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.
191 Citations
80 Claims
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1-59. -59. (canceled)
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60. An apparatus comprising:
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an elongate arm; an axial channel in the elongate arm; and an optical fiber positioned in the axial channel, the optical fiber including an optical fiber sensor; wherein the optical fiber is axially fixed to the elongate arm at a fixed position region proximal end defined on the arm and at a fixed position region distal end defined on the arm; wherein the optical fiber sensor is positioned between the fixed position region proximal end and the fixed position region distal end; and wherein the optical fiber sensor is configured to receive an input light and to output reflected input light that indicates axial compression of the arm between the fixed position region proximal end and the fixed position region distal end. - View Dependent Claims (61)
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62. An apparatus comprising:
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a surgical instrument comprising; an elongate arm comprising a compressible fixed position region defined between a fixed position region distal end and a fixed position region proximal end, and a channel extending axially through the compressible fixed position region and at least an additional portion of the elongate arm; and an optical fiber positioned in the channel and including an optical fiber sensor positioned between the fixed position region proximal end and the fixed position region distal end, wherein the optical fiber is axially fixed within the channel at the fixed position region distal end and at the fixed position region proximal end, wherein the optical fiber sensor is configured to receive an input light and to output reflected input light that indicates axial compression of the compressible fixed position region. - View Dependent Claims (63, 64, 65, 66, 67, 68, 69)
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70. A method comprising:
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positioning an optical fiber including an optical fiber sensor in a channel of a compressible fixed position region of an elongate arm of a surgical instrument, wherein the compressible fixed position region is defined between a fixed position region distal end and a fixed position region proximal end; positioning the optical fiber sensor within the compressible fixed position region; and affixing the optical fiber within the channel at the fixed position region proximal end and at the fixed position region distal end. - View Dependent Claims (71, 72, 73, 74, 75)
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76. A method comprising:
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applying a force in an axial direction to a first end of a compressible fixed position region of an elongate arm of a surgical instrument, the compressible fixed position region having an optical fiber sensor of an optical fiber positioned in a channel within the compressible fixed position region between the first end of the compressible fixed position region and a second end of the compressible fixed position region, wherein the optical fiber is axially affixed to the first end and the second end of the compressible fixed position region; and detecting axial loading on the compressible fixed position region based on a reflectance spectrum from the optical fiber sensor. - View Dependent Claims (77, 78)
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79. A method comprising:
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detecting a reflectance spectrum from an optical fiber sensor positioned along a compressible fixed position region of an elongate arm of a surgical instrument, wherein the optical fiber sensor is in an optical fiber fixed at a proximal end of the fixed position region and at a distal end of the fixed position region; and determining an axial load on the arm based on the detected reflectance spectrum. - View Dependent Claims (80)
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Specification