9) configured to primarily interface not with fingers
or the hand, but with an electromechanical instrument driver
configured to coordinate and drive, with the help of a computer,
each of the spindles (9) to produce precise steering or bending
movement of the catheter (6). For example, the spindles (9) may be
the same or similar to the control element interface assemblies
which can be controlled by an instrument drive assembly as shown
and described in U.S. patent application Ser. No. 11/637,951.
[0044] Each of the embodiments depicted in FIGS. 1 and 2 may have a
working lumen (not shown) located, for example, down the central
axis of the catheter body, or may be without such a working lumen.
If a working lumen is formed by the catheter structure, it may
extend directly out the distal end of the catheter, or may be
capped or blocked by the distal tip of the catheter. It is highly
useful in many procedures to have precise information regarding the
spatial position of the distal portion or tip of elongate
instruments, such as the instruments available from suppliers such
as the Ethicon Endosurgery division of Johnson & Johnson, or
Intuitive Surgical Corporation, during diagnostic or interventional
procedures. The examples and illustrations that follow are made in
reference to a robotically-steerable catheter such as that depicted
in FIG. 2, but as would be apparent to one skilled in the art, the
same principles may be applied to other elongate instruments, such
as the manually-steerable catheter depicted in FIG. 1, or other
elongate instruments, flexible or not, from suppliers such as the
Ethicon Endosurgery division of Johnson & Johnson, Inc., or
Intuitive Surgical, Inc.
[0045] Referring to FIGS. 3A-3C, a robotically-steerable catheter
(6) is depicted having an optical fiber (12) positioned along one
aspect of the wall of the catheter (6). The fiber is not positioned
coaxially with the neutral axis of bending (11) in the bending
scenarios depicted in FIGS. 3B and 3C. Indeed, with the fiber (12)
attached to, or longitudinally constrained by, at least two
different points along the length of the catheter (6) body and
unloaded from a tensile perspective relative to the catheter body
in a neutral position of the catheter body such as that depicted in
FIG. 3A, the longitudinally constrained portion of the fiber (12)
would be placed in tension when the catheter (6) is deflected as
depicted in FIG. 3B, while the longitudinally constrained portion
of the fiber (12) would be placed in compression when the catheter
(6) is deflected as depicted in FIG. 3C. Such relationships are
elementary to solid mechanics, but may be applied as described
herein with the use of a Bragg fiber grating to assist in the
determination of temperature and/or deflection of an elongate
instrument. Examples of fiberoptic Bragg fiber sensing technology
may be available from Luna Innovations, Inc. of Roanoke, Va.,
Micron Optics, Inc., of Atlanta, Ga., LxSix Photonics, Inc., of
Quebec, Canada, and Ibsen Photonics A/S, of Denmark.
[0046] Referring to FIG. 4, a cross section of a portion of the
configuration depicted in FIG. 3A is depicted, to clearly
illustrate that the fiber (12) is not placed concentrically with
the neutral axis (11) of bending for the sample cross section. FIG.
5 depicts a different variation, wherein a composite fiber bundle
(13) is positioned within the wall of the catheter rather than a
single fiber as depicted in FIG. 4. The fiber bundle (13) comprises
three smaller single fibers (14). When a structure such as that
depicted in FIG. 5 is placed in bending in a configuration such as
that depicted in FIG. 3B or 3C, the most radially outward (from the
neutral axis of bending (11)) of the three single fibers (14)
experiences more compression or tension than the two more radially
inward fibers. Thus, as explained above, a Bragg sensing fiber
assembly may comprise a single fiber or multiple fibers, and the
term Bragg sensing fiber, Bragg fiber sensor, or Bragg sensing
fiber (16, 220, or 222) (when used in a drawing figure) as used
herein shall mean any Bragg sensing fiber assembly having one or
more fibers, unless the number of fibers is explicitly
specified.
[0047] It is contemplated that various medical systems for
minimally invasive surgery may utilize alternative embodiments of
catheters including fiberoptic Bragg grating fibers and associated
sensors for measuring strain and determining positions along an
elongated instrument similar to those described in detail in U.S.
Provisional Patent Applications Nos. 60/785,001 (filed Mar. 22,
2006) and 60/788,176 (filed Mar. 31, 2006), both incorporated by
reference herein in their entirety.
