Robotic surgery system including position sensors using fiber bragg gratings
First Claim
1. An apparatus comprising:
- a surgical instrument mountable to a robotic manipulator, the surgical instrument comprising;
an elongate arm comprising;
an actively controlled bendable region including at least one joint region and an end effector,a passively bendable region including a distal end coupled to the actively controlled bendable region,an actuation mechanism extending through the passively bendable region and coupled to the at least one joint region to control the actively controlled bendable region, anda channel extending through the elongate arm; and
an optical fiber positioned in the channel, wherein the optical fiber includes an optical fiber bend sensor in at least one of the passively bendable region or the actively controlled bendable region.
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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.
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Citations
20 Claims
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1. An apparatus comprising:
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a surgical instrument mountable to a robotic manipulator, the surgical instrument comprising; an elongate arm comprising; an actively controlled bendable region including at least one joint region and an end effector, a passively bendable region including a distal end coupled to the actively controlled bendable region, an actuation mechanism extending through the passively bendable region and coupled to the at least one joint region to control the actively controlled bendable region, and a channel extending through the elongate arm; and an optical fiber positioned in the channel, wherein the optical fiber includes an optical fiber bend sensor in at least one of the passively bendable region or the actively controlled bendable region. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification