CN103339467B - 光学形状感测系统 - Google Patents

光学形状感测系统 Download PDF

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Publication number
CN103339467B
CN103339467B CN201280006639.XA CN201280006639A CN103339467B CN 103339467 B CN103339467 B CN 103339467B CN 201280006639 A CN201280006639 A CN 201280006639A CN 103339467 B CN103339467 B CN 103339467B
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Prior art keywords
optical fiber
optical
shape
sensing system
data
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Chinese (zh)
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CN103339467A (zh
Inventor
W·G·T·霍夫特
R·曼茨克
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Koninklijke Philips NV
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Koninklijke Philips Electronics NV
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/009—Flexible endoscopes with bending or curvature detection of the insertion part
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
    • G01B11/18—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge using photoelastic elements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2061—Tracking techniques using shape-sensors, e.g. fiber shape sensors with Bragg gratings

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Robotics (AREA)
  • Biophysics (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Instruments For Viewing The Inside Of Hollow Bodies (AREA)
  • Endoscopes (AREA)
CN201280006639.XA 2011-01-28 2012-01-23 光学形状感测系统 Active CN103339467B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201161437192P 2011-01-28 2011-01-28
US61/437,192 2011-01-28
PCT/IB2012/050295 WO2012101562A1 (en) 2011-01-28 2012-01-23 Fiber optic sensor for determining 3d shape

Publications (2)

Publication Number Publication Date
CN103339467A CN103339467A (zh) 2013-10-02
CN103339467B true CN103339467B (zh) 2016-09-28

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CN201280006639.XA Active CN103339467B (zh) 2011-01-28 2012-01-23 光学形状感测系统

Country Status (5)

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US (1) US10551170B2 (enExample)
EP (1) EP2668467A1 (enExample)
JP (1) JP6270483B2 (enExample)
CN (1) CN103339467B (enExample)
WO (1) WO2012101562A1 (enExample)

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JP2015181643A (ja) * 2014-03-24 2015-10-22 オリンパス株式会社 湾曲形状推定システム、管状挿入システム、及び、湾曲部材の湾曲形状推定方法
JP6278848B2 (ja) * 2014-06-26 2018-02-14 オリンパス株式会社 形状推定装置、それを備えた内視鏡システム及び形状推定のためのプログラム
JP6322495B2 (ja) * 2014-06-26 2018-05-09 オリンパス株式会社 形状推定装置、形状推定装置を備えた内視鏡システム及び形状推定のためのプログラム
US12102412B2 (en) * 2014-09-02 2024-10-01 Koninklijke Philips N.V. Guidewire for optical shape sensing
EP3193765B1 (en) 2014-09-16 2018-12-12 Koninklijke Philips N.V. Processing system arranged to cooperate with an optical-shape-sensing-enabled interventional device
US9803477B2 (en) 2014-10-06 2017-10-31 Caterpillar Inc. Fiber optic shape sensing adapted to cutter module of highwall miner
US9593942B2 (en) 2014-10-06 2017-03-14 Caterpillar Inc. Cylinder position determination using fiber optic shape sensing
US20160097183A1 (en) * 2014-10-06 2016-04-07 Caterpillar Inc. System and method for monitoring position of machine implement
KR102584958B1 (ko) * 2015-04-02 2023-10-06 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 기준 광섬유 간섭계 데이터와 함께 측정된 광섬유 간섭계 데이터의 등록
CN104783798B (zh) * 2015-04-13 2017-05-10 上海交通大学 用于感知医用软体机械臂形状的系统及方法
US10994095B2 (en) * 2015-10-02 2021-05-04 Koninklijke Philips N.V. Hub for device placement with optical shape sensed guidewire
CN105371781B (zh) * 2015-11-13 2018-09-07 华中科技大学 一种三维形状测量方法
EP3391030B1 (en) * 2015-12-14 2025-02-12 Intuitive Surgical Operations, Inc. Apparatus and method for generating 3-d data for an anatomical target using optical fiber shape sensing
US10184425B2 (en) * 2016-01-28 2019-01-22 The Boeing Company Fiber optic sensing for variable area fan nozzles
WO2017182535A1 (en) * 2016-04-20 2017-10-26 Koninklijke Philips N.V. Methods and systems for optically connecting an optical fiber sensor to an optical shape sensing console
CN106123801B (zh) * 2016-06-12 2019-01-11 上海交通大学 带温度漂移补偿的软体机械臂形状估计方法
WO2018009342A1 (en) 2016-07-08 2018-01-11 Intuitive Surgical Operations, Inc. Calculation of redundant bend in multi-core fiber for safety
US10750975B2 (en) * 2016-07-15 2020-08-25 St. Jude Medical, Cardiology Division, Inc. Methods and systems for generating smoothed images of an elongate medical device
DE102016214887A1 (de) * 2016-08-10 2018-02-15 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Faseroptischer Sensor sowie Verfahren zu dessen Herstellung und Verwendung
US11406318B2 (en) 2017-03-23 2022-08-09 The General Hospital Corporation Apparatus, methods and computer-accessible media for in situ three-dimensional reconstruction of luminal structures
EP3566670A1 (en) 2018-05-07 2019-11-13 Koninklijke Philips N.V. Safety system for surgical robot
CN109186490A (zh) * 2018-09-21 2019-01-11 北京航空航天大学 一种基于多芯光纤的三维形状传感测量方法及装置
EP3650806A1 (en) * 2018-11-08 2020-05-13 Koninklijke Philips N.V. Optical fiber sensor, optical system and method of optically interrogating an optical fiber sensor
EP4028720B1 (de) * 2019-09-12 2024-07-24 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Verfahren und vorrichtung zur bestimmung der form eines lichtwellenleiters sowie vorrichtung zur erzeugung von trainingsdaten für ein neuronales netz
JP7600257B2 (ja) * 2020-03-13 2024-12-16 オーエフエス ファイテル，エルエルシー 三次元空間に沿ったマイクロベンドおよび任意の微小変形を測定するためのシステム
CN111223173A (zh) * 2020-03-18 2020-06-02 重庆大学 基于光纤瑞利散射的柔性面板形状构造方法
EP3995076A1 (en) * 2020-11-06 2022-05-11 Koninklijke Philips N.V. Method of re-connecting optical fibers and system
CN113349928B (zh) * 2021-05-20 2023-01-24 清华大学 用于柔性器械的增强现实手术导航装置
CN119642737B (zh) * 2024-11-22 2025-10-28 上海大学 结合光栅反演技术的三维形状重构系统及传感器制备方法
CN120633335A (zh) * 2025-06-28 2025-09-12 广昌县中广创新电子科技有限公司 尾纤接口的模拟质量监控系统及方法

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Publication number Publication date
US20130308138A1 (en) 2013-11-21
WO2012101562A1 (en) 2012-08-02
JP6270483B2 (ja) 2018-01-31
JP2014506670A (ja) 2014-03-17
US10551170B2 (en) 2020-02-04
CN103339467A (zh) 2013-10-02
EP2668467A1 (en) 2013-12-04

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