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.
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Citations
79 Claims
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1-59. -59. (canceled)
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60. An apparatus comprising:
a surgical instrument comprising; an elongate arm comprising; an actively controlled bendable region including at least one joint region, a passively bendable region, and a channel extending through the elongate arm; and an optical fiber positioned in the channel and including an optical fiber bend sensor in at least one of the passively bendable region or the actively controlled bendable region. - View Dependent Claims (61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79)
Specification