METHOD AND SYSTEM FOR ESTIMATING DISTANCE BETWEEN A FIBER END AND A TARGET

Abstract

The present invention relates to Fiber Feedback (FFB) technology, and provides a method and system for estimating distance between a fiber end and a target. The method includes illuminating, by a Light Emitting, Transmitting and Detecting (LETD) system, the target with laser light of different wavelengths having low and high-water absorption coefficients, using different laser light sources, as well as receiving a returned signal corresponding to the incident laser light of different wavelengths, and detecting the returned signal to measure intensity values of the returned signal of a specific wavelength. Using the measured intensity values, a processing unit may estimate distance between the fiber end and the target. The present invention enables accurate estimation of distance between a fiber end and a target, and also provides a robust distance estimation technique which is compatible with different types of targets.

Claims

1. A system for accurately estimating a distance between a fiber end and a target, the system comprising: an optical fiber, the optical fiber configured to deliver laser light beams originating from a plurality of laser light sources to a target, and is configured to deliver laser light beams reflected from the target to one or more light detectors; a Light Emitting, Transmitting and Detecting (LETD) system comprising: (i) the plurality of laser light sources comprising a first polarized laser source (L1) and a second polarized laser source (L2) having a wavelength with water absorption coefficient different from that of the first polarized laser source (L1), and one or more other laser sources, the plurality of laser light sources configured to generate incident laser light beams for treating the target; (ii) a first beam splitter configured to receive incident laser light beams from the first polarized laser source (L1) and the second polarized laser source (L2), and configured to align the incident laser light beams along a single optical path; (iii) a polarizer configured to receive the aligned incident laser light beams from the first beam splitter, and to output polarized laser light beams; (iv) a first beam combiner configured to: (a) receive the polarized laser light beams from the polarizer; (b) combine the polarized laser light beams with an aiming beam and a treatment beam received from the one or more other laser sources; and (c) output combined laser light beams; (v) a second beam splitter configured to: (a) receive the combined laser light beams from the first beam combiner; (b) align the combined laser light beams along a single optical path; (c) deliver the aligned combined laser light beams of the second beam splitter to the target via the optical fiber; (d) receive reflected light via the optical fiber, upon delivering the aligned combined laser light beams of the second beam splitter to the target; (e) align laser light beams of the reflected light along a single optical path; and (f) transmit the aligned laser light beams of the reflected light to a polarized beam splitter; (vi) a polarized beam splitter configured to receive the aligned laser light beams of the reflected light from the second beam splitter and to split the aligned laser light beams of the reflected light into reflected S-Polarized and transmitted P-polarized beams; (vii) a first light detector configured to: (a) detect and measure intensity of the transmitted P-polarized beams of the reflected light; (b) transmit the measured intensity of the transmitted P-polarized beams of the reflected light to a processing unit associated with the LETD system; and (viii) a second light detector configured to: (a) detect and measure intensity of the reflected S-polarized beams of the reflected light; and (b) transmit the measured intensity of the reflected S-polarized beams of the reflected light to the processing unit; and the processing unit configured to: (i) receive the measured intensities of the transmitted P-polarized beams and reflected S-polarized beams of the reflected light from the first light detector and the second light detector, respectively; and (ii) estimate a distance between a distal end of the optical fiber and the target based on the measured intensities, the water absorption coefficients of the respective wavelengths of the plurality of laser light sources, and a target reflection coefficient.

2. The system of claim 1, further comprises a power detector associated with the first beam splitter configured to measure optical power of the incident laser light beams generated by the first polarized laser source (L1) and the second polarized laser source (L2).

3. The system of claim 1, further comprises an indicator associated with the processing unit configured to indicate the estimated distance between the distal end of the optical fiber and the target, wherein the indicator comprises at least one of visual indicator, audio indicator and a haptic indicator.

4. The system of claim 1, wherein the wavelength of the first laser light source has a higher water absorption coefficient than the wavelength of the second laser light source.

5. The system of claim 1, wherein the wavelength of the first laser light source and second laser light source are predefined, and are selected such that the wavelengths are proximal on a wavelength scale.

6. The system of claim 1, wherein the laser light beams of the reflected light comprises at least one of light beams reflected from the target, light beams reflected from region around the target, and light beams reflected from the distal end of the optical fiber.

7-12. (canceled)

13. A system for accurately estimating a distance between a fiber end and a target, the system comprising: an optical fiber, the optical fiber configured to: (i) deliver laser light beams originating from a plurality of laser light sources, to a target; and (ii) deliver laser light beams reflected from the target, to one or more light detectors; a Light Emitting, Transmitting and Detecting (LETD) system comprising: (i) the plurality of laser light sources comprising a first non-polarized laser source (L1′) and a second non-polarized laser source (L2′) having a wavelength with water absorption coefficient different from that of the first nonpolarized laser source (L1′), and one or more other laser sources, the plurality of laser light sources configured to generate incident laser light beams for treating the target; (ii) a first beam splitter configured to: (a) receive incident laser light beams from the first non-polarized laser source (L1′) and the second non-polarized laser source (L2′); and (b) align the incident laser light beams along a single optical path; (iii) a first beam combiner configured to: (a) receive the aligned incident laser light beams from the first beam splitter; (b) combine the aligned incident laser light beams with an aiming beam and a treatment beam received from the one or more other laser sources; and (c) output combined laser light beams; (iv) a second beam splitter configured to: (a) receive the combined laser light beams from the first beam combiner; (b) align the combined laser light beams along a single optical path; (c) deliver the aligned combined laser light beams of the second beam splitter to the target via the optical fiber; (d) receive reflected light, via the optical fiber, upon delivering the aligned combined laser light beams of the second beam splitter to the target; and (e) align laser light beams of the reflected light along a single optical path, and transmit the aligned laser light beams of the reflected light to a third light detector; (v) the third light detector configured to: (a) detect and measure intensity of the aligned laser light beams of the reflected light; and (b) transmit the measured intensity to a processing unit associated with the LETD system; and the processing unit configured to: (i) receive the measured intensity of the aligned laser light beams of the reflected light from the third light detector; and (ii) estimate a distance between a distal end of the optical fiber and the target based on the measured intensity, the water absorption coefficients of the respective wavelengths of the plurality of laser light sources, and a target reflection coefficient.

14. The system of claim 13, further comprises a power detector associated with the first beam splitter configured to measure optical power of the laser light beams generated by the first non-polarized laser source (L1′) and the second non-polarized laser source (L2′).

15. The system of claim 13, further comprises an indicator associated with the processing unit, wherein the indicator is configured to indicate the estimated distance between the distal end of the optical fiber and the target, wherein the indicator comprises at least one of visual indicator, audio indicator and a haptic indicator.

16. The system of claim 13, wherein the wavelength of the first laser light source has a higher water absorption coefficient than the wavelength of the second laser light source.

17. The system of claim 13, wherein the wavelength of the first laser light source and second laser light source are predefined, and are selected such that the wavelengths are proximal on a wavelength scale.

18. The system of claim 13, wherein the laser light beams of the reflected light comprises at least one of light beams reflected from the target, light beams reflected from region around the target, and light beams reflected from a proximal end and the distal end of the optical fiber.

19-44. (canceled)

45. A method of estimating distance between a fiber end and a target, the method comprising: providing a Light Emitting, Transmitting and Detecting (LETD) system comprising a plurality of laser light sources having a plurality of wavelengths and a plurality of light detectors; providing a processing unit; receiving, by the processing unit, measured intensities of light beams of reflected light of at least two of the plurality of wavelengths, from the LETD system, wherein the LETD system is configured to: (i) illuminate a target with incident laser light beams of the plurality of wavelengths, via an optical fiber, using at least one of the plurality of laser light sources; and (ii) measure intensities of the light beams of the reflected light of each of the plurality of wavelengths; and estimating, by the processing unit, a distance between a distal end of the optical fiber and the target based on the measured intensities, a water absorption coefficients of the respective plurality of wavelengths, and a target reflection coefficient.

46. The method as claimed in claim 45, wherein estimating the distance between the distal end of the optical fiber and the target comprises: determining, by the processing unit, a ratio of the measured intensities of the light beams of the reflected light belonging to two different wavelengths of the plurality of wavelengths, wherein the two different wavelengths belong to one of a first polarized laser source (L1) and a second polarized laser source (L2), or a first non-polarized laser source (L1′) and a second non-polarized laser source (L2′), using an equation: $\frac{I_{\left(\mathrm{HI}\right)}}{I_{\left(\mathrm{LO}\right)}}=\frac{R}{R}*e^{\left({\lambda }_{\mathrm{LO}}-{\lambda }_{\mathrm{HI}}\right)*X}$ wherein, I.sub.(HI) and I.sub.(LO) are the measured intensities of light beams corresponding to the two different wavelengths respectively, $\frac{I_{\left(\mathrm{HI}\right)}}{I_{\left(\mathrm{LO}\right)}}$  the ratio of the measured intensities of the light beams of the reflected light belonging to the two different wavelengths, R is the target reflection coefficient, λ.sub.HI and λ.sub.LO are water absorption coefficients of the two different wavelengths respectively, X is the distance between the distal end of the optical fiber and the target; and estimating, by the processing unit, the distance (X) between the distal end of the optical fiber and the target based on the ratio of the measured intensities (I.sub.(HI)) and I.sub.(LO)) of the two different wavelengths, the water absorption coefficients of the two different wavelengths (λ.sub.HI and λ.sub.LO), and the target reflection coefficient (R) using the equation: $X=\frac{\ln \left(\frac{I_{\left(\mathrm{HI}\right)}}{I_{\left(\mathrm{LO}\right)}}\right)}{{\lambda }_{\mathrm{LO}}-{\lambda }_{\mathrm{HI}}}$ wherein “ln” is a natural logarithm.

47. The method of claim 45, further comprises indicating, by an indicator associated with the processing unit, the estimated distance between the distal end of the optical fiber and the target, wherein the indicator comprises at least one of a visual indicator, an audio indicator and a haptic indicator.

48. The method of claim 45, further comprises measuring, by a power detector, an optical power of the laser light beams generated by the plurality of laser light sources.

49. (canceled)

50. The method of claim 45, further comprising: receiving, by the processing unit from the LETD system, measured intensities of light beams belonging to each of at least three of the plurality of wave lengths of the reflected light under a “no target condition”, wherein the LETD system is configured to: (i) illuminate a target under the “no target condition” with incident laser light beams of a plurality of wavelengths, via an optical fiber, using at least three of a plurality of laser light sources; (ii) receive the reflected light of the incident laser light beams of each of at least three of the plurality of wavelengths, via the optical fiber; (iii) measure intensities of the reflected light of the incident laser light beams of each of the at least three of a plurality of wavelengths; and (iv) transmit the measured intensities of the reflected light of the incident laser light beams of each of the at least three of a plurality of wavelengths to the processing unit. storing, by the processing unit, the measured intensities of the reflected light of incident laser light beams of each of the at least three of a plurality of wavelengths as an internal reflection pre-treatment value (IR cal-pre).

51. The method of claim 50, wherein the plurality of laser light sources comprises: a first polarized laser source (L1) having a wavelength with a high water absorption coefficient (HI), a second polarized laser source (L2) with a low water absorption coefficient (LO), a third polarized laser source (L3) having a wavelength with a higher water absorption coefficient than the first polarized laser source (L1).

52. The method of claim 51, wherein: the water absorption coefficient of the first polarized laser source (L1) is higher than the water absorption coefficient of the second polarized laser source (L2); and the water absorption co-efficient of the third polarized laser source (L3) is higher than the water absorption coefficient of the first polarized laser source (L1), and the water absorption coefficient of the second polarized laser source (L2).

53. The method of claim 50, wherein the plurality of laser light sources comprises: a first non-polarized laser source (L1′) having a wavelength with the high water absorption coefficient (HI), a second non-polarized laser source (L2′) with the low water absorption coefficient (LO), a third non-polarized laser source (L3′) having the wavelength with the higher water absorption coefficient than the first non-polarized laser source (L1′), and one or more other laser sources.

