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Robotic surgery system including position sensors using fiber bragg gratings

  • US 9,039,685 B2
  • Filed: 03/16/2011
  • Issued: 05/26/2015
  • Est. Priority Date: 12/30/2005
  • Status: Active Grant
First Claim
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1. A method comprising:

  • determining a shape of a surgical instrument based on a reflectance spectrum from a first optical fiber sensor in an optical fiber, the first optical fiber sensor being in a first part of a channel, the first part of the channel extending through a first portion of an elongate arm of the surgical instrument; and

    determining a force applied to the surgical instrument in an axial direction based on a reflectance spectrum from a second optical fiber sensor in the optical fiber, the second optical fiber sensor being in a second part of the channel, the second part of the channel extending through an elongate axially compressible fixed-position region in the elongate arm of the surgical instrument, the elongate axially compressible fixed-position region being coupled to the first portion of the elongate arm, the optical fiber being affixed to the elongate axially compressible fixed-position region distal to the second optical fiber sensor, the optical fiber being affixed to the elongate axially compressible fixed-position region proximal to the second optical fiber sensor, and the force applied to surgical instrument being generated by moving the elongate arm of the surgical instrument to position a distal tip of the surgical instrument to apply a force in the axial direction onto a surface.

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