[0048] For example, one or more Bragg sensing fibers may be
included with each of the arms of a "da Vinci Surgical System"
available from Intuitive Surgical Inc. of Sunnyvale, Calif. FIG. 6A
illustrates a perspective view of a da Vinci telesurgical system
(20) including its operator control station (22) and surgical
workstation (24). The surgical workstation (24) comprises a cart
(26), which supports the robotic arms (28). A Bragg fiber sensor
(16) is disposed along at least a portion of the length of each arm
(28). Alternatively, multiple separate Bragg fiber sensors (16) may
be disposed on each arm (28). For example, a separate Bragg fiber
sensor (16) may be disposed on each link of the robotic arm (28).
In the depicted embodiments, Bragg fiber sensors (16) may be
operably coupled to interventional and/or diagnostic instruments,
such as the depicted robotic arm (28), utilizing bands, clips,
fasteners, a layer of at least partically encapsulating material,
or the like, distributed along the length of the robotic arm or
other structure to maintain the position of the fiber sensor (16)
relative to the position of the pertinent portions of such
structure. Referring again to FIG. 6A, a position determining
system (30) is depicted operatively coupled to each of the Bragg
fiber sensors (16). The position determining system (30), generally
comprising an optical radiation emitter and detector, and a
computing system to analyze detected optical radiation, may be
operatively coupled to each of the Bragg fiber sensors (16) via the
cart (26). The position determining system (30) is configured to
analyze data from the Bragg fiber sensors (16) as the arms (28) are
maneuvered and determine changes in elongation of the Bragg fiber
sensors (16). Some systems, such as those available from Luna
Innovations, Inc., may be configured to utilize sensed deflection
data to determine the spatial positioning or shape of a particular
fiber or bundle of fibers. Although it is referred to herein as a
"position determining system," such system may also analyze,
calculate and/or determine other information using the data from
the Bragg fiber sensors, including without limitation, stress,
strain or elongation, forces, and/or temperature. The positioning
determining system (30) is also operatively coupled to the operator
control station (22) or control system of the instrument system,
such that position information as determined by the position
determining system (30) may be relayed to the operator control
system (22) to assist in navigation and control of the instrument
system. In this illustration, the surgical workstation (24) carries
three robotically controlled arms (28), and the movement of the
arms (28) is remotely controllable from the control station (22).
In other embodiments, the cart (26) may carry a varying number of
arms (28) (i.e., two or four arms) depending on the particular
configuration.
[0049] It is desirable to minimize (or even eliminate) the need to
pass instruments through sterile barrier (or drape). Thus, the
devices located on one side of the sterile barrier may use a
wireless communication link to communicate with devices located on
the other side of the sterile barrier. To this end, the position
determining system may be configured to be placed within the
sterile barrier and communicate wirelessly with the control
station. Alternatively, as depicted in FIG. 6K, a sensing system
subportion (226) may be positioned on the sterile side of the
sterile barrier (214) and configured to wirelessly communicate with
a wirelessly-enabled fiber Bragg sensing system (30)--to avoid
having fibers physically crossing the sterile barrier (214). The
position determining system (30) may then communicate with other
components of the system via the wireless communication link, using
RF, infrared or other suitable communications technologies,
eliminating the need to pass a wires back and forth, or across the
sterile barrier.
[0050] FIG. 6B shows a perspective view of the cart (26) of the
telesurgical system carrying three robotically controlled
manipulator arms (28), each having a Bragg fiber sensor (16)
disposed thereon, and extending along the catheters (32)
operatively coupled to the arms (28). For one embodiment, the fiber
sensors (16) may be routed through the support structure of the
arms (28) to the catheters (32). In another embodiment, the fiber
sensors (16) may be freely connected from the position determining
system (30) directly to each of the catheter assemblies (32).
[0051] FIG. 6C is a perspective view of another embodiment of a da
Vinci robotic surgical arm cart system (40) in which a series of
passive set-up joints (42) support robotically actuated manipulator
arms (28) (typically, the center arm would support a camera). In
this illustration, a wireless Bragg fiber relay (46) is attached to
each of the catheter assemblies (32) mounted on the manipulator
arms (44). Each wireless Bragg fiber relay (46) is operatively
coupled to a respective Bragg fiber sensor (16) disposed on each
catheter assembly (32). The wireless Bragg fiber relays (46) are
configured to transmit radio frequency signals representative of
the respective Bragg fiber sensor (16) outputs. During a procedure,
data sensed along the fiber sensors (16) may be wirelessly
transmitted from the individual wireless fiber relays (46) to a
position determining system (30) having a compatible wireless
signal receiver for receiving the wireless signal. The position
determining system (30) may then analyze the fiber sensor data to
calculate position information which can be communicated to the
operator control system (22).
