Shape sensing endoscope fiber

Abstract

Minimally invasive and robotic surgeries are growing areas that benefit patients through reduced recovery time. Medical fiber optics play an important role in these procedures by enabling instrument navigation, imaging, sensing, power delivery, and diagnostics in a small form factor. One route to further miniaturization is to combine these functions, or a subset of these functions, into a single strand of optical fiber. In this work, we present a fiber and fan-in device that enables shape sensing, imaging, power delivery, and potentially additional sensing capabilities, such as temperature and/or pressure, in the same waveguide. The refractive index profile of the multimode waveguide in our fiber is similar to step index fibers used in laser delivery and is suitable for imaging applications; however, it also contains seven single mode cores twisted in a helix and with quasi-continuous Bragg gratings along their entire length, such as are used in fiber shape sensing. We first calibrate the transmission matrix of the multimode waveguide to enable the formation of a focused spot at the distal end of the fiber with a spatial light modulator. A second calibration allows us to reconstruct the shape of the fiber using optical frequency domain reflectometry in the twisted shape sensing cores. We show that these multiple functions can be performed simultaneously with our device and that changes in the curvature of the fiber correlate with the quality of the distal spot produced through the fiber, which is an important step towards maintaining the imaging calibration as the fiber is manipulated.