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Fiber optic shape sensor

  • US 7,720,322 B2
  • Filed: 06/30/2008
  • Issued: 05/18/2010
  • Est. Priority Date: 06/30/2008
  • Status: Active Grant
First Claim
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1. A shape sensing method comprising:

  • defining a lengthwise first segment in an optical fiber;

    defining a first three-dimensional reference frame at a start location of the first segment, wherein the first reference frame is a Cartesian frame, and wherein the first reference frame comprises a first axis that is normal to the fiber and a second axis that is tangent to the fiber;

    defining a Cartesian base frame at an origin location in the fiber, wherein the base frame comprises a first axis that is normal to the fiber and a second axis that is tangent to the fiber, and wherein the first axis of the first reference frame and the first axis of the base frame intersect a common core in the fiber;

    interrogating the optical fiber for data associated with strain in the fiber;

    outputting first bend information associated with the first segment, wherein the first bend information comprises a Cartesian position at an end location of the first segment with respect to the first reference frame; and

    determining a shape of the fiber with respect to the base frame by using the first bend information, wherein determining the shape of the fiber further comprises using kinematic chain characteristics for a portion of the fiber in which no shape sensing segment is defined.

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