54-59. (canceled)

Description

BRIEF DESCRIPTION OF THE ACCOMPANYING DRAWINGS

[0234] The embodiments of the disclosure itself, as well as a preferred mode of use, further objectives and advantages thereof, will best be understood by reference to the following detailed description of an illustrative embodiment when read in conjunction with the accompanying drawings. One or more embodiments are now described, by way of example only, with reference to the accompanying drawings in which:

[0235] FIG. 1A shows an exemplary architecture for estimating distance between a fiber end and a target in accordance with some embodiments of the present disclosure;

[0236] FIG. 1B shows an exemplary optical fiber in accordance with some embodiments of the present disclosure;

[0237] FIG. 2A-FIG. 2F show exemplary configurations for estimating distance between a fiber end and a target in accordance with some embodiments of the present disclosure;

[0238] FIG. 2G shows an exemplary view of a proximal end of optical fiber, cut at a specific angle, in accordance with some embodiments of the present disclosure;

[0239] FIG. 3 illustrates a flowchart showing a method of estimating distance between a fiber end and a target in accordance with some embodiments of the present disclosure;

[0240] FIG. 4 is a block diagram of an exemplary computer system for implementing embodiments consistent with the present disclosure.

[0241] The figures depict embodiments of the disclosure for purposes of illustration only. One skilled in the art will readily recognize from the following description that alternative embodiments of the structures and methods illustrated herein may be employed without departing from the principles of the disclosure described herein.

DESCRIPTION OF THE DISCLOSURE

[0242] The foregoing has broadly outlined the features and technical advantages of the present disclosure in order that the detailed description of the disclosure that follows may be better understood. It should be appreciated by those skilled in the art that the conception and specific embodiment disclosed may be readily utilized as a basis for modifying or designing other structures for carrying out the same purposes of the present disclosure. The novel features which are believed to be characteristic of the disclosure, both as to its organization and method of operation, together with further objects and advantages will be better understood from the following description when considered in connection with the accompanying figures. It is to be expressly understood, however, that each of the figures is provided for the purpose of illustration and description only and is not intended as a definition of the limits of the present disclosure.

[0243] FIG. 1A shows an exemplary architecture for estimating distance between a fiber end and a target in accordance with some embodiments of the present disclosure.

[0244] In an embodiment, the exemplary architecture 100 comprises a target 101, an optical fiber 103, a Light Emitting, Transmitting and Detecting (LETD) system 105, a processing unit 107 and an indicator 109. In some embodiments, the target 101 may be a tissue, a stone, a tumor, a cyst and the like, within a subject, which is required to be treated, ablated or destroyed. In some embodiments, the subject may be a human being or an animal. Further, the optical fiber 103 comprises a proximal end and a distal end. The proximal end is the end of the optical fiber 103 through which light beams enter the optical fiber 103 and the distal end is the end of the optical fiber 103 through which the light beams are directed onto the target 101. Therefore, the light beams (shown as “incident light” in FIG. 1B) enter at the proximal end of the optical fiber 103, propagate through length of the optical fiber 103 and are directed onto the target 101 from the distal end of the optical fiber 103 as shown in the FIG. 1B. In some embodiments, the light beams may be beams directed from a light source. As an example, the light source in the context of the present disclosure is a laser light source. As an example, the laser light sources may include, but not limited to, solid state lasers, gas lasers, diode lasers and fiber lasers. The light beams may include, but not limited to, (1) an aiming beam which is a light beam of low intensity and transmitted through the optical fiber 103 to estimate the distance between the optical fiber end and the target 101, but not to treat the target 101, (2) a treatment beam which is a light beam of high intensity and transmitted through the optical fiber 103 to treat the target 101, (3) or any other beam transmitted through the optical fiber 103. In some embodiments, the light beams may be produced by one or more laser light sources. As an example, the aiming beam may be generated by one laser source and the treatment beam may be generated by another laser source. In another example, both the aiming beam and the treatment beam may be generated by a single laser source. In another example, different laser light sources may be used to generate light beams of different wavelengths, characteristics and the like.

[0245] Further, the optical fiber 103 may be associated with the LETD system 105 as shown in the FIG. 1A, to receive the light beams, to be aimed at the target 101, and to deliver the reflected light beams that reflect from the surface and region around the target 101. In some embodiments, the optical fiber 103 may be associated with the LETD system 105 via a port (not shown in the FIG. 1A).

[0246] In some embodiments, the LETD system 105 comprises optical components which may include, but not limited to, one or more of laser light sources, polarizers, beam splitters, beam combiners, light detector, wavelength division multiplexers, collimators, circulators, that are configured in various different combinations, as explained in detail in further part of the present disclosure. Functionality of each of the aforementioned optical elements is provided below for a better understanding of the present disclosure.

[0247] Laser light sources: The laser light sources are configured to generate laser light beams such as low intensity aiming beam for the purpose of aiming the target 101 and high intensity treatment beam for treating the target 101, and light beams at varying intensities based on the requirement. In some embodiments, each laser light source may be of same wavelength or different wavelengths having different water absorption coefficients. Further, each laser light source may have the same aperture or different apertures. In some embodiments, each laser light source may be designated with a different purpose, for instance, one laser light source may be configured to generate aiming beams of a particular intensity and one laser light source may be configured to generate a treatment beam of a particular intensity, and one or more laser light sources may be configured to generate light beams of a specific wavelength having specific water absorption coefficient.

[0248] Polarizers: Polarizers are the optical components that act as an optical filter i.e. polarizers are configured to allow light beams of a specific polarization to pass through, and to block the light beams of different polarizations. Therefore, when undefined or light beams of mixed polarity are provided as input to a polarizer, the polarizer provides a well-defined single polarized light beam as an output.

[0249] Beam splitters: Beam splitters are the optical components used to split incident light at a designated ratio into two separate beams. Further, the beam splitters may be designed to make the light to be incident at a desired Angle of Incidence (AOI), based on the requirement. Therefore, mainly, a beam splitter can be configured with two parameters i.e. a ratio of separation and an AOI. The ratio generally indicates Reflection/Transmission (R/T) ratio. As an example, if the ratio of separation for a beam splitter is indicated as 50:50, it means that the beam splitter splits the incident light beams in a R/T ratio of 50:50 i.e. the beam splitter splits the incident light beams by changing path of 50 percent of the light beams by reflection and other 50 percent by transmission. Further, as an example, if the AOI for the beam splitter is indicated as 45 degrees, it means that the beam splitter ensures that the light beams would be incident at an angle of 45 degrees. Beam splitters may include, but not limited to, polarizing beam splitters and non-polarizing beam splitters. The polarizing beam splitters are designed to split the incident light beams into reflected S-Polarized and transmitted P-polarized beams. The non-polarizing beam splitters are designed to split the incident light beams into specific R/T ratio, but maintain the original polarization state of the incident light beams.

[0250] Beam combiners: Beam combiners are partial reflectors that combine two or more wavelengths of light, by using the principle of transmission and reflection as explained for a beam splitter. Basically, beam combiner is a combination of beam splitters and mirrors, which perform the functionality of combining light of two or more wavelengths.

[0251] Light detector: Light detectors are the devices which detect the specific type of light beams (as preconfigured), and converts the light energy associated with the detected light beams into electrical signals.

[0252] Wavelength division multiplexers: Wavelength division multiplexing is a technology that involves simultaneous transmissions of a number of optical carrier signals onto a single optical fiber while using laser lights of different wavelengths.

[0253] Collimators: Collimator is a device which narrows down light beams. To narrow down the light beam, the collimator may be configured to cause the directions of motion to become more aligned in a specific direction (for example, parallel rays), or to cause the spatial cross section of the beam to become smaller. In other words, collimator is a device used for changing the diverging light from a point source into a parallel beam.

[0254] Circulators: Circulators are three or four port optical device designed such that, light entering any one port exits from the next port. These circulators are used to allow light beams to travel in only one direction.

[0255] The LETD system 105 is further associated with a processing unit 107 via a communication network. In some embodiments, the communication network may be a wired communication network or a wireless communication network. The processing unit 107 may be configured to receive measured values from the LETD system 105, to estimate the distance between the distal end of the optical fiber 103 and the target 101. In some embodiments, the processing unit 107 may be a standalone device with the processing capability required for distance estimation. In some other embodiments, the processing unit 107 may be a computing device such as a laptop, a desktop, a mobile phone, a tablet phone and the like, configured to perform the distance estimation using their processing capability. Further, the processing unit 107 may be associated with the indicator 109 to indicate the estimated distance between the distal end of the optical fiber 103 and the target 101. As an example, the indicator 109 may include, but not limited to, a visual indicator which displays the estimated distance, an audio indicator which announces the estimated distance, or a haptic indicator which indicates the estimated distance via vibration patterns. In some embodiments, the computing device configured as the processing unit 107 may be configured to perform the functionalities of the indicator 109. In some other embodiments, the indicator 109 may be a standalone device which is configured to indicate the estimated distance between the distal end of the optical fiber 103 and the target 101.

[0256] In some embodiments, various exemplary configurations for estimating distance between the fiber end and the target are explained in detail below. However, values and parameters associated with different optical components used in each of the below explained configurations, should be considered purely exemplary, and not be construed as a limitation of the present disclosure.

[0257] FIG. 2A shows an exemplary configuration for estimating distance between a fiber end and a target in accordance with some embodiments of the present disclosure.

Exemplary Configuration 1

[0258] In this exemplary configuration, the LETD system 105 may include one or more polarized lasers, one or more beam splitters, a polarizer, a beam combiner, and one or more light detectors. The one or more beam splitters may be polarized beam splitters, non-polarized beam splitters or a combination of both polarized and non-polarized beam splitters. As shown in the FIG. 2A, the LETD system 105 includes a polarized laser source (L1), a polarized laser source (L2), a first beam splitter 203, a power detector 205, a polarizer 207, a first beam combiner 209, a second beam splitter 211, a polarized beam splitter 213, a first light detector 215, and a second light detector 217. In this configuration, as shown in the FIG. 2A, the polarized laser source (L1) has a wavelength with high water absorption coefficient (HI) and the polarized laser source (L2) has a wavelength with low water absorption coefficient (LO). As an example, the laser sources L1 and L2 may be Polarization Maintaining (PM) pigtailed fiber lasers. The incident light beams from L1 and L2 are provided as input to the first beam splitter 203 which is configured to split the incident light beams at a ratio of 50:50, such that the incident light beams of L1 and L2 align along a single optical path. The power detector 205 associated with the first beam splitter 203 may measure the optical power in the optical signal (light beam) corresponding to each wavelength. In some embodiments, the term “optical power” may refer to energy transported by a certain laser beam, per unit time. Further, the output of the first beam splitter 203, which is the incident light beams aligned along a single optical path, may be provided as an input to a polarizer 207 for providing a well-defined single polarized light beam as an output. In some embodiments, the polarity of the polarizer 207 may be pre-configured. Thereafter, the polarized light obtained as an output from the polarizer 207 may be provided as input to the first beam combiner 209. The first beam combiner 209 may combine the polarized light beams with an aiming beam and a treatment beam as shown in the FIG. 2A. In some other embodiments, the aiming beam and the treatment beam may be generated by one or more laser sources other than the laser sources L1 and L2. As an example, the treatment beam may be generated by a solid state laser or a fiber laser such as Holomium (HO) laser. However, this should not be considered as a limitation of the present disclosure, since the treatment beam may be generated by lasers other than Holomium Laser, such as Neodymium, Erbium, Thulium and the like. In some other embodiments, the aiming beam and the treatment beam may be generated by the laser sources L1 and L2. The combined light beam comprising the aiming beam, treatment beam and the polarized light beams from laser sources L1 and L2, may be subjected to the second beam splitter 211 having a configuration of ratio 50:50 and Angle Of Incidence (AOI) 45 degree. The second beam splitter may split the combined light beam in the ratio of 50:50, such that, the aiming beam, treatment beam and the polarized light beams from laser sources L1 and L2, may be aligned along a single optical path. The light beams 221 which is the output of the second beam splitter 211, are then transmitted to an optical fiber 103 via a port 219 as shown in the FIG. 2A. The light beams 221 from the second beam splitter 211 are transmitted to the proximal end of the optical fiber 103, which then propagate through the length of the optical fiber 103 and are delivered to the target 101 from distal end of the optical fiber 103. As an example, the target 101 may be a tissue, a stone, a tumor, a cyst and the like, within a subject, which is required to be treated, ablated or destroyed. When the light beams 221 are delivered to the target 101 via the optical fiber 103, the target 101 may reflect some portion of light away from the optical fiber 103 and some portion of the light towards the optical fiber 103, wherein the portion of light reflected towards the optical fiber 103 may re-enter the optical fiber 103, at the distal end of the optical fiber 103. The portion of the reflected light re-entering at the distal end may be referred as reflected light 223a. The reflected light 223a may be transmitted backward in optical fiber 103 from the distal end to the proximal end of the optical fiber 103. When the reflected light 223a reaches the proximal end of the optical fiber 103, the reflected light 223a may be subjected to the second beam splitter 211. The reflected light 223a may include numerous reflections from the proximal end of the optical fiber 103, from the distal end of the optical fiber 103, and the like, due to which the reflected light 223a is no longer polarized. In order to polarize the reflected light 223a, the reflected light is first subjected to the second beam splitter 211 to align the optical path of the reflected light 223a and then subjected to the polarized beam splitter 213. The reflected light 223a would be incident at an angle of 45 degree to the second beam splitter 211 and split in the ratio of 50:50. The reflected light 223b which emerges out of the second beam splitter 211 is thereafter subjected to the polarized beam splitter 213 as shown in the FIG. 2A. The polarized beam splitter 213 may split the reflected light 223b into reflected S-Polarized and transmitted P-polarized beams. In some embodiments, the first light detector 215 may be configured to detect the transmitted P-polarized beams of the reflected light 223b. In some embodiments, the second light detector 217 may be configured to detect the reflected S-polarized beams of the reflected light 223b. The first light detector 215 and the second light detector 217 may measure intensities of the detected light beams of the reflected light 223b, respectively, and transmit the intensities to the processing unit 107. In some embodiments, the processing unit 107 may estimate distance between the distal end of the optical fiber 103 and the target 101 based on the measured intensities. The method of estimating the distance between the distal end of the optical fiber 103 and the target 101 based on the measured intensities is explained in detail under FIG. 3 in the present disclosure.

