JP6270483B2 - 細長の装置の光学的追跡の3d形状再構成 - Google Patents
細長の装置の光学的追跡の3d形状再構成 Download PDFInfo
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- 230000003287 optical effect Effects 0.000 title claims description 39
- 239000013307 optical fiber Substances 0.000 claims description 59
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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
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- 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
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- 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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- Optics & Photonics (AREA)
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- Length Measuring Devices By Optical Means (AREA)
- Instruments For Viewing The Inside Of Hollow Bodies (AREA)
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Description
上式で、δは、離調(すなわち波動ベクトルの中心共振ピークからの差)であり、λは光の波長であり、nは、モードの効果的屈折率であり、Λは、ブラッググレーティングの周期であり、量pは、較正定数(例えば、水晶に基づくシングルモード光ファイバの場合0.78)であり、σ(δ)は、複素フレネル反射係数である。
上式で、ε12=ε2−ε1及びε13=ε3−ε1
の方向を有する。上式で、
は、角度θにわたる従法線ベクトルを軸とする回転を示す。局所座標系において、弦は、以下の式[7]によって与えられる:
Claims (14)
- 光学的形状検知システムであって、
細長の装置と、
前記細長の装置内に埋め込まれる、少なくとも3つのコアを有する光ファイバと、
前記光ファイバと通信し、波長の関数として前記光ファイバのコアごとの反射の振幅及び位相の両方の測定を示す反射スペクトルデータを生成する光学的インタロゲーションコンソールと、
前記光学的インタロゲーションコンソールと通信し、前記光ファイバの3D形状を再構成する3D形状再構成器と、
を有し、
前記3D形状再構成器は、前記反射スペクトルデータに応じて、前記光ファイバに沿った複数の位置について局所ひずみデータを生成し、
前記3D形状再構成器は、前記少なくとも3つのコア毎の前記局所ひずみデータ、及び基準となる1つのコアと該コア以外の全てのコアとの間の相対角度に応じて、前記光ファイバに沿った各々の局所ひずみの関数として、局所曲率及びねじれ角データを生成し、
前記3D形状再構成器は、前記局所曲率及びねじれ角データに応じて、前記光ファイバに沿った各々の局所曲率及びねじれ角の関数として、前記光ファイバの3D形状を再構成する、光学的形状検知システム。 - 前記細長の装置が、内視鏡、カテーテル及びガイドワイヤを含むグループから選択される、請求項1に記載の光学的形状検知システム。
- 前記光学的インタロゲーションコンソールが、光学的フーリエドメインリフレクトメータを有する、請求項1に記載の光学的形状検知システム。
- 前記反射スペクトルデータが、
基準形状を有する光ファイバに応じて、波長の関数として該光ファイバのコアごとの反射の振幅及び位相の両方の測定を示す、ひずみ無し反射スペクトルデータと、
非基準形状を有する光ファイバに応じて、波長の関数として該光ファイバのコアごとの反射の振幅及び位相の両方の測定を示す、ひずみ有り反射スペクトルデータと、
を含む、請求項1に記載の光学的形状検知システム。 - 前記局所ひずみデータの生成は、前記反射スペクトルデータの逆フーリエ変換の実施を含む、請求項1に記載の光学的形状検知システム。
- 前記局所ひずみデータの生成は、前記ひずみ無し反射スペクトルデータ及び前記ひずみ有り反射スペクトルデータの逆フーリエ変換の実施を含む、請求項4に記載の光学的形状検知システム。
- 前記局所ひずみデータの生成は、前記ひずみ無し反射スペクトルデータ及び前記ひずみ有り反射スペクトルデータの逆フーリエ変換に対応するテーパ関数の間の位相差の計算を含む、請求項6に記載の光学的形状検知システム。
- 前記局所ひずみデータの生成は更に、前記ひずみ無し反射スペクトルデータ及び前記ひずみ有り反射スペクトルデータの逆フーリエ変換の相互相関を含む、請求項4に記載の光学的形状検知システム。
- 前記局所曲率データの生成は、前記光ファイバに沿った各位置における各コアの局所ひずみデータの関数である、請求項1に記載の光学的形状検知システム。
- 各位置が、前記光ファイバに沿って等距離にある、請求項9に記載の光学的形状検知システム。
- 前記光ファイバの3D形状の再構成は、前記光ファイバの長さに沿った一段階の幅及び曲率の積に等しい角度にわたる、曲線の局所的な従法線軸の段階的な回転を含む、請求項1に記載の光学的形状検知システム。
- 前記光ファイバの3D形状の再構成は、局所座標系から基準座標系への座標変換を含む、請求項11に記載の光学的形状検知システム。
- 前記光ファイバの3D形状の再構成は、同じ回転を使用して前記段階的な回転の各段階ごとに前記座標変換のヤコビアン行列を計算することを含む、請求項12に記載の光学的形状検知システム。
- 前記3D形状再構成器は、外部使用のための3D再構成データ及び前記光ファイバの3D再構成表示の少なくとも一方を生成するように動作可能である、請求項1に記載の光学的形状検知システム。
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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 (3)
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JP2014506670A JP2014506670A (ja) | 2014-03-17 |
JP2014506670A5 JP2014506670A5 (ja) | 2015-03-05 |
JP6270483B2 true JP6270483B2 (ja) | 2018-01-31 |
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US (1) | US10551170B2 (ja) |
EP (1) | EP2668467A1 (ja) |
JP (1) | JP6270483B2 (ja) |
CN (1) | CN103339467B (ja) |
WO (1) | WO2012101562A1 (ja) |
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JP6205176B2 (ja) * | 2013-05-22 | 2017-09-27 | オリンパス株式会社 | 湾曲形状センサ |
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 |
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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 |
WO2016041793A1 (en) | 2014-09-16 | 2016-03-24 | Koninklijke Philips N.V. | Processing system arranged to cooperate with an optical-shape-sensing-enabled interventional device |
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- 2012-01-23 WO PCT/IB2012/050295 patent/WO2012101562A1/en active Application Filing
- 2012-01-23 US US13/981,692 patent/US10551170B2/en active Active
- 2012-01-23 EP EP12706321.2A patent/EP2668467A1/en not_active Ceased
- 2012-01-23 JP JP2013550979A patent/JP6270483B2/ja active Active
- 2012-01-23 CN CN201280006639.XA patent/CN103339467B/zh active Active
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US20130308138A1 (en) | 2013-11-21 |
CN103339467A (zh) | 2013-10-02 |
WO2012101562A1 (en) | 2012-08-02 |
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