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

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Larkin, David Q., Shafer, David C.
• Primary Examiner(s): Nguyen, John Q
• Assistant Examiner(s): KIM, KYUNG J
• Application Number:
  US13/049,023
• Publication Number:
  US 20110224686A1
• Time in Patent Office: 1,560 Days
• Field of Search: 700/245, 606/130, 738/626.24, 294/28, 744/900.1
• US Class Current: 1/1
• CPC Class Codes: A61B 1/009 with bending or curvature detection of the insertion part
• CPC Class Codes: A61B 2017/00057 Light
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/0477 with pre-tied sutures
• CPC Class Codes: A61B 2017/2906 Multiple forceps
• CPC Class Codes: A61B 2034/2048 using an accelerometer or inertia sensor
• CPC Class Codes: A61B 2034/2059 Mechanical position encoders
• CPC Class Codes: A61B 2034/2061 using shape-sensors, e.g. fiber shape sensors with Bragg gratings
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2090/3614 using optical fibre
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 90/30 Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: B25J 18/06 flexible
• CPC Class Codes: B25J 19/025 including optical fibres
• CPC Class Codes: B25J 9/1635 flexible-arm control
• CPC Class Codes: Y10S 901/09 : Closed loop, sensor feedback controls arm movement
• CPC Class Codes: Y10S 901/28 : Joint
• CPC Class Codes: Y10S 901/46 : Sensing device
• CPC Class Codes: Y10S 901/47 : Optical
• CPC Class Codes: Y10T 29/49826 : Assembling or joining
• CPC Class Codes: Y10T 74/20305 : Robotic arm

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.

Claims

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.

2. The apparatus of claim 1:

wherein the optical fiber is not fixed to the arm between the fixed position region proximal end and the fixed position region distal end.

3. 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 defined between a fixed position region distal end and a fixed position region proximal end, and a channel extending axially through the fixed position region and at least an additional portion of the elongate arm, the fixed position region having a lengthwise axis extending between the fixed position region proximal end and the fixed position distal end, the fixed position region being a straight region between the fixed position region proximal end and the fixed position region distal end, and the fixed position region being axially compressible along the lengthwise axis; and

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

wherein the sensing region is configured to receive an input light and to output reflected input light that indicates axial compression of the fixed position region.

4. The apparatus of claim 3, wherein the sensing region comprises a Fiber Bragg Grating region.

5. The apparatus of claim 3, wherein the sensing region is included in a plurality of sensing region in the optical fiber.

6. The apparatus of claim 3, wherein a longitudinal axis of the channel is a neutral axis of the elongate arm.

7. The apparatus of claim 3, further comprising:

a detection system, coupled to the optical fiber, comprising;

a light source wherein the light source is configured to provide the input light to the sensing region, and

a light detector, wherein the light detector is configured to receive a reflectance spectrum from the sensing region.

8. The apparatus of claim 3, wherein the fixed position region distal end is a distal end of the surgical instrument.

9. The apparatus of claim 3, wherein the fixed position region comprises a torsion spring.

10. The apparatus of claim 3,

wherein the surgical instrument further comprises a second optical fiber including a second sensing region,

wherein the second optical fiber extends along the fixed position region in a same direction as the first optical fiber, and

wherein the second sensing region is positioned between the fixed position region proximal end and the fixed position region distal end, and is not fixed to the channel within the fixed position region so that axial movement of the second sensing region does not strain the second sensing region.

11. A method comprising:

positioning an optical fiber including a sensing region in a channel of a fixed position region of an elongate arm of a surgical instrument, the surgical instrument being configured to be mounted on a robotic manipulator, wherein the fixed position region is defined between a fixed position region distal end and a fixed position region proximal end, the fixed position region having a lengthwise axis, the lengthwise axis extending between the fixed position region proximal end and the fixed position distal end, the fixed position region being a straight region between the fixed position region proximal end and the fixed position region distal end, and the fixed position region being axially compressible along the lengthwise axis;

positioning the sensing region within the fixed position region; and

affixing the optical fiber 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.

12. The method of claim 11, wherein the sensing region comprises a Fiber Bragg Grating region.

13. The method of claim 11, wherein a longitudinal axis of the channel is a neutral axis of the elongate arm.

14. The method of claim 11, further comprising:

coupling a detection system to the optical fiber,

wherein the detection system comprises;

a light source configured to provide light to the sensing region, and

a light detector configured to receive a reflectance spectrum from the sensing region.

15. The method of claim 11, wherein the fixed position region distal end is a distal end of the surgical instrument.

16. The method of claim 11, wherein the fixed position region comprises a torsion spring.

17. A method comprising:

applying a force in an axial direction to a first end of a fixed position region of an elongate arm of a surgical instrument, the surgical instrument being mounted on a robotic manipulator, the fixed position region having a sensing region of an optical fiber positioned in a channel within the fixed position region between the first end of the fixed position region and a second end of the fixed position region, the fixed position region having a lengthwise axis, the lengthwise axis extending between the first end and the second end, the fixed position region being a straight region between the first end of the fixed position region and the second end of the fixed position region, and the fixed position region being axially compressible along the lengthwise axis wherein the optical fiber is axially affixed to the first end and the second end of the fixed position region, a portion of the optical fiber between the first end and the second end not being fixed to the elongate arm; and

detecting axial loading on the fixed position region based on a reflectance spectrum from the sensing region.

18. The method of claim 17, further comprising:

determining the axially applied force to the first end of the fixed position region based on the axial loading.

19. The method of claim 17, further comprising:

determining a torque on the fixed position region.

20. A method comprising:

detecting a reflectance spectrum from a sensing region positioned along a fixed position region of an elongate arm of a surgical instrument, the surgical instrument being mounted on a robotic manipulator, wherein the sensing region is in an optical fiber fixed to the elongate arm at a proximal end of the fixed position region and at a distal end of the fixed position region, 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 the fixed position region having a lengthwise axis, the lengthwise axis extending between the first end and the second end, the fixed position region being a straight region between the fixed position region proximal end and the fixed position region distal end, and the fixed position region being axially compressible along the lengthwise axis; and

determining an axial load on the arm based on the detected reflectance spectrum.

21. The method of claim 20 further comprising:

detecting a second reflectance spectrum from a second sensing region positioned along the fixed position region; and

determining the axial load on the arm and a temperature based on the detected reflectance spectrum and the detected second reflectance spectrum.