[0052] FIG. 6D is a side view of a single robotic arm (28) and
surgical instrument assembly (46) from a da Vinci system, such as
the da Vinci System (20) described above and shown in FIG. 6A. The
instrument assembly (47) has a Bragg fiber sensor (16) disposed
along at least part of its length, and a sensor cable (48)
connected to the Bragg fiber sensor (16). FIG. 6E shows, at an
enlarged scale, a perspective view of a typical surgical instrument
assembly (46) of a typical da Vinci system (20 or 40). The surgical
instrument assembly (47) includes an elongate shaft (50) having a
wrist-like mechanism or other end effector (52) located at a distal
working end (54) of the shaft (50). A housing (56) is provided at
the opposite end of the shaft (50), which is configured to
detachably couple the proximal end (58) of the instrument assembly
(47) to the robotic arm (28). A Bragg fiber sensor (16) is provided
within the shaft (50) and extends from the distal working end (54)
back to the housing (56). As the instrument assembly (47) is
manipulated and travels on the robotic arm (28), movements may be
sensed by the fiber sensor (16) and such data communicated to a
computer, such as the position determining system (30) or an
integrated operator control system (22) for analysis and position
determination.
[0053] FIG. 6F illustrates another embodiment of a da Vinci-like
patient-side telesurgical system (60) in an exemplary operating
room installation having a patient table (64) and a patient (15).
In this example, the telesurgical system (60) has four robotic arms
(28) and a ceiling mount (62) for each robotic arm (28) mounted to
the ceiling. Each of the arms (28) is equipped with a Bragg fiber
sensor (16) which is operatively coupled to a wireless Bragg fiber
relay (46). An instrument assembly (46) is operatively coupled to
the arms (28). In operation, data is collected by the fiber sensors
(16) as to instrument assembly (46) and arm (28) movements and
wirelessly communicated to the position determining system
(30).
[0054] Referring to FIGS. 6G-6L, various embodiments of a
multi-link instrument system operably coupled to fiber Bragg
sensors, a fiber Bragg sensing system, and a robotic instrument
controller are depicted to illustrate various ways in which fiber
Bragg sensing may be utilized to assist in the navigation and
control of an instrument configuration such as that depicted in
FIGS. 6G-6L. Referring to FIG. 6G, a flexible instrument (204) is
depicted movably coupled to a first movable structural member
(206), which is rotatably coupled to a second movable structural
member (208), which is rotatably coupled to a third movable
structural member (210), which is rotatably coupled to a mounting
structure (200). The depicted joints (207) may be conventional
hinge type joints, 3-degree-of-freedom ball and socket type joints,
or other types of couplings suitable for suspending medical
instruments. The linkage comprising the various members (206, 208,
210) is for illustration purposes, and it will be apparent to one
skilled in the art that the same ideas described herein are
applicable to less extensive linkages or structures. As shown in
FIG. 6G, a single fiber Bragg sensor (16) may be operably coupled
to the entire length of the flexible instrument (204) and
associated supporting linkage (206, 208, 210), and operably coupled
to a fiber Bragg sensing system (30), which is coupled to a robotic
instrument controller (202), which may be operably coupled, via a
communication link (216) such as an electrical cable, to the
actuators, brakes, or the like which are configured to control
physical movement of various aspects of the flexible instrument
(204) and associated supporting linkage (206, 208, 210). With such
a configuration, a single core or multi-core fiber Bragg sensor
(16) may be utilized to provide precision feedback to the robotic
instrument controller regarding where the entire flexible
instrument (204) and associated supporting linkage (206, 208, 210)
are in space relative to each other, and relative to a ground
position or the mounting structure (200). At the junction between
the mounting structure (200) and the most proximal structural
member (210), the sterile barrier preferably is configured to
accommodate a direct crossing of the fiber Bragg sensor (16) via a
hole or similar adaptation. Referring to FIG. 6H, an embodiment
similar to that of FIG. 6G is depicted, with the exception that an
additional fiber Bragg sensor (220) is coupled to the instrument
complex along the supporting linkage (206, 208, 210). This
additional sensor (220) may be configured to provide additional
data for common mode rejection purposes, or may be configured to
facilitate monitoring of the position of the supporting linkage
(206, 208, 210) so that the first fiber Bragg sensor (16) may have
Bragg gratings concentrated more densely only at the portions of
the instrument linkage distal to the distal termination of the
second fiber Bragg sensor (220), in the depicted example along the
length of the flexible medical instrument (204), for which it may
be desirable to have more resolution of spatial movement feedback
to the robotic instrument controller (202). FIG. 6I depicts a
similar configuration. FIG. 6J depicts an embodiment similar to
that of FIGS. 6H and 6I, with the exception that a third fiber
Bragg sensor (222) is included to provide additional redundancy for
common mode error rejection, or further distributed monitoring of
the rotational or strain-based deflections of the various
structures to which the fiber Bragg sensors are operably coupled.
