×

Robotic surgery system including position sensor using fiber bragg gratings

  • US 9,060,793 B2
  • Filed: 03/16/2011
  • Issued: 06/23/2015
  • Est. Priority Date: 12/30/2005
  • Status: Active Grant
First Claim
Patent Images

1. An apparatus comprising:

  • a robotic manipulator; and

    a surgical instrument mounted on the robotic manipulator, the surgical instrument comprising;

    an elongate arm comprising a fixed position region, the fixed position region extending between a fixed position region distal end and a fixed position region proximal end, the fixed position region being a straight region between the fixed position region proximal end and the fixed position region distal end, the fixed position region having a lengthwise axis extending between the fixed position region distal end and the fixed position region proximal end, and the fixed position region being axially compressible along the lengthwise axis;

    an axial channel in the elongate arm; and

    an optical fiber positioned in the axial channel, the optical fiber including a sensing region;

    wherein the optical fiber is axially fixed to the elongate arm at the fixed position region proximal end and at the fixed position region distal end, a portion of the optical fiber between the fixed position region distal end and the fixed position region proximal end not being fixed to the elongate arm;

    wherein the sensing region is positioned between the fixed position region proximal end and the fixed position region distal end; and

    wherein the sensing region is configured to receive an input light and to output reflected input light that indicates axial compression of the elongate arm between the fixed position region proximal end and the fixed position region distal end.

View all claims
  • 0 Assignments
Timeline View
Assignment View
    ×
    ×