[0259] FIG. 2B shows another exemplary configuration for estimating distance between a fiber end and a target in accordance with some embodiments of the present disclosure.

Exemplary Configuration 2

[0260] This exemplary configuration is different from the exemplary configuration 1 in two constructional aspects. One of the constructional aspects which is different in this configuration when compared to exemplary configuration 1 is the arrangement of the first beam splitter 203. In the exemplary configuration 2, the first beam splitter 203 is replaced with a second beam combiner 225. Since the first beam splitter 203 is replaced with a second beam combiner 225, the power detector 205 which was associated with the first beam splitter 203 in the exemplary configuration 1, is arranged to be associated with the second beam splitter 211 in the exemplary configuration 2.

[0261] In the exemplary configuration 2, the LETD system 105 may include one or more polarized lasers, one or more beam splitters, a polarizer, one or more beam combiners, and one or more light detectors. The one or more beam splitters may be polarized beam splitters, non-polarized beam splitters or a combination of both polarized and non-polarized beam splitters. As shown in the FIG. 2B, the LETD system 105 includes a polarized laser source (L1), a polarized laser source (L2), a power detector 205, a polarizer 207, a first beam combiner 209, a second beam combiner 225, a second beam splitter 211, a polarized beam splitter 213, a first light detector 215, and a second light detector 217. In this configuration, as shown in the FIG. 2B, the polarized laser source (L1) has a wavelength with high water absorption coefficient (HI) and the polarized laser source (L2) has a wavelength with low water absorption coefficient (LO). As an example, the laser sources L1 and L2 may be Polarization Maintaining (PM) pigtailed fiber lasers. The incident light beams from L1 and L2 are provided as input to the second beam combiner 225 which is configured to combine the incident light beams that are generated by the laser sources L1 and L2. Further, the output of the second beam combiner 225, may be provided as an input to a polarizer 207 for providing a well-defined single polarized light beam as an output. In some embodiments, the polarization of the polarizer 207 may be pre-configured. Thereafter, the polarized light obtained as an output from the polarizer 207 may be provided as input to the first beam combiner 209. The first beam combiner 209 may combine the polarized light beams with an aiming beam and a treatment beam as shown in the FIG. 2B. In some embodiments, the aiming beam and the treatment beam may be generated by one or more laser sources other than the laser sources L1 and L2. As an example, the treatment beam may be generated by a solid state laser or a fiber laser such as Holmium (HO) laser. However, this should not be considered as a limitation of the present disclosure, since the treatment beam may be generated by lasers other than Holmium Laser, such as Neodymium, Erbium, Thulium and the like. In some other embodiments, the aiming beam and the treatment beam may be generated by the laser sources L1 and L2. The combined light beam comprising the aiming beam, treatment beam and the polarized light beams from laser sources L1 and L2, may be subjected to a second beam splitter 211 having a configuration of ratio 50:50 and Angle Of Incidence (AOI) 45 degree. The second beam splitter may split the combined light beam in the ratio of 50:50, such that, the aiming beam, treatment beam and the polarized light beams from laser sources L1 and L2, may be aligned along a single optical path. The power detector 205 associated with the second beam splitter 211 may measure the power in the optical signal (light beam) corresponding to each wavelength. In some other embodiments, the power detector 205 may detect cumulative energy of the optical signal received at the second beam splitter 211. In some embodiments, the term “optical power” may refer to energy transported by a certain laser beam, per unit time. The light beams 221 which are the output of the second beam splitter 211, are then transmitted to an optical fiber 103 via a port 219 as shown in the FIG. 2B. The light beams 221 from the second beam splitter 211 are transmitted to the proximal end of the optical fiber 103, which then propagate through the length of the optical fiber 103 and are delivered to the target 101 from distal end of the optical fiber 103. As an example, the target 101 may be a tissue, a stone, a tumor, a cyst and the like, within a subject, which is required to be treated, ablated or destroyed. When the light beams 221 are delivered to the target 101 via the optical fiber 103, the target 101 may reflect some portion of light away from the optical fiber 103 and some portion of the light towards the optical fiber 103, wherein the portion of light reflected towards the optical fiber 103 may re-enter the optical fiber 103, at the distal end of the optical fiber 103. The portion of the reflected light re-entering at the distal end may be referred as reflected light 223a. The reflected light 223a may be transmitted backward in optical fiber 103 from the distal end to the proximal end of the optical fiber 103. The reflected light 223a may include numerous reflections from the proximal end of the optical fiber 103, from the distal end of the optical fiber 103, and the like, due to which the reflected light 223a is no longer polarized. In order to polarize the reflected light 223a, the reflected light is first subjected to the second beam splitter 211 to align the optical path of the reflected light 223a and then subjected to the polarized beam splitter 213. The reflected light 223a would be incident at an angle of 45 degree to the second beam splitter 211 and split in the ratio of 50:50. The reflected light 223b which emerges out of the second beam splitter 211 is thereafter subjected to the polarized beam splitter 213 as shown in the FIG. 2B. The polarized beam splitter 213 may split the reflected light 223b into reflected S-Polarized and transmitted P-polarized beams. In some embodiments, the first light detector 215 may be configured to detect the transmitted P-polarized beams of the reflected light 223b. In some embodiments, the second light detector 217 may be configured to detect the reflected S-polarized beams of the reflected light 223b. The first light detector 215 and the second light detector 217 may measure intensities of the detected light beams of the reflected light 223b, respectively, and transmit the intensities to the processing unit 107. In some embodiments, the processing unit 107 may estimate the distance between the distal end of the optical fiber 103 and the target 101 based on the measured intensities. The method of estimating the distance between the distal end of the optical fiber 103 and the target 101 based on the measured intensities is explained in detail in the discussion of FIG. 3 in the present disclosure.

[0262] FIG. 2C shows yet another exemplary configuration for estimating distance between a fiber end and a target in accordance with some embodiments of the present disclosure.

Exemplary Configuration 3

[0263] The present disclosure is capable of working with polarized and non-polarized laser sources. Therefore, in this configuration, the laser sources L1′ and L2′ used for providing incident light beams (source light) are non-polarized laser sources as shown in the FIG. 2C. As an example, the laser sources L1′ and L2′ may be Single Mode (SM) fiber pigtailed lasers. When the laser sources L1′ and L2′ are non-polarized laser sources, there is no requirement of a polarizer 207, polarized beam splitter 213, a first light detector 215 for detecting transmitted P-polarized light beams and a second light detector 217 for detecting reflected S-polarized light beams, as required in exemplary configurations 1 and 2.

[0264] In the exemplary configuration 3, the LETD system 105 may include one or more non-polarized lasers, one or more beam splitters, a beam combiner, and a light detector. The one or more beam splitters may be non-polarized beam splitters. As shown in the FIG. 2C, the LETD system 105 includes a non-polarized laser source (L1′), a non-polarized laser source (L2′), a first beam splitter 203, a power detector 205, a first beam combiner 209, a second beam splitter 211, and a third light detector 227. In this configuration, as shown in the FIG. 2C, the non-polarized laser source (L1′) has a wavelength with high water absorption coefficient (HI) and the non-polarized laser source (L2′) has a wavelength with low water absorption coefficient (LO). The incident light beams from L1′ and L2′ are provided as input to the first beam splitter 203 which is configured to split the incident light beams at a ratio of 50:50, in a way that, the incident light beams from L1′ and L2′ align along a single optical path. The power detector 205 associated with the first beam splitter 203 may measure the power in the optical signal (light beam) corresponding to each wavelength. In some embodiments, the term “optical power” may refer to energy transported by a certain laser beam, per unit time. Since, this exemplary configuration 3 is implemented in a non-polarized environment, the optical component “polarizer” and “polarized beam splitter” are eliminated from the configuration. Therefore, the output of the first beam splitter 203, which is the incident light aligned along a single optical path, may be provided as an input to the first beam combiner 209 that may combine the light beams coming from the first beam splitter 203 with an aiming beam and a treatment beam as shown in the FIG. 2C, instead of polarizer, as was seen in exemplary configurations 1 and 2. In some embodiments, the aiming beam and the treatment beam may be generated by one or more laser sources other than the laser sources L1′ and L2′. As an example, the treatment beam may be generated by a solid state laser or a fiber laser such as Holmium (HO) laser. However, this should not be considered as a limitation of the present disclosure, since the treatment beam may be generated by lasers other than Holmium Laser, such as Neodymium, Erbium, Thulium and the like. In some other embodiments, the aiming beam and the treatment beam may be generated by the laser sources L1′ and L2′. The combined light beam comprising the aiming beam, treatment beam and the non-polarized light beams from laser sources L1′ and L2′, may be subjected to a second beam splitter 211 having a configuration of ratio 50:50 and Angle Of Incidence (AOI) 45 degree. The second beam splitter may split the combined light beam in the ratio of 50:50, such that, the aiming beam, treatment beam and the non-polarized light beams from laser sources L1 and L2, may be aligned along a single optical path. The light beams 221 which are the output of the second beam splitter 211, are then transmitted to an optical fiber 103 via a port 219 as shown in the FIG. 2C. The light beams 221 from the second beam splitter 211 are transmitted to the proximal end of the optical fiber 103, which then propagate through the length of the optical fiber 103 and are delivered to the target 101 from distal end of the optical fiber 103. As an example, the target 101 may be a tissue, a stone, a tumor, a cyst and the like, within a subject, which is required to be treated, ablated or destroyed. When the light beams 221 are delivered to the target 101 via the optical fiber 103, the target 101 may reflect some portion of light away from the optical fiber 103 and some portion of the light towards the optical fiber 103, wherein the portion of light reflected towards the optical fiber 103 may re-enter the optical fiber 103, at the distal end of the optical fiber 103. The portion of the reflected light re-entering at the distal end may be referred as reflected light 223a. The reflected light 223a may be transmitted backward in optical fiber 103 from the distal end to the proximal end of the optical fiber 103. The reflected light 223a may include numerous reflections from the proximal end of the optical fiber 103, from the distal end of the optical fiber 103, and the like, due to which the reflected light 223a is not polarized. Since, this exemplary configuration 3 is implemented in a non-polarized environment, the reflected light 223a is only subjected to the second beam splitter 211 to align the optical path of the reflected light 223a, but not to the optical component “polarized beam splitter” as was seen in the exemplary configurations 1 and 2. The reflected light 223a would be incident at an angle of 45 degrees to the second beam splitter 211 and split in the ratio of 50:50. The reflected light 223b which emerges out of the second beam splitter 211 may be directly detected by a single detector i.e. the third light detector 227. The third light detector 227 may measure intensity of the detected light beams of the reflected light 223b, respectively, and transmit the intensity to the processing unit 107. In some embodiments, the processing unit 107 may estimate the distance between the distal end of the optical fiber 103 and the target 101 based on the measured intensities. The method of estimating the distance between the distal end of the optical fiber 103 and the target 101 based on the measured intensities is explained in detail in the discussion of FIG. 3 in the present disclosure.