For example, in one embodiment, the first sensor (16) may be
configured to provide high-resolution monitoring of the flexible
instrument (204) only by having a high density of Bragg gratings
along this associated portion of the fiber Bragg sensor (16), the
second sensor (220) may be configured to monitor relative
positioning of the first structural member (206) relative to the
second (208), and the second (208) relative to the third (210),
which the third sensor (222) may be configured to monitor relative
positioning of the second structural member (208) relative to the
third (210), for common mode rejection analysis using the data from
the second sensor (220) in re that mechanical association, as well
as relative positioning of the third structural member (210)
relative to the mounting structure (220) or ground position.
Further, each of the three sensors (16, 220, 222) may be configured
to monitor positioning along their entire length. As discussed
above, FIG. 6K depicts an embodiment configured to wirelessly
transmit data from the sensors (16, 220) to the fiber Bragg sensing
system (30) via antennae (228) to avoid fiber crossings of the
sterile barrier (214). FIG. 6L depicts an embodiment similar to
that of FIG. 6G, with the exception that the fiber Bragg sensor
(16) is positioned approximately along the central axis of each
structural member (206, 208, 210) and joint (207). Another aspect
of the embodiment of FIG. 6L is a slack portion (230) of the fiber
Bragg sensor (16) to facilitate relative motion of the flexible
instrument (204) relative to the first structural member (206).
[0055] Another surgical system that can benefit from accurate
position information is the NIOBE Magnetic Navigation System and
associated Magnetic GentleTouch Catheters, all available from
Stereotaxis, Inc. of St. Louis, Mo. Stereotaxis provides products
for magnetically-assisted surgery. FIG. 7A is a perspective view of
a system (70) for magnetically assisted surgery. The system (70)
generally comprises two sections; a magnet assembly (72) and a
patient support assembly (74). During a procedure, a patient (15)
is located on the table (76) of the patient support assembly (74)
and a catheter is inserted into the patient's body and navigated to
the region of interest. By controlling the strength and orientation
of the magnetic fields produced from the magnet assembly, a
magnetic catheter can be remotely controlled in response to the
varying magnetic fields. For example, by pivoting and rotating the
magnet assembly and moving the patient assembly, the magnetic
fields will cause the magnetic elements of a catheter located in
the patient to respond to the changing fields. In one
implementation, it is contemplated that one or more Bragg fiber
cables are located along the elongated portions of each magnetic
catheter. Thus as the magnetic catheter is manipulated and
repositioned, changed may be detected along the optical fibers and
communicated to a computer for position analysis and
determination.
[0056] FIG. 7B illustrates a patient lying on the table (76) of the
patient support assembly (74) and having a Stereotaxis magnetic
catheter (78) including a Bragg fiber sensor (16) introduced into
the patient's head. In this illustration, the region of interest is
the brain (115) and thus the patient's head is located about the
magnet assembly (72). FIGS. 7C-7E illustrate various embodiments of
magnetic ablation catheters (80) having one or more Bragg fiber
sensors (16). The magnetic catheters (80) include an outer elongate
body (81) and an ablation catheter (82) located within. The
ablation catheter (82) has one or more electrodes (84) for ablating
tissue. The magnetic catheter (80) may further include a
circumferential mapping catheter (86) having one or more electrodes
(84) for mapping electrical signals from tissue such as heart
tissue. The magnetic catheter (80), ablation catheter (82), and
mapping catheter (86) can be magnetically navigated to an ablation
site, such as left atrium, for example using the system (70). The
ablation catheter (82) and mapping catheter (86) may each be
disposed within an anchor member (88) configured so that the
ablation catheter (82) or mapping catheter (86) may be retracted
into the anchor member (88) during navigation to the ablation site,
and then extended out of the anchor (88) when the site has been
reached. The magnetic catheter (80), ablation catheter (82) and/or
the mapping catheter (86) may each have one or more Bragg fiber
sensors (16) disposed longitudinally along at least part of their
structures. As the magnetic catheter (80) is navigated with a
patient's body, the Bragg fiber sensors (16) sense data related to
position changes and bending of the fibers. This telemetry is
relayed back to the navigation system (such as a position
determining system (30)) for analysis and position
determination.
