Fiber optic shape sensing
First Claim
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;
interrogating the optical fiber for data associated with strain in the optical 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 a Cartesian orientation of the end location with respect to the first reference frame;
defining a lengthwise second segment in the optical fiber;
defining a second three-dimensional reference frame at a start location of the second segment; and
outputting second bend information associated with the second segment, wherein the second bend information comprises a Cartesian position of an end location of the second segment with respect to the second reference frame and a Cartesian orientation of the end location with respect to the second reference frame.
2 Assignments
0 Petitions
Accused Products
Abstract
A shape sensing system to determine the position and orientation of one link with respect to another link in a kinematic chain. An optical fiber is coupled to two or more links in a kinematic chain. A shape sensing segment is defined to start at a proximal link and to end at a distal link, crossing one or more joints. A reference frame is defined at the start of the shape sensing segment. As the joints move, an interrogator senses strain in the shape sensing segment. The sensed strain is used to output a Cartesian position and orientation of the end of the shape sensing segment with respect to the reference frame defined at the start of the shape sensing segment. The pose of the kinematic chain is determined from the Cartesian positions and orientations of one or more shape sensing segments defined for the kinematic chain and from an a priori model and constraints of the kinematic chain.
-
Citations
11 Claims
-
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; interrogating the optical fiber for data associated with strain in the optical 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 a Cartesian orientation of the end location with respect to the first reference frame; defining a lengthwise second segment in the optical fiber; defining a second three-dimensional reference frame at a start location of the second segment; and outputting second bend information associated with the second segment, wherein the second bend information comprises a Cartesian position of an end location of the second segment with respect to the second reference frame and a Cartesian orientation of the end location with respect to the second reference frame. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
-
Specification