System for controlling an instrument using shape sensors

• US 8,784,303 B2
• Filed: 01/29/2008
• Issued: 07/22/2014
• Est. Priority Date: 01/29/2007
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Laby, Keith P., Ohline, Robert M., Pistor, Christoph M., Swinehart, Charles E., Woodley, Bruce R., Belson, Amir
• Primary Examiner(s): Smith, Philip R
• Assistant Examiner(s): CHOU, WILLIAM B
• Application Number:
  US12/524,249
• Publication Number:
  US 20100099951A1
• Time in Patent Office: 2,366 Days
• Field of Search: 600/117, 600/145, 600/146, 600/149, 600/587
• US Class Current: 600/117
• CPC Class Codes: A61B 1/00045 Display arrangement
• CPC Class Codes: A61B 1/0052 Constructional details of control elements, e.g. handles
• CPC Class Codes: A61B 1/0055 Constructional details of insertion parts, e.g. vertebral elements
• CPC Class Codes: A61B 1/009 with bending or curvature detection of the insertion part
• CPC Class Codes: A61B 1/05 characterised by the image sensor, e.g. camera, being in the distal end portion
• CPC Class Codes: A61B 1/313 for introducing through surgical openings, e.g. laparoscopes
• CPC Class Codes: A61B 2034/2061 using shape-sensors, e.g. fiber shape sensors with Bragg gratings

Abstract

The present invention relates, generally, to controlling a steerable instrument having an elongate body. More particularly, the present invention relates to a system and method for sensing the shape of a steerable instrument and controlling the steerable instrument in response to a control signal from a user input device and a shape signal corresponding to the sensed shape of at least a portion of the steerable instrument. The present invention also relates to a system for sensing the shape of a flexible instrument with an optical shape sensor.

Claims

1. A minimally invasive surgical system comprising:

an instrument comprising a plurality of articulating segments;

a user input device that provides a control signal to change the shape of the plurality of articulating segments; and

a closed loop control system comprising a controller, an actuator coupled to the controller, and a shape sensor coupled to the controller and associated with the plurality of articulating segments;

wherein the shape sensor provides a shape signal corresponding to the shape of the plurality of articulating segments; and

wherein the controller directs movement of the plurality of articulating segments in response to the control signal from the user input device and the shape signal from the shape sensor;

wherein the shape sensor comprises an optical fiber that spirals around the plurality of articulating segments.

2. The minimally invasive surgical system of claim 1:

wherein the optical fiber is positioned off center in the instrument.

3. The minimally invasive surgical system of claim 1:

wherein the user input device comprises an interactive display configured to display an output representing the shape of at least a portion of the instrument, wherein the user input device is configured to receive a user input for a desired shape of the instrument.

4. The minimally invasive surgical system of claim 1:

wherein the plurality of articulating segments comprises a first segment and a second segment; and

wherein the controller determines that a shape of the first segment has conformed to a shape of the second segment as the instrument advances or withdraws.

5. The minimally invasive surgical system of claim 1:

wherein the user input device comprises an interface that receives a command from a user to change a shape of the instrument; and

wherein the controller determines whether or to what degree the instrument has moved into a desired shape based at least in part on the shape signal provided by the shape sensor.

6. The minimally invasive surgical system of claim 1:

wherein controller-directed movement of the instrument compensates for errors within the instrument that would otherwise cause the instrument to fail to achieve an intended shape.

7. The minimally invasive surgical system of claim 1 further comprising:

a second sensor placed at a fixed reference location;

wherein the position of the shape sensor compared to the reference location is used to determine a position of the instrument relative to the reference location or to determine a depth the instrument has been inserted beyond the reference location.

8. The minimally invasive surgical system of claim 1:

wherein the optical fiber comprises a linear array of high spatial resolution fiber optic bend sensors.

9. The minimally invasive surgical system of claim 1:

wherein the optical fiber comprises Bragg gratings.

10. The minimally invasive surgical system of claim 1:

wherein the optical fiber includes a counter twist.

11. The minimally invasive surgical system of claim 10:

wherein the counter twist is in a direction counter to a direction of the spiral of the optical fiber.