[0057] Another surgical system that may benefit from position
information during a surgical procedure is the Mako Haptic Guidance
System from Mako Surgical, Inc. of Ft. Lauderdale, Fla. Mako
produces a robotic system for orthopedic surgical procedures. A
haptic guidance system provides sensory feedback (e.g. tactile
and/or visual and/or acoustic) to the operator to assist in
performing a procedure. FIG. 8A illustrates one embodiment of a
Mako haptic guidance surgical system (90) that utilizes method of
position determination with one or more Bragg fiber sensors (16).
The surgical system (90) includes a computer system (92), a
haptically-enabled device (94), and a tracking (or localizing)
system (96). In operation, the surgical system (90) enables
comprehensive, intraoperative surgical planning. The surgical
system (90) also provides haptic guidance to a user and/or limits
the user's manipulation of the haptically-enabled device (94) as
the user performs a surgical procedure. The computing system (92)
includes hardware and software for operation and control of the
surgical system. In this embodiment, the computer system (92) also
analyzes data from the Bragg fiber sensor (16) to determine the
position of the arm (98) of the haptically-enabled device (94) and
a distal tool or end effector (100). In one implementation, a Bragg
fiber sensor (16) is coupled to the arm (98) of the
haptically-enabled device (94). At least one of the optical fibers
of the Bragg fiber sensor (16) extends to all the way to the distal
working end of the arm (98) having the end effector (100). As the
arm (94) moves during a surgical procedure and the end effector
(100) is manipulated on a patient, the movements are sensed by the
fiber sensor (16) and communicated to the computer system (92). The
computer system (92) may be configured to process the data from the
fiber sensor (16) to determine the position and orientation of the
arm (94) and/or the end effector (100). By analyzing this data, an
operator at the computer system (92) may accurately know the
location and orientation of the end effector (100) and the haptic
arm (98).
[0058] FIG. 8B illustrates one embodiment of a Mako haptic robot
(94) comprising a base (102), an arm (98), an end effector (100), a
user interface (104), and a Bragg sensor fiber (16). The base (102)
provides a foundation for the haptically-enabled device (94). The
arm (98) is disposed on the base (102) and is adapted to enable the
haptically-enabled device (94) to be manipulated by the user. The
arm (102) may be any suitable mechanical or electromechanical
structure but is preferably an articulated arm having four or more
degrees of freedom (or axes of movement), such as, for example, a
robotic arm known as the "Whole-Arm Manipulator" currently
manufactured by Barrett Technology, Inc. The Bragg fiber sensor
assembly of this example includes a Bragg sensor fiber (16)
extending from a sensor module (106), along the entire length of
the robotic arm (98) all the way to the tip of the end effector
(100). In alternative embodiments, a plurality of fiber sensors
(16) may be employed to different segments along the arm (98). The
sensor module (106) of this illustration collects all the sensed
data and communicates the data to the computer system (92) via a
cable or wirelessly. In another implementation, the sensor module
(106) may be configured to analyze the data from the fiber sensors
(16) and then simply communicate the position data directly to the
computer system (92).
[0059] Yet another surgical system that can use accurate position
information is the CyberKnife robotic radiosurgery system
manufactured by Accuray Inc. of Sunnyvale, Calif. The CyberKnife
system provided therapeutic treatment to moving target regions in a
patient's anatomy by creating radiosurgical lesions. The technique
includes determining a pulsating motion of a patient separately
from determining a respiratory motion, and directing a
radiosurgical beam, from a radiosurgical beam source, to a target
in the patient based on the determination of the pulsating motion.
