1. A spectral imaging apparatus, comprising:
a diffraction grating having an entrance slit formed therein, said entrance slit having a long dimension oriented in a y-direction, said entrance slit being adapted to transmit an incident radiation therethrough;
a collecting reflecting element for receiving said incident radiation transmitted through said entrance slit and reflecting said incident radiation to a diffractive surface of said diffraction grating, a plurality of grooves on said diffractive surface being substantially parallel to said y-direction, said collecting reflecting element including an aspherically-shaped portion; and
a reimaging system adapted to receive radiation diffracted by said diffractive surface and to provide a spectral image at a focal surface, wherein said spectral image being further adapted to provide a spectrum of radiation from the incident radiation propagating through said entrance slit such that a first portion of the spectrum of radiation from a first region in the y-direction can be distinguished from a second portion of the spectrum of radiation from a second region in the y-direction.
2. The spectral imaging apparatus of claim 1, wherein said entrance slit is formed at a substantially central location of said diffraction grating.
3. The spectral imaging apparatus of claim 1, wherein said slit comprises at least one of a substantially rectangular shape and a curved shape.
4. The spectral imaging apparatus of claim 1, wherein said slit is formed in at least one of a substantially planar surface and a curved surface.
5. The spectral imaging apparatus of claim 1, wherein said diffraction grating comprises at least one of a reflection diffraction grating and a transmitting diffraction grating.
6. The spectral imaging apparatus of claim 1, wherein said diffraction grating includes at least one of a substantially planar surface, a concave surface, and a convex surface.
7. The spectral imaging apparatus of claim 1, wherein said collecting reflecting element comprises a substantially planar surface.
8. The spectral imaging apparatus of claim 1, wherein said aspherically-shaped portion of the collecting reflecting element comprises a reflecting curved surface.
9. The spectral imaging apparatus of claim 1, wherein said aspherically-shaped portion of the collecting reflecting element comprises a reflecting curved surface having a paraboloidal shape.
10. The spectral imaging apparatus of claim 1, wherein said collecting reflecting element includes a refractive component.
11. The spectral imaging apparatus of claim 1, wherein said reimaging system comprises at least one of a reflective reimaging element and a refractive reimaging element.
12. The spectral imaging apparatus of claim 1, wherein said reimaging system comprises a three mirror anastigmat.
13. The spectral imaging apparatus of claim 1, wherein said focal surface includes at least one of a substantially planar portion and a curved portion.
14. A spectral imaging apparatus, comprising:
a diffraction grating having a plurality of entrance apertures formed therein, said entrance apertures being distributed along an axis having a long dimension oriented in a y-direction, said entrance apertures being adapted to transmit an incident radiation therethrough;
a collecting reflecting element for receiving said incident radiation transmitted through said entrance apertures and reflecting said incident radiation to a diffractive surface of said diffraction grating, a plurality of grooves on said diffractive surface being substantially parallel to said y-direction; and
a reimaging system adapted to receive radiation diffracted by said diffractive surface and to provide a spectral image at a focal surface, wherein said spectral image being further adapted to provide a spectrum of radiation from the incident radiation propagating through said entrance apertures such that a first portion of the spectrum of radiation from a first region in the y-direction can be distinguished from a second portion of the spectrum of radiation from a second region in the y-direction.
15. The spectral imaging apparatus of claim 14, wherein said entrance apertures are formed at a substantially central location of said diffraction grating.
16. The spectral imaging apparatus of claim 14, wherein said axis along which said entrance apertures are formed comprises a non-straight axis.
17. The spectral imaging apparatus of claim 14, wherein said entrance apertures are formed in at least one of a substantially planar surface and a curved surface of the diffraction grating.
18. The spectral imaging apparatus of claim 14, wherein said plurality of entrance apertures includes a plurality of circular ports.
19. The spectral imaging apparatus of claim 14, wherein said plurality of entrance apertures are adapted to receive an optical fibre.
20. The spectral imaging apparatus of claim 14, further comprising a plurality of optical fibres, each fibre being disposed in a corresponding one of the entrance apertures.
21. The spectral imaging apparatus of claim 20 wherein the plurality of optical fibres are inserted into the corresponding entrance apertures so that an exit face of each optical fibre is substantially co-planar.
