Robotic surgical instrument and methods using bragg fiber sensors

• US 20080218770A1
• Filed: 02/01/2008
• Published: 09/11/2008
• Est. Priority Date: 02/02/2007
• Status: Abandoned Application

• Current Assignee: Hansen Medical Incorporated (Johnson & Johnson)
• Original Assignee: Hansen Medical Incorporated (Johnson & Johnson)
• Inventors: Moll, Frederic H., Schlesinger, Randall L.
• Application Number:
  US12/012,795
• Publication Number:
  US 20080218770A1
• Time in Patent Office: Days
• US Class Current: 356/614
• CPC Class Codes: A61B 1/009 with bending or curvature detection of the insertion part
• CPC Class Codes: A61B 2017/00261 Discectomy
• CPC Class Codes: A61B 2034/102 Modelling of surgical devices, implants or prosthesis
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2061 using shape-sensors, e.g. fiber shape sensors with Bragg gratings
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61B 90/50 Supports for surgical instruments, e.g. articulated arms
• CPC Class Codes: A61G 13/10 Parts, details or accessories surgical drape sheets A61B46/00
• CPC Class Codes: A61G 13/101 Clamping means for connecting accessories to the operating table supports as part of surgical instruments A61B90/50
• CPC Class Codes: A61G 7/0503 Holders, support devices for receptacles, e.g. for drainage or urine bags hanging-up devices for infusion A61M5/1414

Abstract

A positionable medical instrument assembly, e.g., a robotic instrument driver configured to maneuver an elongate medical instrument, includes a first member coupled to a second member by a movable joint, with a Bragg fiber sensor coupled to the first and second members, such that relative movement of the first and second members about the movable joint causes a bending of at least a portion of the Bragg fiber sensor. The Bragg fiber sensor has a proximal end operatively coupled to a controller configured to receive signals from the Bragg fiber sensor indicative of a bending thereof, the controller configured to analyze the signals to determine a relative position of the first and second members about the movable joint.

Claims

1. A positionable medical instrument assembly, comprising:

a first member;

a second member coupled to the first member by a movable joint; and

a Bragg sensor optical fiber coupled to the first and second members, such that relative movement of the first and second members about the movable joint causes a bending of at least a portion of the Bragg sensor optical fiber,

the Bragg sensor optical fiber having a proximal end operatively coupled to a controller configured to receive signals from respective Bragg gratings on a fiber core of the Bragg sensor optical fiber indicative of a bending thereof, the controller configured to analyze the signals to determine a relative position of the first and second members about the movable joint.

2. The instrument assembly of claim 1, wherein the movable joint allows for pivotal motion of the second member relative to the first member in a single plane, and wherein the determined relative position of the first and second members about the movable joint comprises an angular displacement of the second member relative to the first member.

3. The instrument assembly of claim 1, wherein the movable joint allows for movement of the second member relative to the first member in at least three degrees of freedom.

4. The instrument assembly of claim 1, wherein the assembly comprises a robotic instrument driver configured to maneuver an elongate medical instrument movably coupled to the second member.

5. A positionable medical instrument assembly, comprising:

a plurality of positionable members, including a first member coupled to a second member by a first movable joint, and a third member coupled to the second member by a second movable joint; and

one or more Bragg sensor optical fibers, each coupled to at least two of the first, second and third members such that relative movement of the first and second members about the first movable joint causes a corresponding bending of at least one Bragg sensor optical fiber, and a relative movement of the second and third members about the second movable joint causes a corresponding bending of a same or different at least one Bragg sensor optical fiber, each of the one or more Bragg sensor optical fibers having a proximal end operatively coupled to a controller configured to receive signals therefrom indicative of a bending of one or more portions thereof, the controller configured to analyze the signals to determine a relative position of the first, second and third members about the respective first and second movable joints.

6. The instrument assembly of claim 5, wherein the first movable joint allows for movement of the second member relative to the first member in at least three degrees of freedom, and wherein the second movable joint allows for movement of the third member relative to the second member in at least three degrees of freedom.

7. The instrument assembly of claim 6, the one or more Bragg sensor optical fibers including a first Bragg sensor optical fiber coupled to the first, second and third members, such that relative movement of the first and second members about the first movable joint, and relative movement of the second and third members about the second movable joint causes a bending of at least first and second respective portions of the first Bragg sensor optical fiber, and wherein the controller is configured to analyze signals received from the first Bragg sensor optical fiber to determine a relative position of the first, second and third members about the respective first and second movable joints.

8. The instrument assembly of claim 6, the one or more Bragg sensor optical fibers including

a first Bragg sensor optical fiber coupled to the first and second members, such that relative movement of the first and second members about the first movable joint causes a bending of at least a portion of the first Bragg sensor optical fiber, and

a second Bragg sensor optical fiber coupled to the second and third members, such that relative movement of the second and third members about the second movable joint causes a bending of at least a portion of the second Bragg sensor optical fiber,

wherein the controller is configured to analyze respective signals received from the first and second Bragg sensor optical fibers to determine a relative position of the first, second and third members about the respective first and second movable joints.

9. The instrument assembly of claim 5, further comprising an elongate medical instrument movably coupled to the second member.

10. A positionable medical instrument assembly, comprising:

a first member;

a second member coupled to the first member by a movable joint; and

a plurality of Bragg sensor optical fibers coupled to the first and second members, such that relative movement of the first and second members about the movable joint causes a bending of at least a portion of each of the Bragg sensor optical fibers,

the Bragg sensor optical fibers having respective proximal ends operatively coupled to a controller configured to receive signals from respective Bragg gratings located on the Bragg sensor optical fibers and indicative of a respective bending thereof, the controller configured to analyze the signals to determine a relative position of the first and second members about the movable joint.

11. The instrument assembly of claim 10, wherein the movable joint allows for pivotal motion of the second member relative to the first member in a single plane, and wherein the determined relative position of the first and second members about the movable joint comprises an angular displacement of the second member relative to the first member.

12. The instrument assembly of claim 10, wherein the movable joint allows for movement of the second member relative to the first member in at least three degrees of freedom.

13. The instrument assembly of claim 10, wherein the assembly comprises a robotic instrument driver configured to maneuver an elongate medical instrument movably coupled to the second member.

14. A medical instrument system, comprising:

an instrument driver;

a sterile barrier;

an elongate flexible instrument body operatively coupled to the instrument driver through the sterile barrier;

a Bragg sensor optical fiber coupled to the elongate instrument body, such that relative bending of the instrument body causes a corresponding bending of at least a portion of the Bragg sensor optical fiber, the Bragg sensor optical fiber having a proximal end operatively coupled to a position sensor controller located on a sterile field side of the sterile barrier and configured to receive signals from respective Bragg gratings located on at least one fiber core of the Bragg sensor optical fiber and indicative of a bending thereof, the sensor controller configured to analyze the signals to determine a relative position of the instrument.

15. The medical instrument system of claim 14, wherein the position sensor controller transmits wireless signals to an instrument driver controller located outside the sterile field to communicate to the instrument driver a relative position of the instrument.