Probe position sensing system and method of employment of same
First Claim
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1. A probe position sensing system comprising:
- an articulated arm including a plurality of sections, a flexible joint extending between and connecting adjacent sections, and at least one sensor assembly extending into said joint and positioned to be subjected to a degree of flexure due to relative displacement of said sections, wherein flexure in said sensor assembly induces a variation in a physical property associated with said sensor assembly, and said variation in said physical property is used to derive an angle between adjacent sections.
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Abstract
A probe position sensing system for accurately determining a spatial location in a coordinate system of a distal end of a probe assembly. The probe assembly includes an articulated arm having a pair of sections interconnected by a flexible joint and at least one element. The element extends through the joint and is positioned to be subjected to a degree of flexure due to relative displacement of the sections. A flexure of the element induces a change in a physical property associated with the element. An instrument monitors the physical property and derives an angle between adjacent sections from variations of the physical property.
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38 Claims
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1. A probe position sensing system comprising:
an articulated arm including a plurality of sections, a flexible joint extending between and connecting adjacent sections, and at least one sensor assembly extending into said joint and positioned to be subjected to a degree of flexure due to relative displacement of said sections, wherein flexure in said sensor assembly induces a variation in a physical property associated with said sensor assembly, and said variation in said physical property is used to derive an angle between adjacent sections. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30)
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31. An articulated arm comprising:
- a plurality of sections;
a flexible joint extending between and connecting said sections;
a sensor assembly passing through said flexible joint and positioned to be subjected to a degree of flexure due to relative displacement of said sections, said sensor assembly having a first longitudinal axis; and
a sensor element having a second longitudinal axis and contained in said sensor assembly, said second longitudinal axis in a spaced apart radial relationship with respect to said first longitudinal axis;
wherein flexure of said sensor element inducing a variation in a physical property associated with said sensor element, said variation used to derive an angle between adjacent sections. - View Dependent Claims (32, 33, 34, 35, 36, 37, 38)
- a plurality of sections;
Specification