22. The spectral imaging apparatus of claim 20 wherein the plurality of optical fibres are inserted into the corresponding entrance apertures so that an exit face of each optical fibre is substantially co-planar with at a predetermined surface, the predetermined surface comprising at least one of a planar surface, a toroidal surface, and a spherically-shaped surface.
23. The spectral imaging apparatus of claim 14, wherein said diffraction grating comprises at least one of a reflection diffraction grating and a transmitting diffraction grating.
24. The spectral imaging apparatus of claim 14, wherein said diffraction grating includes at least one of a substantially planar surface, a concave surface, and a convex surface.
25. The spectral imaging apparatus of claim 14, wherein said collecting reflecting element includes an aspherically-shaped portion.
26. The spectral imaging apparatus of claim 25, wherein said aspherically-shaped portion of the collecting reflecting element comprises a reflecting curved surface.
27. The spectral imaging apparatus of claim 25, wherein said aspherically-shaped portion of the collecting reflecting element comprises a reflecting curved surface having a paraboloidal shape.
28. The spectral imaging apparatus of claim 14, wherein said collecting reflecting element includes a refractive component.
29. The spectral imaging apparatus of claim 14, wherein said reimaging system comprises at least one of a reflective reimaging element and a refractive reimaging element.
30. The spectral imaging apparatus of claim 14, wherein said reimaging system comprises a three mirror anastigmat.
31. The spectral imaging apparatus of claim 14, wherein said focal surface includes at least one of a substantially planar portion and a curved portion.
32. A method for spectral imaging, comprising:
transmitting incident radiation through an entrance slit formed in a diffraction grating, said entrance slit having a long dimension oriented in a y-direction;
receiving said transmitted radiation via a collecting reflecting element including an aspherically-shaped portion and reflecting said transmitted radiation to a diffractive surface of said diffraction grating, grooves on said diffractive surface being substantially parallel to said y-direction; and
receiving radiation diffracted by said diffractive surface and producing a spectral image of said incident radiation transmitted through said entrance slit at a focal surface, wherein said spectral image provides a spectrum of radiation propagating through said entrance slit such that a first portion of the spectrum of radiation from a first region in the y-direction can be distinguished from a second portion of the spectrum of radiation from a second region in the y-direction.
33. The method of claim 32, wherein transmitting incident radiation through an entrance slit includes transmitting incident radiation through an entrance slit formed at a substantially central location of said diffraction grating.
34. The method of claim 32, wherein transmitting incident radiation through an entrance slit includes transmitting incident radiation through an entrance slit comprising at least one of a substantially rectangular shape and a curved shape.
35. The method of claim 32, wherein transmitting incident radiation through an entrance slit includes transmitting incident radiation through an entrance slit formed in at least one of a substantially planar surface and a curved surface.
36. The method of claim 32, wherein transmitting incident radiation through an entrance slit includes transmitting incident radiation through an entrance slit formed in a diffraction grating having at least one of a reflection diffraction grating portion and a transmitting diffraction grating portion.
37. The method of claim 32, wherein receiving said transmitted radiation via a collecting reflecting element including an aspherically-shaped portion comprises receiving said transmitted radiation via a collecting reflecting element including a reflecting curved surface.
38. The method of claim 32, wherein receiving said transmitted radiation via a collecting reflecting element including an aspherically-shaped portion comprises receiving said transmitted radiation via a collecting reflecting element including a reflecting curved surface having a paraboloidal shape.
39. The method of claim 32, wherein receiving said transmitted radiation via a collecting reflecting element comprises receiving said transmitted radiation via a collecting reflecting element including a refractive component.
40. The method of claim 32, wherein receiving radiation diffracted by said diffractive surface and producing a spectral image of said incident radiation includes receiving radiation diffracted by said diffractive surface and producing a spectral image of said incident radiation using a reimaging system having at least one of a reflective reimaging element and a refractive reimaging element.
41. The method of claim 32, wherein receiving radiation diffracted by said diffractive surface and producing a spectral image of said incident radiation includes receiving radiation diffracted by said diffractive surface and producing a spectral image of said incident radiation using a three mirror anastigmat.
