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Publication Number
US-12324633-B2
Publication Date
2025-06-10
Expiration Date
Abstract
A device comprising includes an insertable structure usable in a surgical theater, a fiber optic line extending through the structure, wherein a computer system is configured to determine a shape of the fiber optic line extending through the structure, and one or more electromagnetic sensors wrapped at least in part around one or more portions of the fiber optic line, wherein the computer system is configured to determine a position and orientation of the one or more electromagnetic sensors, wherein the computer system is configured to determine a shape and a position of the structure based on the determined shape of the fiber optic line extending through the structure and the determined position and orientation of the one or more electromagnetic sensors.
Core Innovation
The invention relates to a system for an insertable structure usable in a surgical theater. The system includes a fiber optic line extending through the structure, and a computer system configured to determine a shape of the fiber optic line extending through the structure. The system further includes two or more electromagnetic sensors wrapped at least in part around one or more portions of the fiber optic line.
The computer system is configured to determine a position and orientation of the two or more electromagnetic sensors, and to determine a shape and a position of the structure based on the determined shape of the fiber optic line and the determined position and orientation of the electromagnetic sensors. The electromagnetic sensors comprise a first electromagnetic sensor having a solenoidal geometry and a second electromagnetic sensor having a saddle geometry with a plurality of substantially 90 degree turns.
The second electromagnetic sensor is wrapped at least in part around the first electromagnetic sensor, and the second electromagnetic sensor is insulated from the first electromagnetic sensor by an insulator. In the described hybrid approach, the fiber optic line provides fiber optic shape sensing, while the wrapped electromagnetic sensors provide position and orientation information used to provide an absolute reference for the structure’s pose.
Claims Coverage
The partial content includes two independent claims. Both independent claims share the same core inventive concept: hybrid determination of an insertable structure’s shape and position by combining fiber optic line shape determination with electromagnetic sensor position and orientation determination, using a specific solenoidal and saddle wrapped electromagnetic sensor configuration.
Hybrid shape and pose determination using wrapped electromagnetic sensors and a fiber optic line
The computer system determines a shape of a fiber optic line extending through an insertable structure and determines a position and orientation of two or more electromagnetic sensors wrapped at least in part around portions of the fiber optic line, and the computer system determines a shape and a position of the structure based on the determined fiber optic line shape and the determined electromagnetic sensor position and orientation.
Solenoidal and saddle electromagnetic sensor geometries wrapped around the fiber optic line
The two or more electromagnetic sensors comprise a first electromagnetic sensor comprising a solenoidal geometry wrapped at least in part around one of the portions of the fiber optic line, and a second electromagnetic sensor comprising a saddle geometry comprising a plurality of substantially 90 degree turns, the second electromagnetic sensor wrapped at least in part around the first electromagnetic sensor.
Insulation between the wrapped electromagnetic sensors
The second electromagnetic sensor is insulated from the first electromagnetic sensor by an insulator.
Determination of structure shape and position from combined determined quantities
The computer system is configured to determine a shape and a position of the structure based on the determined shape of the fiber optic line extending through the structure and the determined position and orientation of the two or more electromagnetic sensors.
Across the independent claims, the coverage centers on a surgical-theater insertable structure carrying a fiber optic line and using a computer system to determine fiber optic line shape together with electromagnetic sensor position and orientation from wrapped solenoidal and saddle electromagnetic sensors insulated from each other, so that the computer system can determine the structure’s shape and position.
Stated Advantages
Documented Applications
No documented applications found
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