Directing the radiosurgical beam to the target may include creating
a lesion in the heart to inhibit atrial fibrillation. Due to the
nature of the treatment and the radiation involved, it is desirable
to have accurate positioning of the target sites. For example, the
system may have to take into account the respiratory motion of the
patient, and compensate for movement of the target due to the
respiratory motion and the pulsating motion of the patient.
[0060] FIG. 9A illustrates one embodiment of a radiosurgery system,
such as the CyberKnife, employing a Bragg fiber position sensing
scheme. The system (110) includes an Accuray radiosurgical beaming
apparatus (112), a positioning system (114), an imaging device
(116), and a controller (118). The system (110) may also include an
operator control console (120) and display (122). The radiosurgical
beaming apparatus (112) generates, when activated, a collimated
radiosurgical beam (consisting of x-rays, for example). The
cumulative effect of the radiosurgical beam, when directed to the
target, is to necrotize or to create a lesion in a target within
the patient's anatomy. By way of example, the positioning system
(114) is an industrial robot, which moves in response to command
signals from the controller (118). The beaming apparatus (112) may
be a small x-ray linac mounted to an arm of the industrial robot.
In this illustration, one or more Bragg fiber sensor(s) (16) are
attached to the robot arm (124) and the beaming apparatus (112). As
the robot moves the arm (124) and the beaming apparatus (112) over
the patient, the fiber sensor(s) (16) provide indications of the
position movements to a computer system (126). By analyzing the
sensed data from the fiber sensor(s) 16, an accurate position of
the arm and the beaming apparatus can be determined. By knowing
these locations, the radiosurgical beam can be accurately aimed
from the beaming apparatus (112) to the patient. FIG. 9B
illustrates the distal portion of the Accuray robot arm (124) to
which the beaming apparatus (112) is mounted. Also shown is the
Bragg fiber sensor (16) extending along the exterior of the beaming
apparatus (112) and the robot arm (124).
[0061] From the discussions thus far, the fiberoptic Bragg grating
position determining method and apparatus has been employed in the
context of robotic surgical systems and/or their associated
catheter devices or beaming devices. It is also contemplated that
the position determination techniques using Bragg fibers may also
be employed with endoscopic instruments and endoscopic medical
procedures. For example, one or more Bragg fiber sensors may be
built into or located within a steerable endoscope device such as
that produced by NeoGuide Systems Inc. of Los Gatos, Calif. FIG.
10A shows one variation of a steerable endoscope (130) which may be
utilized for accessing various regions within the body without
impinging upon the anatomy of the patient. The endoscope (130)
generally has an elongate body (132) with a manually or selectively
steerable distal portion (134) and an automatically controlled
proximal portion (136). The elongate body (132) of the endoscope
(130) is highly flexible so that it is able to bend around small
diameter curves without buckling or kinking. A handle (138) at the
proximal end of the elongate body may be connected to a steering
control (142) which may be configured to allow a user to
selectively steer or bend the selectively steerable distal portion
of the elongate body in the desired direction. In one embodiment,
an axial motion transducer (144) may be provided to measure the
axial motion of the elongate body (132) as it is advanced and
withdrawn. The Bragg fiber techniques of the present invention
presents an alternative or additional means of position
determination for this endoscope (132). As shown in FIG. 10A, a
Bragg fiber sensor (16) extends from the distal end (134) of the
elongate body (132) for a NeoGuide steerable endoscope (130) to the
proximal end (136) and to a position determination module (140).
The position determination module analyzes the data and may be
configured to calculate the position of the distal tip (134) of the
endoscope (130), various points along the elongate body (132), or
even every point along the entire length of the endoscope (130).
Because a steerable endoscope may take a tortuous route as it
travels through the body, it is highly desirable to know the exact
position of a portion of, or the entire, length of the endoscopic
instrument, particularly if the elongate body takes many turns or
circles about itself.
[0062] FIG. 10B illustrates a cross-sectional side view of a
patient's head with a variation of a NeoGuide steerable endoscope
(130) having a Bragg fiber sensor (16) disposed therethrough. FIG.
10C illustrates a cross-sectional anterior view of a heart (150)
with a NeoGuide endoscopic device (130) having a Bragg fiber sensor
(16) introduced via the superior vena cava and advanced to the
right atrium.
