3D shape tracking of minimally invasive medical instruments using optical frequency domain reflectometry

Francois Parent; Koushik Kanti Mandal; Sebastien Loranger; Eric Hideki Watanabe Fernandes; Raman Kashyap; Samuel Kadoury

doi:10.1117/12.2214998

18 March 2016 3D shape tracking of minimally invasive medical instruments using optical frequency domain reflectometry

Francois Parent, Koushik Kanti Mandal, Sebastien Loranger, Eric Hideki Watanabe Fernandes, Raman Kashyap, Samuel Kadoury

Author Affiliations +

Proceedings Volume 9786, Medical Imaging 2016: Image-Guided Procedures, Robotic Interventions, and Modeling; 97862J (2016) https://doi.org/10.1117/12.2214998
Event: SPIE Medical Imaging, 2016, San Diego, California, United States

Abstract

We propose here a new alternative to provide real-time device tracking during minimally invasive interventions using a truly-distributed strain sensor based on optical frequency domain reflectometry (OFDR) in optical fibers. The guidance of minimally invasive medical instruments such as needles or catheters (ex. by adding a piezoelectric coating) has been the focus of extensive research in the past decades. Real-time tracking of instruments in medical interventions facilitates image guidance and helps the user to reach a pre-localized target more precisely. Image-guided systems using ultrasound imaging and shape sensors based on fiber Bragg gratings (FBG)-embedded optical fibers can provide retroactive feedback to the user in order to reach the targeted areas with even more precision. However, ultrasound imaging with electro-magnetic tracking cannot be used in the magnetic resonance imaging (MRI) suite, while shape sensors based on FBG embedded in optical fibers provides discrete values of the instrument position, which requires approximations to be made to evaluate its global shape. This is why a truly-distributed strain sensor based on OFDR could enhance the tracking accuracy. In both cases, since the strain is proportional to the radius of curvature of the fiber, a strain sensor can provide the three-dimensional shape of medical instruments by simply inserting fibers inside the devices. To faithfully follow the shape of the needle in the tracking frame, 3 fibers glued in a specific geometry are used, providing 3 degrees of freedom along the fiber. Near real-time tracking of medical instruments is thus obtained offering clear advantages for clinical monitoring in remotely controlled catheter or needle guidance. We present results demonstrating the promising aspects of this approach as well the limitations of using the OFDR technique.

Citation Download Citation

Francois Parent, Koushik Kanti Mandal, Sebastien Loranger, Eric Hideki Watanabe Fernandes, Raman Kashyap, and Samuel Kadoury "3D shape tracking of minimally invasive medical instruments using optical frequency domain reflectometry ", Proc. SPIE 9786, Medical Imaging 2016: Image-Guided Procedures, Robotic Interventions, and Modeling, 97862J (18 March 2016); https://doi.org/10.1117/12.2214998

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