[0265] FIG. 2D shows yet another exemplary configuration for estimating distance between a fiber end and a target in accordance with some embodiments of the present disclosure.

Exemplary Configuration 4

[0266] The exemplary configuration 4 is different from the previous exemplary configurations 1-3, in a way that, the exemplary configuration 4 comprises a third polarized laser (L3) which is introduced for the purpose of calibration of the optical fiber condition in real-time. As an example, the condition of the optical fiber 103 may include, but not limited to, any changes or degradation of the distal or proximal ends of the optical fiber 103, fiber bending effects on polarization scrambling or any other degradations and changes occurring in the optical fiber 103. Changes in condition of the optical fiber 103, specifically the tips/ends of the optical fiber 103 may adversely affect the reflected light beams, causing large number of reflections, loss of energy and inaccurate measurements. This may affect the accuracy of the distance estimation, thereby leading to incorrect positioning of the optical fiber 103 during the treatment.

[0267] In this exemplary configuration, the LETD system 105 may include one or more polarized lasers, one or more beam splitters, a polarizer, a beam combiner, and one or more light detectors. The one or more beam splitters may be polarized beam splitters, non-polarized beam splitters or a combination of both polarized and non-polarized beam splitters. As shown in the FIG. 2D, the LETD system 105 includes a polarized laser source (L1), a polarized laser source (L2), a polarized laser source (L3), a first beam splitter 203, a power detector 205, a polarizer 207, a first beam combiner 209, a second beam splitter 211, a polarized beam splitter 213, a first light detector 215, a second light detector 217, and a third beam splitter 229. In this configuration, as shown in the FIG. 2D, the polarized laser source (L1) has a wavelength with high water absorption coefficient (HI) and the polarized laser source (L2) has a wavelength with low water absorption coefficient (LO). As an example, the laser sources L1 and L2 may be Polarization Maintaining (PM) pigtailed fiber lasers. The incident light beams from L1 and L2 are provided as input to the first beam splitter 203 which is configured to split the incident light beams at a ratio of 50:50, such that the incident light beams of L1 and L2 align along a single optical path. Further, the output of the first beam splitter 203 which is the incident light beams aligned along a single optical path, may be provided as an input to the third beam splitter 229, which is also configured to split the light beam in the ratio of 50:50. At the third beam splitter 229, incident light beams from the polarized laser source (L3) meant for calibration, as shown in the FIG. 2D, are provided as input along with the output of the first beam splitter 203. The power detector 205 associated with the third beam splitter 229 may measure the power in the optical signal (light beam) corresponding to each wavelength arriving at the third beam splitter 229. In some embodiments, the term “optical power” may refer to energy transported by a certain laser beam, per unit time. Along with the output of the first beam splitter 203, the third beam splitter 229 receives incident light beams from the polarized laser source (L3). In some embodiments, the polarized laser source (L3) has a wavelength with very high-water absorption co-efficient, which completely absorbs water. As an example, the wavelength of the polarized laser source (L3) may be 1435 nm. Based on the readings of the polarized laser source (L3), fiber feedback mechanism configured in the processing unit 107 may define an optical baseline characteristic of the distal fiber tip quality. Since L3 is highly absorbed in water, it does not reach the target tissue and hardly any L3 back reflection light enters into the fiber as part of the reflected light 223a. Therefore, L3 reflections 223c readings mainly reflect the optical characteristics of distal end of the optical fiber. It is the same distal end of the optical fiber which goes through degradation during a laser treatment due to, for example, heat and cavitation. Increased intensities readings of back reflected light 223c, may indicate optical fiber tip degradation. At a certain threshold of intensity changes from the base line reading for a specific fiber, e.g. 10%-100%, the controller through a user interface, may indicate that a fiber has to be checked or replaced. In addition, optical fiber tip degradation may cause higher internal reflections from the distal end of the fiber, of polarized laser sources L1 and L2. Moreover, fiber tip degradation may change the ratios between polarities P and S in back reflected light 223a or 223c. Therefore, creating base line readings, for a specific fiber currently in use, and monitoring these baselines on the fly, may allow more accurate distance estimations even when and during the tip of the fiber degrades and until degradation reaches the point that a fiber has to be replaced. Further, output of the third beam splitter 229 which includes the incident light beams from L1, L2 and L3 that are aligned along a single optical path, may be provided as an input to the polarizer 207 to obtain a well-defined single polarized light beam as an output. In some embodiments, the polarization of the polarizer 207 may be pre-configured. Thereafter, the polarized light obtained as an output from the polarizer 207 may be provided as input to the first beam combiner 209. The first beam combiner 209 may combine the polarized light beams with an aiming beam and a treatment beam as shown in the FIG. 2D. In some embodiments, the aiming beam and the treatment beam may be generated by one or more laser sources other than the laser sources L1 and L2. As an example, the treatment beam may be generated by a solid state laser or a fiber such as Holmium (HO) laser. However, this should not be considered as a limitation of the present disclosure, since the treatment beam may be generated by lasers other than Holmium Laser, such as Neodymium, Erbium, Thulium and the like. In some other embodiments, the aiming beam and the treatment beam may be generated by the laser sources L1 and L2. The combined light beam comprising the aiming beam, treatment beam and the polarized light beams from laser sources L1 and L2, may be subjected to the second beam splitter 211 having a configuration of ratio 50:50 and Angle Of Incidence (AOI) 45 degree. The second beam splitter 211 may split the combined light beam in the ratio of 50:50, such that, the aiming beam, treatment beam and the polarized light beams from laser sources L1 and L2, may be aligned along a single optical path. The light beams 221 which is the output of the second beam splitter 211, is then transmitted to an optical fiber 103 via a port 219 as shown in the FIG. 2D. The light beams 221 from the second beam splitter 211 are transmitted to the proximal end of the optical fiber 103, which then propagate through the length of the optical fiber 103 and are delivered to the target 101 from distal end of the optical fiber 103. As an example, the target 101 may be a tissue, a stone, a tumor, a cyst and the like, within a subject, which is required to be treated, ablated or destroyed. When the light beams 221 are delivered to the target 101 via the optical fiber 103, the target 101 may reflect some portion of light away from the optical fiber 103 and some portion of the light towards the optical fiber 103, wherein the portion of light reflected towards the optical fiber 103 may re-enter the optical fiber 103, at the distal end of the optical fiber 103. The portion of the reflected light re-entering at the distal end may be referred as reflected light 223a. The reflected light 223a may be transmitted backward in optical fiber 103 from the distal end to the proximal end of the optical fiber 103. The reflected light 223a may include numerous reflections from the proximal end of the optical fiber 103, from the distal end of the optical fiber 103, and the like, due to which the reflected light 223a is no longer polarized. In order to polarize the reflected light 223a, the reflected light is first subjected to the second beam splitter 211 to align the optical path of the reflected light 223a and then subjected to the polarized beam splitter 213. The reflected light 223a would be incident at an angle of 45 degree to the second beam splitter 211 and split in the ratio of 50:50. The reflected light 223b which emerges out of the second beam splitter 211 is thereafter subjected to the polarized beam splitter 213 as shown in the FIG. 2D. The polarized beam splitter 213 may split the reflected light 223b into reflected S-Polarized and transmitted P-polarized beams. In some embodiments, the first light detector 215 may be configured to detect the transmitted P-polarized beams of the reflected light 223b. In some embodiments, the second light detector 217 may be configured to detect the reflected S-polarized beams of the reflected light 223b. The first light detector 215 and the second light detector 217 may measure intensities of the detected light beams of the reflected light 223b, respectively, and transmit the intensities to the processing unit 107. In some embodiments, the processing unit 107 may estimate distance between the distal end of the optical fiber 103 and the target 101 based on the measured intensities. The method of estimating the distance between the distal end of the optical fiber 103 and the target 101 based on the measured intensities is explained in detail in the discussion of FIG. 3 in the present disclosure.

[0268] In some embodiments, the exemplary configuration 4 as discussed above, may be implemented using non-polarized laser sources as well.

[0269] FIG. 2E shows yet another exemplary configuration for estimating distance between a fiber end and a target in accordance with some embodiments of the present disclosure.

Exemplary Configuration 5

[0270] This exemplary configuration 5 is firstly implemented in a non-polarized environment. Further, this configuration 5 is a semi-fiber based design, in which, two input beam splitters which were seen in the previous configurations such as exemplary configuration 4, are replaced with a Wavelength Division Multiplexer (WDM). The WDM consumes nearly 50% less energy compared to the beam splitters, which renders it as an efficient system. The exemplary configuration 5 also uses a third non-polarized laser (L3′) along with the first and second non-polarized lasers (L1′ and L2′). The third non-polarized laser (L3′) is introduced for the purpose of calibration of the optical fiber condition in real-time. As an example, the condition of the optical fiber 103 may include, but not limited to, any changes or degradation of the distal or proximal ends of the optical fiber 103, fiber bending effects on polarization scrambling or any other degradations and changes occurring in the optical fiber 103. Changes in condition of the optical fiber 103, specifically tips/ends of the optical fiber 103 may adversely affect the reflected light beams, causing large number of reflections, loss of energy and inaccurate measurements. This may affect the accuracy of the distance estimation, thereby leading to incorrect positioning of the optical fiber 103 during the treatment.

[0271] In this exemplary configuration, the LETD system 105 may include one or more non-polarized lasers, one or more beam splitters, a beam combiner, one or more light detectors, a Wavelength Division Multiplexer (WDM), and a collimator. As shown in the FIG. 2E, the LETD system 105 includes a non-polarized laser source (L1′), a non-polarized laser source (L2′), a non-polarized laser source (L3′), a power detector 205, a first beam combiner 209, a second beam splitter 211, a third light detector 227 and a WDM 231, a fourth beam splitter 233 and a collimator 235. In this configuration, as shown in the FIG. 2E, the non-polarized laser source (L1′) has a wavelength with high water absorption coefficient (HI) and the polarized laser source (L2′) has a wavelength with low water absorption coefficient (LO). Further, the non-polarized laser source (L3′) has a wavelength with very high water absorption co-efficient, which completely absorbs water. As an example, the wavelength of the non-polarized laser source (L3′) may be 1435 nm. Based on the readings of the non-polarized laser source (L3′), fiber feedback mechanism configured in the processing unit 107 may define an optical baseline characteristic of the distal fiber tip quality. Since L3′ is highly absorbed in water, it does not reach the target tissue and hardly any L3′ back reflection light enters into the fiber as part of the reflected light 223a. Therefore, L3′ reflections 223c readings mainly reflect the optical characteristics of distal end of the optical fiber. It is the same distal end of the optical fiber which goes through degradation during a laser treatment due to, for example, heat and cavitation. Increased intensities readings of back reflected light 223c may indicate optical fiber tip degradation. At a certain threshold of intensity changes from the base line reading for a specific fiber, e.g. 10%-100%, the controller through a user interface, may indicate that a fiber has to be checked or replaced. In addition, optical fiber tip degradation may cause higher internal reflections from the distal end of the fiber, of non-polarized laser sources L1′ and L2′. Moreover, fiber tip degradation may change the ratios between polarities P and S in back reflected light 223a or 223c. Therefore, creating base line readings, for a specific fiber currently in use, and monitoring these baselines on the fly, may allow more accurate distance estimations even when and during the tip of the fiber degrades and until degradation reaches the point that a fiber has to be replaced. As an example, the non-polarized laser sources L1′, L2′ and L3′ may be Single Mode (SM) fiber pigtailed lasers.

[0272] As mentioned above, in this exemplary configuration 5, the first beam splitter 203 and the third beam splitter 229 as shown in FIG. 2D are replaced with the WDM 231 as shown in the FIG. 2E. In some embodiments, to ensure correct usage of the non-polarized laser source (L3′), as a real-time calibrator, it is critical that the incident light beams coming from each of the non-polarized lasers L1′, L2′ and L3′ enter at the proximal end of the optical fiber 103 at the same point and at the same angle. However, such incident light beams from each of the non-polarized lasers L1′, L2′ and L3′ cannot be aligned to enter at the same point and at the same angle, just by using combiners/splitters as was seen in previous exemplary configurations. To ensure adherence with this condition of same point and same angle, the exemplary configuration 5 uses the WDM 231 instead of the beam splitters, at the initial stage, as shown in the FIG. 2E. The WDM 231 ensures that all the incident light beams coming from each of the non-polarized lasers L1′, L2′ and L3′ enter at the proximal end of the optical fiber 103 at the same point and at the same angle. Moreover, usage of WDM 231 causes lower power loss when compared to the beam splitters which cause 50%-75% power loss.

[0273] The incident light beams from L1′, L2′, L3′ and an aiming beam are provided as inputs to the WDM 231 which is configured to combine the incident light beams in a way that the light beams move identically. Further, output of the WDM 231 may be provided as an input to a fiber based beam splitter i.e. fourth beam splitter 233 that splits the incident light beams at a ratio of 95:5 as shown in the FIG. 2E. In some embodiments, the fourth beam splitter is a fiber based beam splitter. The power detector 205 associated with the fourth beam splitter 233 may measure the power in the optical signal (light beam) corresponding to each wavelength. In some embodiments, the term “optical power” may refer to energy transported by a certain laser beam, per unit time. Further, the output of the fourth beam splitter 233 which is the incident light aligned along a single optical path, may be provided as an input to a collimator 235 to narrow down the light beams into parallel beams. Thereafter, output of the collimator 235 may be provided to a first beam combiner 209 that combines the light beams coming out of the collimator 235 with an aiming beam and a treatment beam as shown in the FIG. 2E. In some embodiments, the aiming beam can be either introduced at the beginning into the WDM 231 as shown in the FIG. 2E, or can be introduced at the first beam combiner 209 as shown in the FIG. 2E, or can be introduced at both the instances. In some embodiments, the aiming beam and the treatment beam may be generated by one or more laser sources other than the laser sources L1′, L2′ and L3′. As an example, the treatment beam may be generated by a solid state laser or a fiber laser such as Holmium (HO) laser. However, this should not be considered as a limitation of the present disclosure, since the treatment beam may be generated by lasers other than Holmium Laser, such as Neodymium, Erbium, Thulium and the like. In some other embodiments, the aiming beam and the treatment beam may be generated by the laser sources L1′, L2′ and L3′. The combined light beam comprising the aiming beam, treatment beam and the light beams from laser sources L1′, L2′, L3′ received from the first beam combiner 209 may be subjected to the second beam splitter 211 having a configuration of ratio 50:50 and Angle Of Incidence (AOI) 45 degrees. The second beam splitter 211 may split the combined light beam in the ratio of 50:50, such that, the aiming beam, treatment beam and the polarized light beams from laser sources L1 and L2, may be aligned along a single optical path. The light beams 221 which are the output of the second beam splitter 211, are then transmitted to an optical fiber 103 via a port 219 as shown in the FIG. 2E. The light beams 221 from the second beam splitter 211 are transmitted to the proximal end of the optical fiber 103, which then propagate through the length of the optical fiber 103 and are delivered to the target 101 from distal end of the optical fiber 103. As an example, the target 101 may be a tissue, a stone, a tumor, a cyst and the like, within a subject, which is required to be treated, ablated or destroyed. When the light beams 221 are delivered to the target 101 via the optical fiber 103, the target 101 may reflect some portion of light away from the optical fiber 103 and some portion of the light towards the optical fiber 103, wherein the portion of light reflected towards the optical fiber 103 may re-enter the optical fiber 103, at the distal end of the optical fiber 103. The portion of the reflected light re-entering at the distal end may be referred as reflected light 223a. The reflected light 223a may be transmitted backward in optical fiber 103 from the distal end to the proximal end of the optical fiber 103. When the reflected light 223a reaches the proximal end of the optical fiber 103, the reflected light 223a may be subjected to the second beam splitter 211. The reflected light 223a may include numerous reflections from the proximal end of the optical fiber 103, from the distal end of the optical fiber 103, and the like, due to which the reflected light 223a is not polarized. Since, this exemplary configuration 5 is implemented in a non-polarized environment, the reflected light 223a is only subjected to the second beam splitter 211 to align the optical path of the reflected light 223a, but not to the optical component “polarized beam splitter” as was seen in the exemplary configurations 1, 2, and 4. The reflected light 223a is incident at an angle of 45 degree to the second beam splitter 211 and split in the ratio of 50:50. The reflected light 223b which emerges out of the second beam splitter 211 may be detected by a single detector i.e. the third light detector 227. The third light detector 227 may measure intensity of the detected light beams of the reflected light 223b, respectively, and transmit the intensity to the processing unit 107. In some embodiments, the processing unit 107 may estimate distance between the distal end of the optical fiber 103 and the target 101 based on the measured intensities. The method of estimating the distance between the distal end of the optical fiber 103 and the target 101 based on the measured intensities is explained in detail in the discussion of FIG. 3 in the present disclosure.

[0274] FIG. 2F shows yet another exemplary configuration for estimating distance between a fiber end and a target in accordance with some embodiments of the present disclosure.

Exemplary Configuration 6

[0275] This exemplary configuration 6 is also implemented in a non-polarized environment like exemplary configuration 5. Further, this configuration 6 is an all-fiber based design, which does not contain input beam splitters which were seen in the previous configurations such as exemplary configuration 4. The beam splitters are completely replaced by a Wavelength Division Multiplexer (WDM). The WDM consumes nearly 50% less energy compared to the beam splitters, which renders an efficient system. The exemplary configuration 5 also uses a third non-polarized laser (L3′) along with the first and second non-polarized lasers (L1′ and L2′). The third non-polarized laser (L3′) is introduced for the purpose of calibration of the optical fiber condition in real-time. As an example, the condition of the optical fiber 103 may include, but not limited to, any changes or degradation of the distal or proximal ends of the optical fiber 103, fiber bending effects on polarization scrambling or any other degradations and changes occurring in the optical fiber 103. Changes in condition of the optical fiber 103, specifically tips/ends of the optical fiber 103 may adversely affect the reflected light beams, causing large number of reflections, loss of energy and inaccurate measurements. This may affect the accuracy of the distance estimation, thereby leading to wrong movements of the optical fiber 103 during the treatment. Further, an in-line circulator is introduced in this exemplary configuration 6, wherein an in-line circulator is configured to allow the light beams to travel in a single direction.

[0276] In this exemplary configuration, the LETD system 105 may include one or more non-polarized lasers, one or more beam splitters, a beam combiner, one or more light detectors, a Wavelength Division Multiplexer (WDM), a circulator and a collimator. As shown in the FIG. 2F, the LETD system 105 includes a non-polarized laser source (L1′), a non-polarized laser source (L2′), a non-polarized laser source (L3′), a power detector 205, a first beam combiner 209, a third light detector 227, a WDM 231, a fourth beam splitter 233, a collimator 235 and a circulator 237. In this configuration, as shown in the FIG. 2F, the non-polarized laser source (L1′) has a wavelength with high water absorption coefficient (HI) and the polarized laser source (L2′) has a wavelength with low water absorption coefficient (LO). Further, the non-polarized laser source (L3′) has a wavelength with very high water absorption co-efficient, which completely absorbs water. As an example, the wavelength of the non-polarized laser source (L3′) may be 1435 nm. Based on the readings of the non-polarized laser source (L3′), fiber feedback mechanism configured in the processing unit 107 may define an optical baseline characteristic of the distal fiber tip quality. Since L3′ is highly absorbed in water, it does not reach the target tissue and hardly any L3′ back reflection light enters into the fiber as part of the reflected light 223a. Therefore, L3′ reflections 223c readings mainly reflect the optical characteristics of distal end of the optical fiber. It is the same distal end of the optical fiber which goes through degradation during a laser treatment due to, for example, heat and cavitation. Increased intensities readings of back reflected light 223c, may indicate optical fiber tip degradation. At a certain threshold of intensity changes from the base line reading for a specific fiber, e.g. 10%-100%, the controller through a user interface, may indicate that a fiber has to be checked or replaced. In addition, optical fiber tip degradation may cause higher internal reflections from the distal end of the fiber, of non-polarized laser sources L1′ and L2′. Moreover, fiber tip degradation may change the ratios between polarities P and S in back reflected light 223a or 223c. Therefore, creating base line readings, for a specific fiber currently in use, and monitoring these baselines on the fly, may allow more accurate distance estimations even when and during the tip of the fiber degrades and until degradation reaches the point that a fiber has to be replaced. As an example, the non-polarized laser sources L1′, L2′ and L3′ may be Single Mode (SM) fiber pigtailed lasers.

[0277] As mentioned above, in this exemplary configuration 6, the first beam splitter 203 and the third beam splitter 229 as shown in FIG. 2D are replaced with the WDM 231 as shown in the FIG. 2F. Further, in this exemplary configuration 6, the second beam splitter 211 which was arranged to deliver the light beams to the port 219 in all the aforementioned exemplary configurations, is also eliminated, thereby making this exemplary configuration 6, an all-fiber design. Beam splitter reduces output power by 50% and reduces additional 50% of output power upon receiving return signal. Therefore, removal of the beam splitter in this exemplary configuration 6 significantly increases the signal and the output power.

[0278] In some embodiments, to ensure correct usage of the non-polarized laser source (L3′), as a real-time calibrator, it is critical that the incident light beams coming from each of the non-polarized lasers L1′, L2′ and L3′ enter at the proximal end of the optical fiber 103 at the same point and at the same angle. However, such incident light beams from each of the non-polarized lasers L1′, L2′ and L3′ cannot be aligned to enter at the same point and at the same angle, just by using combiners/splitters as was seen in previous exemplary configurations. To ensure adherence with this condition of same point and same angle, the exemplary configuration 6 uses the WDM 231 instead of the beam splitters, at the initial stage, as shown in the FIG. 2F. The WDM 231 ensures that all the incident light beams coming from each of the non-polarized lasers L1′, L2′ and L3′ enter at the proximal end of the optical fiber 103 at the same point and at the same angle. Moreover, usage of WDM 231 causes lower power loss when compared to the beam splitters which cause 50%-75% power loss.

[0279] The incident light beams from L1′, L2′, L3′ and an aiming beam are provided as inputs to the WDM 231 which is configured to combine the incident light beams in a way that the light beams move identically. Further, output of the WDM 231 may be provided as an input to the fourth beam splitter 233 that splits the incident light beams at a ratio of 95:5 as shown in the FIG. 2F. In some embodiments, the fourth beam splitter 233 is a fiber based beam splitter. The power detector 205 associated with the fourth beam splitter 233 may measure the power in the optical signal (light beam) corresponding to each wavelength. In some embodiments, the term “optical power” may refer to energy transported by a certain laser beam, per unit time. Further, the output of the fourth beam splitter 233 which is the incident light aligned along a single optical path, may be provided as an input to a circulator 237. The circulator 237 ensures that all the light beams are allowed to travel in one direction, and provides the light beams to the collimator 235, from a port other than the port into which the light beams entered, in order to narrow down the light beams into parallel beams. Thereafter, output of the collimator 235 may be provided to a first beam combiner 209 that combines the light beams coming out of the collimator 235 with an aiming beam and a treatment beam as shown in the FIG. 2F. In some embodiments, the aiming beam can be either introduced at the beginning into the WDM 231 as shown in the FIG. 2F, or can be introduced at the first beam combiner 209 as shown in the FIG. 2F, or can be introduced at both the instances. In some embodiments, the aiming beam and the treatment beam may be generated by one or more laser sources other than the laser sources L1′, L2′ and L3′. As an example, the treatment beam may be generated by a solid state laser or a fiber laser such as Holmium (HO) laser. However, this should not be considered as a limitation of the present disclosure, since the treatment beam may be generated by lasers other than Holmium Laser, such as Neodymium, Erbium, Thulium and the like. In some embodiments, the aiming beam and the treatment beam may be generated by the laser sources L1′ and L2′. The combined light beam comprising the aiming beam, treatment beam and the light beams from laser sources L1′, L2′, L3′ received from the first beam combiner 209 may be transmitted to an optical fiber 103 via a port 219 as shown in the FIG. 2F. The light beams 221 are transmitted to the proximal end of the optical fiber 103, which then propagate through the length of the optical fiber 103 and are delivered to the target 101 from distal end of the optical fiber 103. As an example, the target 101 may be a tissue, a stone, a tumor, a cyst and the like, within a subject, which is required to be treated, ablated or destroyed. When the light beams 221 are delivered to the target 101 via the optical fiber 103, the target 101 may reflect some portion of light away from the optical fiber 103 and some portion of the light towards the optical fiber 103, wherein the portion of light reflected towards the optical fiber 103 may re-enter the optical fiber 103, at the distal end of the optical fiber 103. The portion of the reflected light re-entering at the distal end may be referred as reflected light 223a. The reflected light 223a may be transmitted backward in optical fiber 103 from the distal end to the proximal end of the optical fiber 103. When the reflected light 223a reaches the proximal end of the optical fiber 103, the reflected light 223a may be subjected to the circulator 237. The reflected light 223a may include numerous reflections from the proximal end of the optical fiber 103, from the distal end of the optical fiber 103, and the like, due to which the reflected light 223a is not polarized. Since, this exemplary configuration 6 is implemented in a non-polarized environment, the reflected light 223a is subjected to the circulator 237, but not to the optical component “polarized beam splitter” as was seen in the exemplary configurations 1, 2, and 4. The reflected light 223b which emerges out of the circulator 237, in a single direction, may be detected by a single detector i.e. the third light detector 227. The third light detector 227 may measure intensity of the detected light beams of the reflected light 223b, respectively, and transmit the intensity to the processing unit 107. In some embodiments, the processing unit 107 may estimate distance between the distal end of the optical fiber 103 and the target 101 based on measured intensities. The method of estimating the distance between the distal end of the optical fiber 103 and the target 101 based on measured intensities is explained in detail in the discussion of FIG. 3 in the present disclosure.

[0280] In some embodiments, in each of the aforementioned exemplary configurations, the proximal end of optical fiber 103 may be coated with a special coating such as an Anti-Reflective (AR) coating. The AR coating helps in reducing the noise created at the proximal end of the optical fiber 103 and increase the dynamic range. In some embodiments, the light signal (reflected light beam) that enters the light detector may contain: [0281] a. Reflections from Port Lens [0282] b. Reflections from Blast Shield [0283] c. Reflections from the proximal end of the optical fiber [0284] d. Reflections from the distal end of the optical fiber

[0285] AR coating at the proximal end of the optical fiber 103 may reduce (a) reflections from the port lens to less than 1%, (b) reflections from the blast shield to less than 1%, (c) reflections from the proximal end of the optical fiber 103 to nearly 3.5%, and (d) reflections from the distal end of the optical fiber 103 to nearly 0.2%. In some embodiments, the reflected signal from a target 101 such as stone, may be of very low energy, for instance nearly 1% of fiber output power where the distance from the optical fiber tip to the tissue is about 0 mm. By reducing the reflections from the proximal end of the optical fiber 103 to nearly 0.5%, the present disclosure may help in improving the dynamic range of the signals reflected from the target 101.

[0286] In some other embodiments, in each of the aforementioned exemplary configurations, the Sub-Miniature version A (SMA) connector, which is basically at the proximal end of optical fiber 103 may be polished or cut at an angle of 8 degrees, as shown in the FIG. 2G. Cutting in a slant fashion at an 8 degree angle, as shown in the FIG. 2G, achieves diversion of the reflected light beams (unwanted reflections caused from proximal end, distal end and the like) from the proximal end of the optical fiber 103, which in turn may reduce substantive noise and increase dynamic range. In some embodiments, the light signal (reflected light beam) that enters the light detector may contain: [0287] a. Reflections from Port Lens [0288] b. Reflections from Blast Shield [0289] c. Reflections from the fiber Proximal end [0290] d. Reflections from fiber Distal end

[0291] As explained above, AR coating at the proximal end of the optical fiber 103 may reduce (a) reflections from the port lens to less than 1%, (b) reflections from the blast shield to less than 1%, (c) reflections from the proximal end of the optical fiber 103 to nearly 3.5%, and (d) reflections from the distal end of the optical fiber 103 to nearly 0.2%. However, the angled finer proximal end of the optical fiber 103 helps in reducing unwanted reflections, and improves the dynamic range of the signals reflected from the target 101.

[0292] FIG. 3 illustrates a flowchart showing a method of estimating distance between a fiber end and a target in accordance with some embodiments of the present disclosure.

[0293] At block 301, the method includes illuminating, by a Light Emitting, Transmitting and Detecting (LETD) system 105, a target 101 with laser light of plurality of different wavelengths, via the optical fiber 103, using plurality of laser light sources. In some embodiments, the laser light of the plurality of different wavelengths may be provided to the optical fiber 103 for illuminating the target 101 using one of the exemplary configurations 1-6 discussed above in the present disclosure. In some embodiments, the present disclosure may use two wavelengths with different water absorption coefficients in order to ensure robustness with respect to different type of targets 101, target compositions, target colors, target surfaces and the like. In some embodiments, the two wavelengths may be selected such that, one is a wavelength with low water absorption coefficient (LO) and another is a wavelength with high water absorption coefficient (HI). As an example, the two wavelengths may be 1310 nm and 1340 nm. However, this example should not be construed as a limitation, as different wavelengths with different water absorption coefficients can be used. In some embodiments, two laser sources such as L1 and L2 may be used to emit light of two different wavelengths as mentioned above. In some embodiments, the laser light sources may be at least one of polarized laser sources, non-polarized laser sources or a combination of polarized and non-polarized laser sources. As an example, to measure the distance between the end of the optical fiber 103 and the target 101, a low-power InfraRed (IR) laser may be used, without limitation, to illuminate the target 101 via the optical fiber 103.

[0294] At block 303, the method includes receiving, by the LETD system 105, reflected light beams from the target 101, via the optical fiber 103. In some embodiments, the reflected light beams may include a mixture of reflections from distal end of the optical fiber 103, from proximal end of the optical fiber 103, from blast shield and the like. The LETD system 105 may be configured to identify the reflected light beams suitable for measuring intensity.

[0295] At block 305, the method includes measuring, by the LETD system 105, intensity of reflected light beams (also known as returned signal) by detecting the returned signal using the one or more light detectors configured in LETD system 105. In some embodiments, since two different wavelengths are used for illuminating the target 101, the measured intensities are with respect to two different wavelengths. Therefore, the two measured intensities corresponding to two different wavelengths of the laser sources may be transmitted to a processing unit 107 associated with the LETD system 105.

[0296] At block 307, the method includes receiving, by the processing unit 107, the measured intensities of the returned signal transmitted from the LETD system 105.

[0297] At block 309, the method includes estimating, by the processing unit 107, distance between the distal end of the optical fiber 103 and the target 101 based on the measured intensities of the returned signal. In some embodiments, the processing unit 107 may substitute the measured intensities in the Equation 1 as shown below:

Intensity of the returned signal=R*e.sup.(−λ*X)  Equation 1

[0298] In the above Equation 1, [0299] “R” refers to target reflection coefficient which is affected by target composition, target color/pigment, target angle, target surface and the like; [0300] “λ” refers to water absorption coefficient of a specific wavelength; and [0301] “X” refers to distance between the distal end of the optical fiber 103 and the target 101.

[0302] In the above Equation 1, “X” and “R” are unknown parameters which need to be determined by the processing unit 107. Therefore, in order to determine the values of “X” and “R”, the processing unit 107 may substitute the two measured intensity values in the above Equation 1, thereby obtaining two equations with substituted values of measured intensity and the water absorption coefficient of the corresponding wavelength. For instance, the two equations with substituted values may be as shown below.

I.sub.(HI)=R*e.sup.(−λ_HI*X)  Equation 1.1

I.sub.(LO)=R*e.sup.(−λ_LO*X)  Equation 1.2

[0303] The processing unit 107 may further simplify the above-mentioned substituted Equations 1.1 and 1.2 as shown in the below two steps: [0304] Step 1: Compute ratio of measured intensity values obtained for the returned signal of two different wavelengths.

[00008]$\begin{array}{cc}\frac{I_{\left(\mathrm{HI}\right)}}{I_{\left(\mathrm{LO}\right)}}=\frac{R}{R}*e^{\left({\lambda }_{\mathrm{LO}}-{\lambda }_{\mathrm{HI}}\right)*X}& \mathrm{Equation}2.1\end{array}$ [0305] Step 2: Determine distance value using the natural logarithm as shown below:

[00009]$\begin{array}{cc}X=\frac{\ln \left(\frac{I_{\left(\mathrm{HI}\right)}}{I_{\left(\mathrm{LO}\right)}}\right)}{{\lambda }_{\mathrm{LO}}-{\lambda }_{\mathrm{HI}}}& \mathrm{Equation}2.2\end{array}$

[0306] Therefore, the processing unit 107 may estimate the distance (X) between the distal end of the optical fiber 103 and the target 101, by simplifying the equations 1.1 and 1.2 as shown above. In the above Equation 2.2, “ln” refers to natural logarithm. In some embodiments, the distance (X) may be measured in millimeters. Upon determining the value of “X”, the processing unit 107 may use this value in the Equation 1.1 and 1.2 to determine the value of “R”. In some embodiments, “X” is the same distance for both wavelengths and R (target reflection) is almost identical for both wavelengths if the selected wavelengths are close to each other on the “nm scale” [e.g. 1310 nm and 1340 nm]. Therefore, selection of wavelengths of low and high absorption coefficients such that the wavelengths are close to each other on the “nm scale” is of utmost importance in distance estimation.

[0307] In some embodiments, condition of the optical fiber 103 may be affected due to factors such as changes or degradation of the distal or proximal ends of the optical fiber 103, fiber bending effects on polarization scrambling or any other degradations and changes occurring in the optical fiber 103. Changes in optical conditions of the optical fiber 103, specifically the tips/ends of the optical fiber 103, may adversely affect the quality of the irradiated beam, the intensity of the internal reflected light beams, the amount of back reflected light from a target which enters the fiber, loss of energy reaches a target and inaccurate measurements. This may affect the accuracy of the distance estimation, thereby leading to incorrect positioning of the optical fiber 103 during the treatment or miscalculating energy optimization which are based on distance estimation as described in the applicant's U.S. provisional patent application No. 63/118,117 which is incorporated herein by reference.

[0308] Internal reflections from planes associated with the fiber e.g. the fiber proximal end or the fiber distal end, or that associated with other optical elements which are optically connected with the fiber e.g. lenses or shields, generate parasitic and unwanted reflections. Moreover, these internal reflections may change over time due to fiber or other elements degradation. In addition, fiber degradation may change over time the quality of the laser beam irradiated toward the a target tissue and may also change the intensity of back reflected light from a target tissue which enters and passes the fiber as beams 223a and 223b. To keep accurate distance measurements during fiber degradation and changes in internal reflections, according to an embodiment, there is a need to measure the internal reflections of each laser before a treatment starts, register these values and monitor their changes over time. This process may done for any single fiber is being used with the laser system. Distance measurements, as will be explained below, may be corrected by monitoring these changes. Processing unit 107 is configured to read baseline values of such parasitic/unwanted reflections by a system pre-treatment calibration process. In some embodiments, the system pre-treatment calibration process may include setting up a treatment fiber in water with no target. In this context, “no target” for instance could mean that, the closest target such as stone may be located further away from the tip of the fiber so that no reflections from the target tissue may back reflect into the fiber as signal 223a. Such a distance is for example 10 mm from the distal end of the optical fiber 103 or more. Thereafter, under these conditions, the system may shoot the lasers such as (L1 and L2) in a polarized environment, or laser (L1′ and L2′) in a non-polarized environment. Since the back reflected light 223a under these conditions is very low, the signals reaching the light detectors are related mainly to internal reflections associated with the optical fiber. The Internal Reflected (IR) light beams in such a scenario may be detected using the light detectors and the measured intensity values may be stored as IR.sub.(HI) and IR.sub.(LO), by the processing unit 107. IR.sub.(HI) is the intensity of the internal reflections of incident light having higher water absorption co-efficient when there is no target close to the fiber tip and IR.sub.(LO) is the intensity of internal reflections of incident light having low water absorption co-efficient when there is no target close to the fiber tip. Thereafter, during the normal work, when the target is placed at a distance close enough to the distal end of the optical fiber 103 and may generate signal 223a, the reflected light beams from the target may be detected using the light detectors and the measured intensity values may be stored as I.sub.(HI) which is the “Intensity of returned signal from a target tissue corresponding to wavelength having higher water absorption co-efficient (HI)” and I.sub.(LO) which is the “Intensity of returned signal from a target tissue corresponding to wavelength having lower water absorption co-efficient (LO)” by the processing unit 107. However, in order to eliminate values of the parasitic/unwanted reflections from readings of the actual returned signals, the processing unit 107 may subtract/reduce the IR.sub.(HI) from reading of the actual returned signal I.sub.(HI) as shown in the below Equation 3.1, and IR.sub.(LO) from reading of the actual returned signal I.sub.(LO) as shown in the below Equations 3.1 and 3.2, respectively.

I′.sub.(HI)=I.sub.(HI)−IR.sub.(HI)  Equation 3.1

I′.sub.(LO)=I.sub.(LO)−IR.sub.(LO)  Equation 3.2

[0309] In the above Equation 3.1, [0310] I′.sub.(HI) refers to a new calculated Intensity of returned signal corresponding to wavelength having higher water absorption co-efficient (HI) (without the parasitic/unwanted reflections); [0311] I.sub.(HI) refers to a measured Intensity of returned signal corresponding to wavelength having higher water absorption co-efficient (HI) (with the parasitic/unwanted reflections); and [0312] IR.sub.(HI) refers to a measured intensity of internal reflections of incident light having higher water absorption co-efficient (measured with “no target”)

[0313] In the above Equation 3.2, [0314] I′.sub.(LO) refers to new a calculated Intensity of returned signal corresponding to wavelength having lower water absorption co-efficient (LO) (without the parasitic/unwanted reflections); [0315] I.sub.(LO) refers to a measured Intensity of returned signal corresponding to wavelength having lower water absorption co-efficient (LO) (with the parasitic/unwanted reflections); and [0316] IR.sub.(LO) refers to measured intensity of internal reflections of incident light having lower water absorption co-efficient (measured with “no target”).

[0317] Therefore, using the new intensity calculated values ram and I′.sub.(LO), the processing unit 107 may determine the distance between distal end of the optical fiber 103 and the target 101, by substituting the new calibrated values I′.sub.(HI) and ram), in Equation 2.2 as shown below:

[00010]$X=\frac{\ln \left(\frac{I_{\left(\mathrm{HI}\right)}-{\mathrm{IR}}_{\left(\mathrm{HI}\right)}}{I_{\left(\mathrm{LO}\right)}-{\mathrm{IR}}_{\left(\mathrm{LO}\right)}}\right)}{{\lambda }_{\mathrm{LO}}-{\lambda }_{\mathrm{HI}}}$

[0318] In some embodiments, the above equation of “X” may also be indicated as shown below:

[00011]$X=\frac{\ln \left(\frac{I_{\left(\mathrm{HI}\right)}^{\prime }}{I_{\left(\mathrm{LO}\right)}^{\prime }}\right)}{{\lambda }_{\mathrm{LO}}-{\lambda }_{\mathrm{HI}}}$

[0319] As mentioned above, the internal reflections may not be constant over time and may change due to some changes in internal optical parameters of the system (as opposed to changes due to the dynamic of the treatment environment which is external to the system) such as the optical quality of the distal end of the optical fiber 103. Due to the high power of the treating laser and some cavitational effects which take place at the tip of the fiber, due to the liquid environment of the treatment, the fiber and mainly the distal tip of the fiber, undergoes degradation. Therefore, for monitoring and rectifying such changes in internal reflections in real time, performing real-time calibration is important. Therefore, for performing real-time calibration, as shown in the embodiments 4, 5 and 6 in the present disclosure above, a calibration laser either polarized (L3) or non-polarized (L3′) is introduced, thereby ensuring more accurate distance estimation during degradation of the optical fiber. As explained in the embodiments 4, 5 and 6, the calibration laser (L3/L3′) has a wavelength with a very high absorption co-efficient in water. As an example, the wavelength of the polarized laser source (L3) may be 1435 nm. Since calibration laser (L3/L3′) is so strongly absorbed by the liquid environment, as explained above, hardly any back reflection 223a from the media goes back into the fiber. Therefore, while shooting calibration laser (L3/L3′), the associated light detectors mainly measure the intensity of the internal reflections of laser (L3/L3′). Processing unit 107 is configured to read and store one or more base values for the internal reflections of laser (L3/L3′) before a treatment starts. These one or more base values represent the optical quality of the fiber, such as the optical quality of the tip of the fiber, before the treatment starts. Further, processing unit 107 is configured to continue measuring on real time and during a treatment, internal reflections of calibration laser (L3/L3′) and to identify deviations from the base. Monitoring these deviations provide an indication to a degradation of the optical quality of the fiber and may be used to correct any measured back reflected intensity associated with signal 223a. Based on the readings of the internal reflections by calibration laser (L3/L3′), processing unit 107 may rectify calibration parameters for the main lasers (L1/L1′) and (L2/L2′) measurements.

[0320] In some embodiments, the real-time calibration process may include, initially setting up a treatment fiber in water and read and store one or more internal reflections values of calibration laser (L3/L3′). Since calibration laser (L3/L3′) is so highly absorbed in water, there is a much less sensitivity, relative to lasers L1/L1′ and L2/L2′, to the distance to a target tissue during the calibration readings of L3/L3′. As will explained below, this allow the continuation of calibration laser measurements during treatment when a target tissue may also be close to the tip of the fiber. Thereafter, the target may be illuminated using one of the exemplary configurations 4, 5 or 6 as discussed above in the present disclosure, using lasers (L1, L2) in a polarized environment, or laser (L1′, L2′) in a non-polarized environment. The reflected light beams 223a and 223b in such a scenario may be detected using the light detectors and the measured intensity values may be stored as I.sub.(HI), I.sub.(LO) together with additional and associated measurements of the internal reflections of calibration laser (L3/L3′) IR.sub.(CAL), by the processing unit 107. I.sub.(HI) is the intensity of the back reflections from the target tissue of incident light having higher water absorption co-efficient, I.sub.(LO) is the intensity of the back reflections from the target tissue of incident light having low water absorption co-efficient, and IR.sub.(CAL) is the intensity of the internal reflections of incident calibration laser (L3/L3′). In some embodiments, presence or absence of target may not affect the reflections IR.sub.(CAL), since the incident light from the calibration sensors (L3, L3′) is highly absorbed by water. In some embodiments, changes in the IR.sub.(CAL) value may occur due to changes in degradation of the optical fiber 103, specifically tips of the optical fiber 103. In some embodiments, based on relative changes of the IR.sub.(CAL) value, the processing unit 107 may adjust the previously measured IR.sub.(HI) and IR.sub.(LO) values or the currently measured I.sub.(LO) or I.sub.(HI).

[0321] Thereafter, during the real-time working i.e. when the real-time treatment is going on, when there is presence of target 101 i.e. when the target 101 is at a distance close enough to generate back reflection signal 223a, such as when the target is in a distance lesser than 10 mm from the distal end of the optical fiber 103, the back reflected light beams 223a for laser L1/L1′ and for laser L2/L2′ and the internal reflection 223c from calibration laser L3/L3′, may be detected using the light detectors and the measured intensity values may be stored as I.sub.(HI) which is the “Intensity of returned signal corresponding to wavelength having higher water absorption co-efficient (HI)”, I.sub.(LO) which is the “Intensity of returned signal corresponding to wavelength having lower water absorption co-efficient (LO)” by the processing unit 107, and IR.sub.(CAL) which is the “Intensity of returned internal reflection signal corresponding to wavelength having highest water absorption co-efficient of the calibration laser (CAL)” by the processing unit 107. Further, in order to determine a calibration factor, the processing unit 107 may divide reading of IR.sub.(CAL-PRE) from the calibration process pre-treatment from reading of IR.sub.(CAL-DUR) from a calibration process done during a treatment as shown in the below Equation 4.

[00012]$\begin{array}{cc}\mathrm{Calibration}\mathrm{Factor}\left(\mathrm{CF}\right)=\frac{{\mathrm{IR}}_{\left(\mathrm{CAL}-\mathrm{PRE}\right)}}{{\mathrm{IR}}_{\left(\mathrm{CAL}-\mathrm{DUR}\right)}}& \mathrm{Equation}4\end{array}$

[0322] As long as the internal reflections of calibration laser L3/L3′ before an during a treatment are the same, when there are no changes in the optical fiber 103, the calibration factor may be “1”. Further, in order to calibrate the rectify parameters for the main lasers (L1/L1′) and (L2/L2′), the processing unit 107 may use the calibration factor as shown in the below Equations 5.1 and 5.2.

I″.sub.(HI)=I.sub.(HI)−IR.sub.(HI)×CF  Equation 5.1

I″.sub.(LO)=I.sub.(LO)−IR.sub.(LO)×CF  Equation 5.2

[0323] In the above Equation 5.1, [0324] I″.sub.(HI) refers to a new calculate calibrated Intensity of back reflected signal from a target tissue which is corresponding to a wavelength having higher water absorption co-efficient (HI); [0325] I.sub.(HI) refers to the measured Intensity of the back reflected signal from a target tissue which is corresponding to a wavelength having higher water absorption co-efficient (HI); [0326] IR.sub.(HI) refers to the measured intensity of the internal reflection of incident laser having higher water absorption co-efficient (measured with “no target”); and [0327] CF refers to calibration factor determined using Equation 4.

[0328] In the above Equation 5.2, [0329] I″.sub.(LO) refers to a new calculate calibrated Intensity of back reflected signal from a target tissue which is corresponding to wavelength having lower water absorption co-efficient (LO); [0330] I.sub.(LO) refers to the measured Intensity of back reflected signal from a target tissue which is corresponding to wavelength having lower water absorption co-efficient (LO); [0331] IR.sub.(LO) refers to the measured intensity of internal reflection of incident laser having lower water absorption co-efficient (measured with “no target”); and [0332] CF refers to calibration factor determined using Equation 4.

[0333] Therefore, using the new calibrated intensity values I″.sub.(HI) and I″.sub.(LO), the processing unit 107 may determine the distance between distal end of the optical fiber 103 and the target 101, by substituting the new calibrated values I″.sub.(HI) and I″.sub.(LO), in Equation 2.2 as shown below:

[00013]$X=\frac{\ln \left(\frac{I_{\left(\mathrm{HI}\right)}-{\mathrm{IR}}_{\left(\mathrm{HI}\right)}*\mathrm{CF}}{I_{\left(\mathrm{LO}\right)}-{\mathrm{IR}}_{\left(\mathrm{LO}\right)}*\mathrm{CF}}\right)}{{\lambda }_{\mathrm{LO}}-{\lambda }_{\mathrm{HI}}}$

[0334] Therefore, in this way, the processing unit 107 performs the system pre-treatment calibration and real-time calibration, to ensure accuracy of the estimated distance between the distal end of the optical fiber 103 and the target 101 when the fiber undergoes degradation, and the calibration factor is changed.