[0063] FIGS. 10D-10F show examples of treating atrial fibrillation
using an endoscopic device (130) that includes a Bragg fiber sensor
(16). As shown in FIG. 10D, the distal portion (134) of endoscopic
device (130) is advanced into the chest cavity through a port
(152). The location and orientation of the portions of interest of
the endoscopic device (130) are determined using the data received
from the Bragg fiber sensor (16). Turning to FIGS. 10E and 10F, the
distal portion (134) is advanced proximal the location(s) of the
heart to be given treatment in order to treat the atrial
fibrillation.
[0064] FIG. 10G illustrates another embodiment of an endoscope
(130), in this case having a guide tube (154) wherein the endoscope
(130) is slidably insertable within the lumen of a guide tube
(154). In addition, the endoscope (130) is provided with an end
effector (100). In this embodiment, the endoscope (130) and guide
tube (154) have separate Bragg fiber sensors (16) such that the
position of the endoscope (130) and guide tube (154) may be
separately determined.
[0065] FIG. 10H illustrates a colonoscopy procedure wherein a
NeoGuide steerable endoscope (130) with a Bragg sensor fiber (16)
is advanced through a colon. The endoscope (130) may also include a
guide tube (154), and separate Bragg fiber sensors (16) on the
endoscope (130) and guide tube (154).
[0066] In the descriptions of the various embodiments of surgical
systems equipped with one or more Bragg fiber sensors (also
referred to as Bragg grating fibers) and associated position
sensing instrumentation, the Bragg fiber sensor has been described
as being disposed on, coupled to or located on a robotic arm,
instrument, catheter, and/or tool. In addition, it is contemplated
that in some embodiments, the Bragg fiber or fiber bundles may be
mounted to or installed on the exterior surface or housing of the
robotic instrument. For example, one or more Bragg grating fibers
may be routed on the external housing of a robotic arm of the
Intuitive Surgical da Vinci system, the Mako system, or the Accuray
system. Similarly, one or more Bragg fibers may be fastened on the
outer surface of the instrument of the Intuitive Surgical,
Stereotaxis, or NeoGuide system or apparatus. Furthermore, a Bragg
fiber may be attached to a tool instrument or end-effector which
may be operably coupled with the distal end of an instrument.
[0067] It is further contemplated that in alternative embodiments,
the Bragg fiber sensors may be installed within or integrated into
the robotic instrument itself. For example, one or more Bragg fiber
sensors may be routed internally to the robotic arm of the
Intuitive Surgical da Vinci system, the Mako system, or the Accuray
system. Similarly, one or more Bragg fiber sensors may be located
within the catheter instrument of the Intuitive Surgical catheter,
Stereotaxis catheter, or NeoGuide catheter. Furthermore, a Bragg
fiber may be built into a tool instrument or end-effector at the
distal end of a catheter instrument. Accordingly, as used herein,
the term "disposed on" shall include without limitation all of
these described methods of providing the described structure with a
fiber sensor, and shall not be limited to any particular mounting
method or location relative to the structure.
[0068] In the descriptions above, it has also been disclosed that
position data sensing/analysis logic system (referred to
generically as the "position determining system" or "sensor
module") may be located either separated from the robotic system or
alternatively on the robotic system itself. In some embodiments,
the position determining system may be integrated with the control
system of the Intuitive Surgical/Mako/Accuray/NeoGuide/Stereotaxis
surgical system. In other embodiments, the position determining
system may be stand-alone or part of another computer system.
Because of these different implementations, data communication
between the Bragg fiber sensors, the position determining system,
and/or the control system for the robotic device may be
accomplished in a variety of ways. In the embodiments described
above, the communication may be conducted via physical cables,
wireless transmissions, infrared, optically, or other suitable
means. Although the examples described herein are in the context of
one Bragg fiber sensor or fiber bundle for clarity, it is
contemplated that a plurality of optical fibers or fiber bundles
may be deployed on each robotic arm, catheter, or tool device, thus
providing additional position data and redundancy if so
desired.
[0069] While multiple embodiments and variations of the invention
have been disclosed and described herein, such disclosure is
provided for purposes of illustration and not limitation. It will
be apparent to those skilled in the art that many combinations and
permutations of the disclosed embodiments are possible, for
example, depending upon the medical application. Thus, the
invention is to be limited only by the appended claims and their
equivalents.
* * * * *