Fiber optic position and shape sensing device and method relating thereto

• US 7,781,724 B2
• Filed: 09/26/2006
• Issued: 08/24/2010
• Est. Priority Date: 07/16/2004
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Luna Innovations, Inc.
• Inventors: Raum, Matthew T., Vercellino, Michael E., Childers, Brooks A., Froggatt, Mark E., Duncan, Roger G., Gifford, Dawn K.
• Primary Examiner(s): Le; Que T
• Assistant Examiner(s): BUI PHO, PASCAL M
• Application Number:
  US11/535,438
• Publication Number:
  US 20070065077A1
• Time in Patent Office: 1,428 Days
• Field of Search: 250/227.14, 250/227.11, 250/227.23, 250/227.18, 250/227.21, 356/73.1, 385/12, 385/13, 385/123, 385/126, 385/124
• US Class Current: 250/227.14
• CPC Class Codes: A61B 1/00165 with light-conductive means, e.g. fibre optics A61B1/07 takes precedence
• CPC Class Codes: A61B 2034/2061 using shape-sensors, e.g. fiber shape sensors with Bragg gratings
• CPC Class Codes: G01D 5/35303 using a reference fibre, e.g. interferometric devices
• CPC Class Codes: G01D 5/35316 using a Bragg gratings
• CPC Class Codes: G01D 5/35354 Sensor working in reflection
• CPC Class Codes: G02B 6/02042 Multicore optical fibres
• CPC Class Codes: G02B 6/022 using mechanical stress, e.g. tuning by compression or elongation, special geometrical shapes such as "dog-bone" or taper G02B6/02204 takes precedence; optical modulation using photo-elastic effect G02F1/0131
• CPC Class Codes: G02B 6/29319 With a cascade of diffractive elements or of diffraction operations forming interferometer by splitting and recombining G02B6/29347 - G02B6/29358

Abstract

The present invention is directed toward a fiber optic position and shape sensing device and the method of use. The device comprises an optical fiber means. The optical fiber means comprises either at least two single core optical fibers or a multicore optical fiber having at least two fiber cores. In either case, the fiber cores are spaced apart such that mode coupling between the fiber cores is minimized. An array of fiber Bragg gratings are disposed within each fiber core and a frequency domain reflectometer is positioned in an operable relationship to the optical fiber means. In use, the device is affixed to an object. Strain on the optical fiber is measured and the strain measurements correlated to local bend measurements. Local bend measurements are integrated to determine position and/or shape of the object.

Claims

1. A fiber optic position and shape sensing device comprising:

an optical fiber including at least two fiber cores spaced apart so that mode coupling between the fiber cores is minimized;

an array of fiber Bragg gratings disposed within each fiber core;

a frequency domain reflectometer positioned in an operable relationship to the optical fiber for determining a measured strain parameter at a number points along each core in the optical fiber; and

a computing device for determining;

a differential strain parameter between the cores at each location along the fiber,

one or more local bend parameters along the length of the fiber based on the determined differential strain parameter value at each of the number points along the optical fiber, and

a shape of the object based on the one or more local bend parameters,

wherein the number of points is sufficiently large to permit determination of the shape of the object with an accuracy better than one percent of a length of the optical fiber.

2. A fiber optic position and shape sensing device according to claim 1, wherein the optical fiber includes at least two single core optical fibers.

3. A fiber optic position and shape sensing device according to claim 2, wherein the optical fiber includes three cores, wherein the three cores are non-coplanar and form a triangular shape, and wherein the computing device is configured to determine differential strain parameter values between the three cores and to calculate a bend angle and a bend radius based on differential strains determined between the three cores.

4. A fiber optic position and shape sensing device according to claim 3, wherein the three fiber cores each have a center, wherein each center is 120°

with respect to each of the other two core centers.

5. A fiber optic position and shape sensing device according to claim 2, wherein the array of fiber Bragg gratings are collocated along each single core optical fiber.

6. A fiber optic position and shape sensing device according to claim 1, wherein the array of fiber Bragg gratings comprises at least one hundred fiber Bragg gratings.

7. A fiber optic position and shape sensing device according to claim 1, wherein the optical fiber means is a multicore optical fiber.

8. A fiber optic position and shape sensing device according to claim 7, wherein the multicore optical fiber comprises three fiber cores.

9. A fiber optic position and shape sensing device according to claim 8, wherein the three fiber cores are non-coplanar and form a triangular shape.

10. A fiber optic position and shape sensing device according to claim 9, wherein the three fiber cores each have a center, wherein each center is 120°

with respect to each of the other two core centers.

11. A fiber optic position and shape sensing device according to claim 7, wherein the array of fiber Bragg gratings are co-located along the multicore optical fiber.

12. A fiber optic position and shape sensing device according to claim 11, wherein the array of fiber Bragg gratings is comprised of at least one hundred fiber Bragg gratings.

13. A fiber optic position and shape sensing device according to claim 1, further comprising a broadband reference reflector positioned in an operable relationship to each fiber Bragg grating array wherein the frequency domain reflectometer receives signals from each fiber Bragg grating array establishing an optical path length for each reflector/grating relationship.

14. A fiber optic position and shape sensing device according to claim 1, wherein the fiber optic position and shape sensing device is a medical instrument.

15. A fiber optic position and shape sensing device according to claim 14, wherein the medical instrument is an instrument used for surgery.

16. A fiber optic position and shape sensing device according to claim 14, wherein the medical instrument is an instrument used for biometric monitoring.

17. The apparatus in claim 1, wherein the number of points is sufficiently large to permit accurate determination of a shape of the object with an accuracy better than 0.1 percent of a length of the optical fiber.