[0335] At block 311, the method includes indicating, by the processing unit 107, the estimated distance between the distal end of the optical fiber 103 and the target 101, via an indicator 109 associated with the processing unit 107. As an example, the indicator 109 may be a visual indicator, an audio indicator or a haptic indicator. In some embodiments, based on the estimated distance between the distal end of the optical fiber 103 and the target 101, the position of the optical fiber 103 may be varied, the orientation of the optical fiber 103 may be varied, characteristics of the treatment beam may be varied, and the like, in real-time, in order to accurately aim at the target 101.

[0336] FIG. 4 is a block diagram of an exemplary computer system for implementing embodiments consistent with the present disclosure.

[0337] In some embodiments, FIG. 4 illustrates a block diagram of an exemplary computer system 400 for implementing embodiments consistent with the present invention. In some embodiments, the computer system 400 can be a processing unit 107 to estimate distance between end of an optical fiber 103 and a target 101. The computer system 400 may include a central processing unit (“CPU” or “processor”) 402. The processor 402 may include at least one data processor for executing program components for executing user or system-generated business processes. A user may include a person, a person using a device such as those included in this invention, or such a device itself. The processor 402 may include specialized processing units such as integrated system (bus) controllers, memory management control units, floating point units, graphics processing units, digital signal processing units, etc.

[0338] The processor 402 may be disposed in communication with input devices 411 and output devices 412 via I/O interface 401. The I/O interface 401 may employ communication protocols/methods such as, without limitation, audio, analog, digital, stereo, IEEE-1394, serial bus, Universal Serial Bus (USB), infrared, PS/2, BNC, coaxial, component, composite, Digital Visual Interface (DVI), high-definition multimedia interface (HDMI), Radio Frequency (RF) antennas, S-Video, Video Graphics Array (VGA), IEEE 802.n/b/g/n/x, Bluetooth, cellular (e.g., Code-Division Multiple Access (CDMA), High-Speed Packet Access (HSPA+), Global System For Mobile Communications (GSM), Long-Term Evolution (LTE), WiMax, or the like), etc.

[0339] Using the I/O interface 401, computer system 400 may communicate with input devices 411 and output devices 412.

[0340] In some embodiments, the processor 402 may be disposed in communication with a communication network 409 via a network interface 403. The network interface 403 may communicate with the communication network 409. The network interface 403 may employ connection protocols including, without limitation, direct connect, Ethernet (e.g., twisted pair 10/100/1000 Base T), Transmission Control Protocol/Internet Protocol (TCP/IP), token ring, IEEE 802.11a/b/g/n/x, etc. Using the network interface 403 and the communication network 409, the computer system 400 may communicate with Light Emitting, Transmitting and Detecting (LETD) system 105 and an indicator 109. The communication network 409 can be implemented as one of the different types of networks, such as intranet or Local Area Network (LAN), Closed Area Network (CAN) and such. The communication network 409 may either be a dedicated network or a shared network, which represents an association of the different types of networks that use a variety of protocols, for example, Hypertext Transfer Protocol (HTTP), CAN Protocol, Transmission Control Protocol/Internet Protocol (TCP/IP), Wireless Application Protocol (WAP), etc., to communicate with each other. Further, the communication network 409 may include a variety of network devices, including routers, bridges, servers, computing devices, storage devices, etc. In some embodiments, the processor 402 may be disposed in communication with a memory 405 (e.g., RAM, ROM, etc. not shown in FIG. 4) via a storage interface 404. The storage interface 404 may connect to memory 405 including, without limitation, memory drives, removable disc drives, etc., employing connection protocols such as Serial Advanced Technology Attachment (SATA), Integrated Drive Electronics (IDE), IEEE-1394, Universal Serial Bus (USB), fiber channel, Small Computer Systems Interface (SCSI), etc. The memory drives may further include a drum, magnetic disc drive, magneto-optical drive, optical drive, Redundant Array of Independent Discs (RAID), solid-state memory devices, solid-state drives, etc.

[0341] The memory 405 may store a collection of program or database components, including, without limitation, a user interface 406, an operating system 407, a web browser 408 etc. In some embodiments, the computer system 400 may store user/application data, such as the data, variables, records, etc. as described in this invention. Such databases may be implemented as fault-tolerant, relational, scalable, secure databases such as Oracle or Sybase.

[0342] The operating system 407 may facilitate resource management and operation of the computer system 400. Examples of operating systems include, without limitation, APPLE® MACINTOSH® OS X®, UNIX®, UNIX-like system distributions (E.G., BERKELEY SOFTWARE DISTRIBUTION® (BSD), FREEBSD®, NETBSD®, OPENBSD, etc.), LINUX® DISTRIBUTIONS (E.G., RED HAT®, UBUNTU®, KUBUNTU®, etc.), IBM® OS/2®, MICROSOFT® WINDOWS® (XP®, VISTA®/7/8, 10 etc.), APPLE® IOS®, GOOGLE™ ANDROID™, BLACKBERRY® OS, or the like. The User interface 406 may facilitate display, execution, interaction, manipulation, or operation of program components through textual or graphical facilities. For example, user interfaces may provide computer interaction interface elements on a display system operatively connected to the computer system 400, such as cursors, icons, checkboxes, menus, scrollers, windows, widgets, etc. Graphical User Interfaces (GUIs) may be employed, including, without limitation, Apple® Macintosh® operating systems' Aqua®, IBM® OS/2®, Microsoft® Windows® (e.g., Aero, Metro, etc.), web interface libraries (e.g., ActiveX®, Java®, Javascript®, AJAX, HTML, Adobe® Flash®, etc.), or the like.

[0343] In some embodiments, the computer system 400 may implement the web browser 408 stored program components. The web browser 408 may be a hypertext viewing application, such as MICROSOFT® INTERNET EXPLORER®, GOOGLE™ CHROME™, MOZILLA® FIREFOX®, APPLE® SAFARI®, etc. Secure web browsing may be provided using Secure Hypertext Transport Protocol (HTTPS), Secure Sockets Layer (SSL), Transport Layer Security (TLS), etc. Web browsers 408 may utilize facilities such as AJAX, DHTML, ADOBE® FLASH®, JAVASCRIPT®, JAVA®, Application Programming Interfaces (APIs), etc. In some embodiments, the computer system 400 may implement a mail server stored program component. The mail server may be an Internet mail server such as Microsoft Exchange, or the like. The mail server may utilize facilities such as Active Server Pages (ASP), ACTIVEX®, ANSI® C++/C#, MICROSOFT®, .NET, CGI SCRIPTS, JAVA®, JAVASCRIPT®, PERL®, PHP, PYTHON®, WEBOBJECTS®, etc. The mail server may utilize communication protocols such as Internet Message Access Protocol (IMAP), Messaging Application Programming Interface (MAPI), MICROSOFT® exchange, Post Office Protocol (POP), Simple Mail Transfer Protocol (SMTP), or the like. In some embodiments, the computer system 400 may implement a mail client stored program component. The mail client may be a mail viewing application, such as APPLE® MAIL, MICROSOFT® ENTOURAGE®, MICROSOFT® OUTLOOK®, MOZILLA® THUNDERBIRD®, etc.

[0344] Furthermore, one or more computer-readable storage media may be utilized in implementing embodiments consistent with the present invention. A computer-readable storage medium refers to any type of physical memory on which information or data readable by a processor may be stored. Thus, a computer-readable storage medium may store instructions for execution by one or more processors, including instructions for causing the processor(s) to perform steps or stages consistent with the embodiments described herein. The term “computer-readable medium” should be understood to include tangible items and exclude carrier waves and transient signals, i.e., non-transitory. Examples include Random Access Memory (RAM), Read-Only Memory (ROM), volatile memory, non-volatile memory, hard drives, Compact Disc (CD) ROMs, Digital Video Disc (DVDs), flash drives, disks, and any other known physical storage media.

Advantages of the Present Disclosure

[0345] The present disclosure enables estimation of distance between distal end of an optical fiber and a target, by using laser light of two different wavelengths having a low and high-water absorption coefficients. Estimation of the distance based on such wavelength selection, ensures robustness with respect to different types of targets, target compositions, target colors, target surfaces and the like.

[0346] The wavelength modulation-based technique disclosed in the present disclosure to estimate distance between distal end of an optical fiber and a target, helps in an accurate estimation of the distance, as the process of estimation is robust with respect to various types of targets as mentioned above.

[0347] Thus, the present disclosure enables aiming at the target accurately, which in turn eliminates ablating/fragmenting incorrect portion, which could lead to permanent damages, and also consumes less time in ablating/fragmenting the target.

Applications of the Present Disclosure

[0348] The present disclosure may be used to see through the dust. In this Application, during treatment of, for example kidney stones, water may get turbid due to the presence of stone fragments or dust. This may reduce (or cancel at all) the ability to see the target (e.g. stone). Therefore, in such scenarios, the Fiber Feedback (FFB) technique discussed in the present disclosure enables accurately recognizing and informing the treating physician about placement of the optical fiber i.e. if the fiber is placed in front of the target or that there is no target or the fiber is aiming at unwanted area instead of the target.

[0349] Further, the present disclosure may be used for distance measurement and target recognition. In this Application, the target (eg: stone) may move around during treatment, which may lead to applying laser towards unwanted area such as healthy tissue, instead of applying laser to the target. Therefore, the present disclosure enables automatic and real-time monitoring of the distance between the optical fiber and the target, which in turn eliminates the possibility of lasing unwanted areas.

[0350] Further, the present disclosure may be used for the purpose of smart lasing. In this Application, during the treatment, the target may move back and forth, or may change its shape and size. Therefore, parameters pre-set for the laser sources before initiating lazing on the target, may become less effective. Conventionally, such pre-set parameters are manually changed which may be error prone and time consuming, or in some cases the pre-set parameters may be left unchanged which may lead to scenarios where the optical fiber may be too close or too far from the target. Therefore, the automatic and real-time monitoring of the distance between the optical fiber and the target, as disclosed in the present disclosure, enables automatically changing the lasing pre-set parameters to adjust the lasing in accordance with the target shape, position etc., for best results (i.e. smart lasing).

[0351] With respect to the use of substantially any plural and/or singular terms herein, those having skill in the art can translate from the plural to the singular and/or from the singular to the plural as is appropriate to the context and/or application. The various singular/plural permutations may be expressly set forth herein for sake of clarity.

[0352] It will be understood by those within the art that, in general, terms used herein, and are generally intended as “open” terms (e.g., the term “including” should be interpreted as “including but not limited to,” the term “having” should be interpreted as “having at least,” the term “includes” should be interpreted as “includes but is not limited to,” etc.). It will be further understood by those within the art that if a specific number of an introduced claim recitation is intended. For example, as an aid to understanding, the detail description may contain usage of the introductory phrases “at least one” and “one or more” to introduce claim recitations. However, the use of such phrases should not be construed to imply that the introduction of a claim recitation by the indefinite articles “a” or “an” limits any particular claim containing such introduced claim recitation to inventions containing only one such recitation, even when the same claim includes the introductory phrases “one or more” or “at least one” and indefinite articles such as “a” or “an” (e.g., “a” and/or “an” should typically be interpreted to mean “at least one” or “one or more”); the same holds true for the use of definite articles used to introduce claim recitations. In addition, even if a specific number of an introduced claim recitation is explicitly recited, those skilled in the art will recognize that such recitation should typically be interpreted to mean at least the recited number (e.g., the bare recitation of “two recitations,” without other modifiers, typically means at least two recitations, or two or more recitations).

[0353] While various aspects and embodiments have been disclosed herein, other aspects and embodiments will be apparent to those skilled in the art. The various aspects and embodiments disclosed herein are for purposes of illustration and are not intended to be limiting, with the true scope and spirit being indicated by the following detailed description.