42. A method for spectral imaging, comprising:
transmitting incident radiation through a plurality of entrance apertures formed in a diffraction grating and distributed along an axis having a long dimension oriented in a y-direction;
receiving said transmitted radiation via a collecting reflecting element and reflecting said transmitted radiation to a diffractive surface of said diffraction grating, grooves on said diffractive surface being substantially parallel to said y-direction; and
receiving radiation diffracted by said diffractive surface and producing a spectral image of said incident radiation transmitted through said entrance apertures at a focal surface, wherein said spectral image provides a spectrum of radiation propagating through said entrance apertures such that a first portion of the spectrum of radiation from a first region in the y-direction can be distinguished from a second portion of the spectrum of radiation from a second region in the y-direction.
43. The method of claim 37, wherein transmitting incident radiation through said entrance apertures includes transmitting incident radiation through said entrance apertures distributed along a non-straight axis.
44. The method of claim 37, wherein transmitting incident radiation through said entrance apertures includes transmitting incident radiation through a plurality of circular ports.
45. The method of claim 37, wherein at least some of the plurality of entrance apertures include an optical fibre, and wherein transmitting incident radiation through said entrance apertures includes transmitting incident radiation through said optical fibres.
46. The method of claim 45 wherein the optical fibres are inserted into the corresponding entrance apertures so that an exit face of each optical fibre is substantially co-planar.
47. The method of claim 45 wherein the optical fibres are inserted into the corresponding entrance apertures so that an exit face of each optical fibre is substantially co-planar with at a predetermined surface, the predetermined surface comprising at least one of a planar surface, a toroidal surface, and a spherically-shaped surface.
48. The method of claim 37, wherein transmitting incident radiation through said entrance apertures includes transmitting incident radiation through said entrance apertures formed in at least one of a substantially planar surface and a curved surface.
49. The method of claim 37, wherein transmitting incident radiation through said entrance apertures includes transmitting incident radiation through said entrance apertures formed in a diffraction grating having at least one of a reflection diffraction grating portion and a transmitting diffraction grating portion.
50. The method of claim 37, wherein receiving said transmitted radiation via a collecting reflecting element comprises receiving said transmitted radiation via a collecting reflecting element including an aspherically-shaped portion.
51. The method of claim 42, wherein receiving said transmitted radiation via a collecting reflecting element including an aspherically-shaped portion comprises receiving said transmitted radiation via a collecting reflecting element including a reflecting curved surface having a paraboloidal shape.
52. The method of claim 37, wherein receiving said transmitted radiation via a collecting reflecting element comprises receiving said transmitted radiation via a collecting reflecting element including a refractive component.
53. The method of claim 37, wherein receiving radiation diffracted by said diffractive surface and producing a spectral image of said incident radiation includes receiving radiation diffracted by said diffractive surface and producing a spectral image of said incident radiation using a reimaging system having at least one of a reflective reimaging element and a refractive reimaging element.
54. The method of claim 37, wherein receiving radiation diffracted by said diffractive surface and producing a spectral image of said incident radiation includes receiving radiation diffracted by said diffractive surface and producing a spectral image of said incident radiation using a three mirror anastigmat.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. A medical instrument system, comprising:
an elongated probe body having a bendable section, a distal tip section, and an axially variable-length section disposed between the bendable and distal tip sections, the probe body having a lumen axially extending therethrough;
a push-pull member slidably disposed in the lumen of the probe body, the push-pull member having a distal end affixed to the distal tip section of the probe body and a proximal end portion extending out a proximal end of the probe body;
a dithering mechanism configured to mechanically couple to the proximal end portion of the push-pull member, the dithering mechanism further configured for cyclically displacing the push-pull member axially back and forth within the lumen of the probe body, such that the distal tip section is axially displaced relative to bendable section via the axially variable-length section;
at least one force sensor positioned adjacent to the proximal end portion of the push-pull member, the at least one force sensor being configured for measuring a load applied to the push-pull member; and
a processor operatively coupled to the at least one force sensor and configured for determining an external force axially applied to the distal tip section of the probe body based on signals received from the at least one force sensor.
2. The medical instrument system of claim 1, wherein the probe body comprises a flexible intravascular catheter body having an operative element mounted on the distal tip section.
3. The medical instrument system of claim 1, wherein the axially variable-length section of the probe body comprises an axially compressible polymer sleeve.
4. The medical instrument system of claim 1, wherein the axially variable-length section of the probe body comprises a bellows.
5. The medical instrument system of claim 1, wherein the axially variable-length section of the probe body comprises a spring, the spring having a distal end coupled to the distal tip section and a proximal end coupled to the bendable section.
