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
82 Claims
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1-59. -59. (canceled)
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60. An apparatus comprising:
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a surgical instrument comprising; an elongate arm having a distal end, a proximal end, and a joint region disposed between the distal and proximal ends, and an optic fiber having an optical fiber bend sensor positioned in the joint region of the elongate arm; a detection system, wherein the detection system is coupled to receive light reflected by or transmitted through the optical fiber bend sensor, and wherein the detection system is configured to determine information characterizing a state of the joint region of the elongate arm based on the received light; and a control system comprising; a servo controller coupled to bend the joint region, wherein the control system is coupled to receive the joint region state information from the detection system, and wherein the control system is configured to use the received joint region state information as feedback to a loop in a real time closed feedback loop within the control system to control bending of the joint region. - View Dependent Claims (61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82)
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Specification