Fiber optic shape sensing

• US 8,116,601 B2
• Filed: 04/21/2010
• Issued: 02/14/2012
• Est. Priority Date: 06/30/2008
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Prisco, Giuseppe Maria
• Primary Examiner(s): Peng, Charlie
• Application Number:
  US12/764,307
• Publication Number:
  US 20100202727A1
• Time in Patent Office: 664 Days
• Field of Search: 385/12, 385/13, 606/1, 606/130, 356477-479, 600/104, 600/111, 600/182, 607/122, 901/16
• US Class Current: 385/12
• CPC Class Codes: A61B 1/009 with bending or curvature detection of the insertion part
• CPC Class Codes: A61B 2034/2061 using shape-sensors, e.g. fiber shape sensors with Bragg gratings
• CPC Class Codes: A61B 2090/061 for measuring dimensions, e.g. length
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/35 for telesurgery
• CPC Class Codes: G01L 1/246 using integrated gratings, e.g. Bragg gratings
• CPC Class Codes: G02B 6/02042 Multicore optical fibres
• CPC Class Codes: Y10T 74/20305 Robotic arm

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.

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.

2. The method of claim 1:

wherein the first reference frame comprises an x-axis, a y-axis, and a z-axis; and

wherein the position of the end location is output as Δ

x, Δ

y, Δ

z.

3. The method of claim 1:

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 at the start location and a second axis that is tangent to the fiber at the start location.

4. The method of claim 3:

wherein the first reference frame comprises an x-axis, a y-axis, and a z-axis; and

wherein the position of the end location is output as Δ

x, Δ

y, Δ

z.

5. The method of claim 3:

wherein the orientation of the end location is output as a tangent vector comprising direction cosines t_x, t_y, and t_z.

6. The method of claim 1:

wherein the orientation of the end location is output as a tangent vector comprising direction cosines t_x, t_y, and t_z.

7. The method of claim 1, further comprising determining a Cartesian orientation of the end location of the second segment with respect to the first reference frame using a product of rotation vectors associated with the Cartesian orientation of the end location of the first segment relative to the first reference frame and the Cartesian orientation of the end location of the second segment relative to the second reference frame.

8. The method of claim 1, wherein the first and second segments overlap along the length of the optical fiber.

9. The method of claim 1, wherein the first and second segments are separated from one another along the length of the optical fiber.

10. The method of claim 1, wherein the first and second segments are adjacent to each other along the length of the optical fiber.

11. The method of claim 1, wherein:

the optical fiber extends through a kinematic chain including a first link, a second link, and a third link, a first joint between the first and second links, and a second joint between the second and third links;

the start location of the first segment is at the first link, and the end location of the first segment is at the second link; and

the start location of the second segment is at the second link, and the end location of the second segment is at the third link.