Robotic surgery system including position sensors using fiber bragg gratings
First Claim
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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Abstract
A surgical instrument is provided, including: at least one articulatable arm having a distal end, a proximal end, and at least one joint region disposed between the distal and proximal ends; an optical fiber bend sensor provided in the at least one joint region of the at least one articulatable arm; a detection system coupled to the optical fiber bend sensor, said detection system comprising a light source and a light detector for detecting light reflected by or transmitted through the optical fiber bend sensor to determine a position of at least one joint region of the at least one articulatable arm based on the detected light reflected by or transmitted through the optical fiber bend sensor; and a control system comprising a servo controller for effectuating movement of the arm.
231 Citations
8 Claims
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1. A method comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 7)
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6. The method of 4, wherein the determining a temperature further comprises
looking up a temperature in a pre-calculated look-up table corresponding to a detected signal from the third optical fiber sensor.
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8. An apparatus comprising:
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a surgical instrument comprising an elongate arm and a distal tip, the elongate arm comprising a first portion, a second portion, and a channel extending through the first portion and the second portion, the second portion of the elongate arm comprising an elongate axially compressible fixed-position region, the elongate axially compressible fixed-position region being coupled to the first portion of the elongate arm, the elongate arm being movable to position a distal tip to apply a force in an axial direction onto a surface; an optical fiber positioned in the channel, the optical fiber comprising a first optical fiber sensor and a second optical fiber sensor, the optical fiber being affixed to the elongate axially compressible fixed-position region distal to the second optical fiber sensor, and the optical fiber being affixed to the elongate axially compressible fixed position region proximal to the second optical fiber sensor; a first interrogator; and a second interrogator; wherein the first interrogator is configured to interrogate the first optical fiber sensor for a first condition; wherein the second interrogator is configured to interrogate the second optical fiber sensor for a second condition; wherein the first and second conditions are each selected from the group consisting of a shape of the surgical instrument, a temperature of the surgical instrument, and an axial force on the surgical instrument; and wherein the first condition is different from the second condition.
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Specification