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
75 Claims
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1-59. -59. (canceled)
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60. A calibration method comprising:
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positioning a surgical instrument using a control system in a minimally invasive surgical system, wherein the surgical instrument comprises; an elongate arm having a joint region, and an optical fiber bend sensor positioned at least in part within the joint region; determining a measured location of the surgical instrument based on information from the optical fiber bend sensor; determining an expected location of the surgical instrument based on the positioning; and generating a kinematic error map of the elongate arm using the measured location and the expected location. - View Dependent Claims (61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71)
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72. An apparatus comprising:
a surgical instrument comprising; an elongate arm having a joint region; an optical fiber bend sensor positioned at least in part within the joint region; and a memory having stored therein a kinematic error map of the elongate arm, wherein the kinematic error map is created by; positioning the surgical instrument using a control system in a minimally invasive surgical system; determining a measured location of the surgical instrument based on information from the optical fiber bend sensor; determining an expected location of the surgical instrument based on the positioning; and generating the kinematic error map of the elongate arm using the measured location and the expected location. - View Dependent Claims (73, 74)
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75. A method comprising:
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generating a kinematic error map of a elongate arm of a surgical instrument using location data and expected location data, wherein the location data is determined based on information from an optical fiber bend sensor positioned in a joint region of the elongate arm, and wherein the expected location information is determined based on a position of the elongate arm; and storing the kinematic error map in a memory of the surgical instrument.
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Specification