Optical fiber instrument system for dynamic recalibration

Abstract

A method for tracking an elongate body is provided. The method includes determining a spatial relationship between an elongate body and an optical fiber, wherein the optical fiber is located in a structure having a substantially constant shape; receiving a signal from a strain sensor provided on the optical fiber; and determining, based on the signal, whether a position of the optical fiber relative to the structure has changed.

1 . A method for tracking an elongate body, comprising:
 determining a spatial relationship between an elongate body and an optical fiber, wherein the optical fiber is located in a structure having a substantially constant shape;   receiving a signal from a strain sensor provided on the optical fiber; and   determining, based on the signal, whether a position of the optical fiber relative to the structure has changed.   
     
     
         2 . The method of  claim 1 , further comprising outputting an indication that recalibration of the spatial relationship is needed. 
     
     
         3 . The method of  claim 1 , further comprising updating the spatial relationship between the optical fiber and the elongate body. 
     
     
         4 . The method of  claim 3 , wherein the optical fiber has a first localization sensor provided thereon and wherein the elongate body has a second localization sensor provided thereon, wherein updating the spatial relationship comprises updating a spatial relationship between the first localization sensor and the second localization sensor. 
     
     
         5 . The method of  claim 4 , further comprising determining, based on the updated spatial relationship, a position of the elongate body relative to the optical fiber. 
     
     
         6 . The method of  claim 1 , wherein determining whether the position of the optical fiber has changed comprises determining whether a shape of the optical fiber has changed relative to the structure. 
     
     
         7 . The method of  claim 1 , wherein determining whether the position of the optical fiber has changed further comprises buffering information indicative of the position of the optical fiber over time and determining, based on the buffered information, whether a change in the position has exceeded a predetermined threshold. 
     
     
         8 . The method of  claim 1 , further comprising causing, in response to determining that the position of the optical fiber has changed, any motion of the elongate body to stop. 
     
     
         9 . The method of  claim 1 , wherein the elongate body is located within a chamber of the patient's heart and wherein the structure comprises a coronary sinus cavity. 
     
     
         10 . The method of  claim 1 , wherein the determining the spatial relationship comprises:
 receiving first information from the strain sensor corresponding to the optical fiber being placed into the structure; and   receiving second information from the strain sensor corresponding to the optical fiber being retracted from the structure.   
     
     
         11 . An instrument system comprising:
 an elongate body;   an optical fiber located in a structure having a substantially constant shape and having a strain sensor provided on the optical fiber;   a controller operatively coupled to the elongate body and the optical fiber and adapted to:
 determine a spatial relationship between the elongate body and the optical fiber; 
 receive a signal from the strain sensor; and 
 determine, based on the signal, whether a position of the optical fiber has changed relative to the structure. 
   
     
     
         12 . The instrument system of  claim 11 , wherein the controller is further adapted to output an indication that recalibration of the spatial relationship is needed. 
     
     
         13 . The instrument system of  claim 11 , wherein the controller is further adapted to update the spatial relationship between the optical fiber and the elongate body. 
     
     
         14 . The instrument system of  claim 13 , wherein the optical fiber has a first localization sensor provided thereon and wherein the elongate body has a second localization sensor provided thereon, wherein the controller is adapted to update the spatial relationship by updating a spatial relationship between the first localization sensor and the second localization sensor. 
     
     
         15 . The instrument system of  claim 14 , wherein the controller is further adapted to determine, based on the updated spatial relationship, a position of the elongate body relative to the optical fiber. 
     
     
         16 . The instrument system of  claim 11 , wherein the controller is adapted to determine whether the position of the optical fiber has changed by determining whether a shape of the optical fiber has changed relative to the structure. 
     
     
         17 . The instrument system of  claim 11 , wherein the controller is adapted to determine whether the position of the optical fiber has changed further by buffering information indicative of the position of the optical fiber over time and determining, based on the buffered information, whether a change in the position has exceeded a predetermined threshold. 
     
     
         18 . The instrument system of  claim 11 , wherein the controller is adapted to cause, in response to determining that the position of the optical fiber has changed, any motion of the elongate body to stop. 
     
     
         19 . The instrument system of  claim 11 , wherein the elongate body is located within a chamber of the patient's heart and wherein the structure comprises a coronary sinus cavity. 
     
     
         20 . The instrument system of  claim 11 , wherein the controller is adapted to determine the spatial relationship by:
 receiving first information from the strain sensor corresponding to the optical fiber being placed into the structure; and   receiving second information from the strain sensor corresponding to the optical fiber being retracted from the structure.