6. The medical instrument system of claim 1, wherein the force sensor is mounted on the dithering mechanism.
7. The medical instrument system of claim 1, wherein the push-pull member comprises a fluid delivery tube having an open distal end coupled to the distal tip section.
8. The medical instrument system of claim 1, wherein the medical probe further includes at least one control element extending within the probe body, and wherein the system is robotically controlled instrument system including an instrument driver having an adapter configured to be operatively coupled to the at least one control element for bending the bendable section of the probe body in at least one direction, and wherein the dithering mechanism is mounted on the instrument driver.
9. The medical instrument system of claim 1, wherein the probe body is manually controlled using a handle attached to a proximal end of the probe body, and wherein the dithering mechanism is located on or in the handle.
10. The medical instrument system of claim 1, wherein the processor determines the external force axially applied to the distal tip section of the probe by:
obtaining a baseline force measurement from the at least one force sensor when the push-pull member is dithered back and forth without any external axial force being applied to the distal tip section of the probe body,
obtaining a total force measurement from the at least one force sensor when the push-pull member is dithered back and forth with an external axial force applied to the distal tip section of the probe body, and
computing the external axial force applied to the distal tip section of the probe body by subtracting the baseline force measurement from the total force measurement.
11. A medical instrument system, comprising:
an elongated probe body having a bendable section, a distal tip section, and an axially variable-length section disposed between the bendable and distal tip sections;
a push-pull member slidably disposed in an axially extending lumen of the probe body, the push-pull member having a distal end affixed to the distal tip section of the probe body and a proximal end portion extending out a proximal end of the probe body;
a dithering mechanism configured for attaching to the proximal end portion of the push-pull member, the dithering mechanism further configured for cyclically displacing the push-pull member axially back and forth within the lumen of the probe body, such that the distal tip section of the probe body is axially displaced relative to bendable section of the probe body via the axially variable-length section of the probe body;
a force sensor positioned adjacent to the proximal end portion of the push-pull member, the force sensor being fixed relative to the push-pull member and configured for measuring a load applied to the push-pull member.
12. The medical instrument system of claim 11, wherein the axially variable-length section of the probe body comprises an axially compressible polymer sleeve and a spring carried in a lumen of the sleeve, the spring having a distal end coupled to the distal tip section of the probe body, and a proximal end coupled to the bendable section of the probe body, such that the spring is cyclically compressed and decompressed as the distal tip section is axially dithered back and forth relative to the bendable section, the push-pull member extending through a lumen of the spring.
13. The medical instrument system of claim 11, further comprising a stiffening coil extending axially through the lumen of the probe body, the push-pull member extending through a central lumen of the stiffening coil, 28 the bendable section of the probe body terminating distally at a steering wire anchor, the stiffening coil extending distally past the steering wire anchor and through the axially variable-length section to the distal tip section of the probe body, wherein a pitch of portion of the stiffening coil passing through the axially variable-length section being significantly opened up compared with a pitch of the more proximal portion of the stiffening coil so that the portion of the stiffening coil passing through the axially variable-length section of the probe body acts as a spring to maintain the push-pull member in tension as the push-pull member is dithered back and forth through the probe body lumen.
14. The medical instrument system of claim 11, wherein the force sensor is mounted on the dithering mechanism.
15. The medical instrument system of claim 11, wherein the push-pull member comprises a fluid delivery tube.
16. The medical instrument system of claim 11, wherein the system is robotically controlled instrument system including an instrument driver having an adapter configured to be operatively coupled to one or more steering wires extending through the bendable section of the probe body, wherein the dithering mechanism is mounted on the instrument driver.
17. The medical instrument system of claim 11, wherein the probe body is manually controlled using a handle attached to a proximal end of the probe body, and wherein the dithering mechanism is located on or in the handle.
18. The medical instrument system of claim 11, further comprising a processor operatively coupled to the force sensor and configured for determining an external force axially applied to the distal tip section of the probe body by
obtaining a baseline force measurement from the at least one force sensor when the push-pull member is dithered back and forth without any external axial force being applied to the distal tip section of the probe body,
obtaining a total force measurement from the at least one force sensor when the push-pull member is dithered back and forth with an external axial force applied to the distal tip section of the probe body, and
computing the external axial force applied to the distal tip section of the probe body by subtracting the baseline force measurement from the total force measurement.