18. The apparatus in claim 1, wherein the array of fiber Bragg gratings disposed within each fiber core includes gratings with overlapping spectra closer than 10 cm together.

19. The apparatus in claim 1, wherein the array of fiber Bragg gratings disposed within each fiber core includes gratings that have less than 1 percent reflectivity.

20. The apparatus in claim 1, wherein the array of fiber Bragg gratings disposed within each fiber core includes gratings that have less than 0.1 percent reflectivity.

21. A fiber optic method for determining the position and shape of an object, the method comprising the steps of:

a) providing an object;

b) providing a fiber optic position and shape sensing device comprising;

a multi-core optical fiber for determining position and shape of the object, the multi-core optical fiber comprising at least two fiber cores spaced apart wherein mode coupling between the fiber cores is minimized, where an array of fiber Bragg gratings is disposed within each fiber core, and

a frequency domain reflectometer positioned in an operable relationship to the multi-core optical fiber;

c) affixing the multi-core optical fiber to the object;

d) measuring with the frequency domain reflectometer strain at a number of points on each core in the optical fiber;

e) determining a differential strain parameter between the cores at each point along the fiber;

f) calculating one or more local bend parameters along the fiber based on the determined differential strain parameters; and

g) determining a shape of the object based on the calculated one or more local bend parameters,

where the number of points is sufficiently large to permit determination of the shape of the object with an accuracy better than one percent of a length of the optical fiber.

22. A fiber optic method according to claim 21, wherein the array of fiber Bragg gratings is comprised of at least one hundred fiber Bragg gratings.

23. A fiber optic method according to claim 21, wherein the object is a position tracking device.

24. A fiber optic method according to claim 23, wherein the position tracking device is a robot.

25. A fiber optic method according to claim 21, wherein the optical fiber means comprises three cores and wherein the object has a three dimensional shape.

26. A fiber optic method according to claim 21, wherein the object is a flexible object.

27. A fiber optic method according to claim 26, wherein the flexible object is a medical instrument or a flexible structure.

28. A fiber optic method according to claim 21, wherein the number of points is sufficiently large to permit accurate determination of a shape of the object with an accuracy better than 0.1 percent of a length of the optical fiber.

29. A fiber optic method according to claim 21, wherein the array of fiber Bragg gratings disposed within each fiber core includes gratings with overlapping spectra closer than 10 cm together.

30. A fiber optic method according to claim 21, wherein the array of fiber Bragg gratings disposed within each fiber core includes gratings that have less than 1 percent reflectivity.

31. A fiber optic method according to claim 21, wherein the array of fiber Bragg gratings disposed within each fiber core includes gratings that have less than 0.1 percent reflectivity.

32. A fiber optic method according to claim 21, wherein the array of fiber Bragg gratings disposed within each fiber core includes gratings that have less than 0.1 percent reflectivity.

33. A medical instrument system, comprising:

an elongate instrument body;

an optical fiber at least partially encapsulated in a wall of the elongate instrument body, the optical fiber including three fiber cores having one or more Bragg gratings;

a detector corresponding to a frequency domain reflectometer operatively coupled to a proximal end of the optical fiber and configured to detect respective light signals reflected by the one or more Bragg gratings at a number points along each core in the optical fiber; and

a controller operatively coupled to the detector and configured to determine a geometric configuration of at least a portion of the elongate instrument body based on an analysis of the detected reflected portions of the light signals from which differential strain values between the cores at each point along the fiber are determined,

where the number of points is sufficiently large to permit accurate determination of the geometric configuration of at least a portion of the elongate instrument body with an accuracy better than one percent of a length of the optical fiber.

34. The medical instrument system of claim 33, wherein the elongate instrument body is flexible.

35. The medical instrument system of claim 33, wherein the elongate instrument body is robotically controlled.

36. The medical instrument system of claim 33, wherein the elongate instrument body is manually controlled.

37. The medical instrument system of claim 33, further comprising a reference reflector coupled to the optical fiber in an operable relationship with the one or more Bragg gratings.

38. The medical instrument system of claim 33, wherein the optical fiber comprises a plurality of fiber cores, each core having one or more Bragg gratings.

39. The medical instrument system of claim 33, the fiber core comprising a plurality of spaced apart Bragg gratings.

40. The medical instrument system of claim 33, wherein the optical fiber is substantially encapsulated in a wall of the elongate instrument body.

41. The medical instrument system of claim 33, wherein the elongate instrument body defines an interior lumen, and wherein the optical fiber is partially disposed in the lumen.

42. The medical instrument system of claim 33, the elongate instrument body having a wall, the wall defining an embedded lumen, wherein the optical fiber is disposed in the embedded lumen.

43. The medical instrument system of claim 33, the elongate instrument body having a neutral axis of bending, the optical fiber being coupled to the elongate instrument body so as to be substantially aligned with the neutral axis of bending when the elongate instrument body is in a substantially unbent configuration, and to move relative to the neutral axis of bending as the elongate instrument body undergoes bending.

44. The medical instrument system of claim 33, the elongate instrument body having a neutral axis of bending, the optical fiber being coupled to the elongate instrument body so as to be substantially aligned with the neutral axis of bending regardless of bending of the elongate instrument body.

45. The medical instrument system of claim 33, the elongate instrument body having a neutral axis of bending, the optical fiber being coupled to the elongate instrument body so as to remain substantially parallel to, but not coaxial with, the neutral axis of bending, regardless of bending of the elongate instrument body.

46. The medical instrument system of claim 33, wherein the elongate instrument body is a catheter body.

47. The medical instrument system of claim 33, wherein the analysis is a spectral analysis.