System for controlling an instrument using shape sensors

• US 10,660,509 B2
• Filed: 07/26/2017
• Issued: 05/26/2020
• Est. Priority Date: 01/29/2007
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Laby, Keith P., Ohline, Robert M., Pistor, Christoph M., Swinehart, Charles E., Woodley, Bruce R., Belson, Amir
• Primary Examiner(s): Neal, Timothy J
• Assistant Examiner(s): Chou, William B
• Application Number:
  US15/660,828
• Publication Number:
  US 20170319049A1
• Time in Patent Office: 1,035 Days
• CPC Class Codes: A61B 1/00045 Display arrangement
• CPC Class Codes: A61B 1/0052 Constructional details of control elements, e.g. handles
• CPC Class Codes: A61B 1/0055 Constructional details of insertion parts, e.g. vertebral elements
• CPC Class Codes: A61B 1/009 with bending or curvature detection of the insertion part
• CPC Class Codes: A61B 1/05 characterised by the image sensor, e.g. camera, being in the distal end portion
• CPC Class Codes: A61B 1/313 for introducing through surgical openings, e.g. laparoscopes
• CPC Class Codes: A61B 2034/2061 using shape-sensors, e.g. fiber shape sensors with Bragg gratings

Abstract

A system for controlling movement of a remotely controlled steerable instrument comprises a flexible instrument. The flexible instrument comprises a steerable distal portion and a passive proximal portion. The steerable distal portion is configured to articulate to change a shape of the steerable distal portion. The system further comprises a shape sensing device comprising an optical fiber that spirals around the steerable distal portion. The optical fiber is configured to provide a signal indicative of the shape of the steerable distal portion. The system further comprises a controller in signal communication with the optical fiber. The controller is logically coupled to the flexible instrument and is configured to output a control signal to articulate the steerable distal portion of the flexible instrument in response to receiving at least the signal from the optical fiber.

Claims

1. A system for controlling movement of a remotely controlled steerable instrument, the system comprising:

a flexible instrument comprising a steerable distal portion and a passive proximal portion, the steerable distal portion configured to articulate to change a shape of the steerable distal portion;

a shape sensing device comprising an optical fiber that spirals around the steerable distal portion, the optical fiber being configured to provide a signal indicative of the shape of the steerable distal portion; and

a controller in signal communication with the optical fiber, wherein the controller is logically coupled to the flexible instrument and is configured to output a control signal to articulate the steerable distal portion of the flexible instrument in response to receiving at least the signal from the optical fiber.

2. The system of claim 1, wherein the optical fiber spirals around the steerable distal portion in more than one spiral turn around the steerable distal portion.

3. The system of claim 1, wherein the optical fiber includes a counter twist that maintains an axial orientation of the optical fiber from the passive proximal portion through to the steerable distal portion.

4. The system of claim 1, wherein the flexible instrument further comprises a plurality of articulatable segments, the plurality of articulatable segments configured to articulate relative to each other to change a shape of the flexible instrument.

5. The system of claim 4, wherein the optical fiber extends an integral number of full spiral turns for each of the articulatable segments.

6. The system of claim 1, further comprising an actuator configured to articulate the steerable distal portion.

7. The system of claim 6, wherein the actuator is coupled to the steerable distal portion via tendons.

8. The system of claim 6, wherein the actuator is selected from a group consisting of electromechanical motors, pneumatic motors, hydraulic motors, and electronic rotary actuators.

9. The system of claim 6, further comprising a user input device configured to transmit a control signal to the actuator to change the shape of the steerable distal portion.

10. The system of claim 9, wherein the controller is configured to output a signal to the actuator to move the steerable distal portion in response to the control signal from the user input device and the signal from the optical fiber.

11. The system of claim 10, wherein the user input device comprises an interactive display configured to display an output representing the shape of the flexible instrument.

12. A system for controlling movement of a remotely controlled steerable instrument, the system comprising:

a flexible instrument comprising a steerable distal portion and a passive proximal portion, the steerable distal portion configured to articulate to change a shape of the steerable distal portion;

a shape sensing device comprising an optical fiber that spirals around the steerable distal portion, the optical fiber being configured to provide a signal indicative of the shape of the steerable distal portion;

a first orientation indicator disposed at a first position along the flexible instrument, the first orientation indicator securing a portion of the optical fiber in the first position; and

a controller in signal communication with the optical fiber to receive the signal indicative of the shape of the steerable distal portion, the controller configured to perform an integration process to reconstruct the shape of the optical fiber to determine the shape of the steerable distal portion.

13. The system of claim 12, wherein the first orientation indicator comprises a protruding structure that protrudes away from a body of the flexible instrument to indicate an axial orientation of the optical fiber at the first position.

14. The system of claim 13, wherein the first orientation indicator comprises a visual marker on the shape sensing device.

15. The system of claim 13, wherein the first position is at a distal end of the shape sensing device, and further comprising a second orientation indicator that secures the optical fiber in a second position at a proximal end of the shape sensing device.

16. A method of controlling movement of a flexible instrument having a steerable distal portion and a passive proximal portion, the method comprising:

receiving an optical signal from a shape sensing device comprising an optical fiber that spirals around at least the steerable distal portion, the optical signal being indicative of a shape of at least the steerable distal portion; and

moving the flexible instrument in response to receiving the optical signal from the optical fiber.

17. The method of claim 16, wherein moving the flexible instrument comprises independently moving a plurality of articulatable segments, included in the flexible instrument, to change the shape of the flexible instrument.

18. The method of claim 16, wherein moving the flexible instrument further comprises moving the flexible instrument based on input at an input device, wherein the input is a user command to move the flexible instrument.

19. The method of claim 16, wherein receiving the optical signal comprises receiving a variable optical signal dependent on changes in the shape of the flexible instrument during the moving.

20. The method of claim 16, further comprising:

receiving from a sensor at a fixed reference location a reference location signal representing a position of the flexible instrument; and

based upon the optical signal and the reference location signal, calculating a position of the flexible instrument relative to the fixed reference location or determining a depth the flexible instrument has been inserted beyond the fixed reference location.