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Robotic surgery system including position sensors using fiber bragg gratings

  • US 9,084,624 B2
  • Filed: 03/16/2011
  • Issued: 07/21/2015
  • Est. Priority Date: 12/30/2005
  • Status: Active Grant
First Claim
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1. An apparatus comprising:

  • a robotic manipulator; and

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

    an elongate arm having a distal end, a proximal end, and a joint region disposed between the distal and proximal ends, andan optical fiber having an optical fiber bend sensor positioned in the joint region of the elongate arm; and

    a control system comprising;

    a detection system, wherein the detection system is coupled to receive light reflected by or transmitted through the optical fiber bend sensor, and wherein the detection system is configured to determine information characterizing a state of the joint region of the elongate arm based on the received light; and

    a servo controller coupled to bend the joint region, the servo controller comprising a multiple loop feedback loop including a closed feedback loop as one of the multiple loops, wherein the servo controller is coupled to receive the joint region state information from the detection system, and wherein the servo controller is configured to use the received joint region state information as real time feedback to the closed feedback loop to control bending of the joint region.

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