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.
202 Citations
73 Claims
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1-59. -59. (canceled)
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60. A method comprising:
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determining, in a coordinate system referenced to a patient, a location of an image from a camera carried on a minimally invasive surgical instrument based on information from an optical fiber sensor in an optical fiber in the minimally invasive surgical instrument; and displaying an image, relative to the coordinate system referenced to the patient, comprising the image from the camera and a second image, wherein the second image is from a source different from the camera. - View Dependent Claims (61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73)
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Specification