Fixture for shape-sensing optical fiber in a kinematic chain

• US 9,011,021 B2
• Filed: 12/20/2013
• Issued: 04/21/2015
• 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: Rogers, Theodore W., Prisco, Giuseppe Maria
• Primary Examiner(s): Radkowski, Peter
• Application Number:
  US14/136,596
• Publication Number:
  US 20140105534A1
• Time in Patent Office: 487 Days
• Field of Search: 385/66, 606/2
• US Class Current: 385/66
• CPC Class Codes: A61B 2034/2061 using shape-sensors, e.g. fiber shape sensors with Bragg gratings
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: B33Y 80/00 Products made by additive manufacturing
• CPC Class Codes: G01B 11/165 by means of a grating deformed by the object
• CPC Class Codes: G01D 11/245 Housings for sensors
• 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 5/35377 Means for amplifying or modifying the measured quantity
• CPC Class Codes: G01M 11/083 by using an optical fiber in contact with the device under test [DUT]
• 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 6/3616 Holders, macro size fixtures for mechanically holding or positioning fibres, e.g. on an optical bench supporting carriers of a microbench type G02B6/3648; micromanipulators B25J7/00; cassettes, bobbins G02B6/4439
• CPC Class Codes: G02B 6/3644 the coupling means being through-holes or wall apertures
• CPC Class Codes: G02B 6/38 having fibre to fibre mating means
• CPC Class Codes: Y10T 29/49826 Assembling or joining
• CPC Class Codes: Y10T 29/49838 by stringing
• CPC Class Codes: Y10T 29/49947 by applying separate fastener

Abstract

A first link and a second link are articulated relative to each other via a joint coupled between the first and second links. A shape-sensing optical fiber is used to sense a position of the first link and the second link relative to each other. The fiber passes through a channel having an opening defining a lip and extending from the first link toward the joint. The lip has a curved surface that begins substantially tangent to a wall of the channel, and during bending of the optical fiber, the optical fiber is positioned tangent to the curved surface of the lip.

Claims

1. An apparatus comprising:

a medical instrument including a first portion and a second portion configured to permit relative motion between the first portion and the second portion;

a flexible, non-inflatable tube extending within and between the first and second portions of the medical instrument the flexible, non-inflatable tube extending out from the first portion and into the second portion; and

an optical fiber shape sensor extending through the flexible, non-inflatable tube between the first and second portions of the medical instrument.

2. The apparatus of claim 1 wherein the medical instrument further includes a joint extending between the first and second portions and the flexible, non-inflatable tube extends through the joint.

3. The apparatus of claim 2 wherein the joint has multiple degrees of freedom.

4. The apparatus of claim 2 wherein the joint includes a plurality of links.

5. The apparatus of claim 2 wherein the joint includes a continuously bending flexible structure.

6. The apparatus of claim 1 wherein the flexible, non-inflatable tube comprises fluorinated ethylene propylene.

7. The apparatus of claim 1 wherein the flexible, non-inflatable tube comprises a shape memory alloy.

8. The apparatus of claim 7 wherein the shape memory alloy comprises a Nickel/Titanium alloy.

9. The apparatus of claim 1 wherein the flexible, non-inflatable tube provides an effective minimum bend radius for the optical fiber shape sensor of less than about 10 mm.

10. The apparatus of claim 1 wherein the optical fiber shape sensor includes a coating.

11. The apparatus of claim 10 wherein the coating comprises an acrylate coating.

12. The apparatus of claim 1 wherein the optical fiber shape sensor is constrained to slide longitudinally with reference to the first portion of the medical instrument.

13. The apparatus of claim 12 wherein the optical fiber shape sensor is constrained to slide longitudinally with reference to the second portion of the medical instrument.

14. The apparatus of claim 1 wherein the first portion of the medical instrument includes an opening through which the flexible, non-inflatable tube extends.

15. The apparatus of claim 14 wherein the opening includes a curved lip portion.

16. The apparatus of claim 14 wherein the optical fiber shape sensor includes a first section extending through the opening, wherein the first section includes a plurality of fiber Bragg gratings.

17. A method comprising:

articulating a first portion of a medical instrument relative to a second portion of the medical instrument;

bending a flexible, non-inflatable tube extending between the first and second portion of the medical instrument;

bending an optical fiber shape sensor extending through the flexible, non-inflatable tube;

distributing a force exerted by the first portion of the medical instrument along a length of the optical fiber shape sensor via the flexible, non-inflatable tube; and

interrogating the bent optical fiber shape sensor to determine the position of the second portion of the medical instrument relative to the first portion of the medical instrument.

18. The method of claim 17 wherein the flexible, non-inflatable tube comprises a shape memory alloy.

19. The method of claim 18 wherein the shape memory alloy is a Nickel/Titanium alloy.

20. The method of claim 17 wherein the flexible, non-inflatable tube comprises fluorinated ethylene propylene.