ROBOTIC SURGERY SYSTEM INCLUDING POSITION SENSORS USING FIBER BRAGG GRATINGS
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Abstract
A surgical instrument is provided, including: at least one articulatable arm having a distal end, a proximal end, and at least one joint region disposed between the distal and proximal ends; an optical fiber bend sensor provided in the at least one joint region of the at least one articulatable arm; a detection system coupled to the optical fiber bend sensor, said detection system comprising a light source and a light detector for detecting light reflected by or transmitted through the optical fiber bend sensor to determine a position of at least one joint region of the at least one articulatable arm based on the detected light reflected by or transmitted through the optical fiber bend sensor; and a control system comprising a servo controller for effectuating movement of the arm.
249 Citations
76 Claims
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1-59. -59. (canceled)
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60. An apparatus comprising:
a surgical instrument comprising; an elongate arm having; a distal end, a proximal end, a joint region disposed between the distal and proximal ends, and a channel through the elongate arm; and an optical fiber positioned in the channel and including an optical fiber bend sensor at the joint region of the elongate arm, wherein the optical fiber bend sensor translates axially relative to the joint region in response to bending of the joint region. - View Dependent Claims (61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72)
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73. A method comprising:
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positioning an optical fiber including a optical fiber bend sensor in a channel of an elongate arm of a surgical instrument; positioning the optical fiber bend sensor within a joint region of the elongate arm; and affixing the optical fiber in the channel so that the optical fiber bend sensor translates axially relative to the joint region in response to bending of the joint region. - View Dependent Claims (74, 75, 76)
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Specification