Fixture for shape-sensing optical fiber in a kinematic chain

• US 9,523,821 B2
• Filed: 03/23/2015
• Issued: 12/20/2016
• Est. Priority Date: 06/30/2008
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Rogers, Theodore W., Prisco, Giuseppe Maria
• Primary Examiner(s): Radkowski, Peter
• Application Number:
  US14/665,681
• Publication Number:
  US 20150192743A1
• Time in Patent Office: 638 Days
• US Class Current: 1/1
• CPC Class Codes: A61B 2034/2061 using shape-sensors, e.g. fiber shape sensors with Bragg gratings
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: B33Y 80/00 Products made by additive manufacturing
• CPC Class Codes: G01B 11/165 by means of a grating deformed by the object
• CPC Class Codes: G01D 11/245 Housings for sensors
• CPC Class Codes: G01D 5/35303 using a reference fibre, e.g. interferometric devices
• CPC Class Codes: G01D 5/35316 using a Bragg gratings
• CPC Class Codes: G01D 5/35377 Means for amplifying or modifying the measured quantity
• CPC Class Codes: G01M 11/083 by using an optical fiber in contact with the device under test [DUT]
• CPC Class Codes: G02B 6/022 using mechanical stress, e.g. tuning by compression or elongation, special geometrical shapes such as "dog-bone" or taper G02B6/02204 takes precedence; optical modulation using photo-elastic effect G02F1/0131
• CPC Class Codes: G02B 6/3616 Holders, macro size fixtures for mechanically holding or positioning fibres, e.g. on an optical bench supporting carriers of a microbench type G02B6/3648; micromanipulators B25J7/00; cassettes, bobbins G02B6/4439
• CPC Class Codes: G02B 6/3644 the coupling means being through-holes or wall apertures
• CPC Class Codes: G02B 6/38 having fibre to fibre mating means
• CPC Class Codes: Y10T 29/49826 Assembling or joining
• CPC Class Codes: Y10T 29/49838 by stringing
• CPC Class Codes: Y10T 29/49947 by applying separate fastener

Abstract

Localized strain is effectively eliminated in a shape sensing optical fiber where the fiber exits a link in a kinematic chain. In one aspect, the fiber is positioned in a channel within a fiber fixture portion of the link, and a surface of a lip of the channel is curved. The curved surface of the lip begins tangent to a wall of the channel and has a maximum radius of curvature that is less than the minimum bend radius that the fiber will experience during shape sensing. In another aspect, the fiber is positioned within a shape memory alloy tube that extends from the link.

Claims

1. An apparatus comprising:

a first link, the first link having first and second ends with a first channel extending between the first and second ends of the first link;

a second link, the second link having first and second ends with a second channel extending between the first and second ends;

a joint that couples the first and second links;

an optical fiber extending between the first link and the second link and through the first and second channels; and

a tube with a third channel, the tube positioned within the first channel, and the third channel having a lip with a curved surface, wherein the optical fiber extends beyond a distal end of the tube through the third channel beyond the lip into the joint and is bendable along the lip of the third channel.

2. The apparatus of claim 1 further comprising:

a strain interrogator, wherein the strain interrogator receives strain information from fiber Bragg gratings in the optical fiber.

3. The apparatus of claim 1, wherein the optical fiber extends out of the first link at a longitudinal centerline of the first link.

4. The apparatus of claim 1, wherein the first and second links are links in a surgical instrument.

5. The apparatus of claim 1 wherein the curved surface begins substantially tangent to a wall of the third channel.

6. The apparatus of claim 1 wherein the first link is formed from a fused deposition modeling process.

7. The apparatus of claim 1 wherein the tube is formed of Polyetheretherketone.

8. The apparatus of claim 1 wherein the optical fiber includes fiber Bragg gratings positioned adjacent to the lip of the third channel.

9. The apparatus of claim 1 wherein the joint has multiple degrees of freedom.

10. The apparatus of claim 1 wherein the joint includes a continuously bending flexible structure.

11. The apparatus of claim 1 wherein the optical fiber is bendable tangent to the curved surface of the lip of the third channel.

12. The apparatus of claim 1 wherein the first channel has a tight fit with the tube.

13. The apparatus of claim 1 wherein the third channel has a tight fit with the optical fiber.

14. The apparatus of claim 1 wherein the third channel permits the optical fiber to slide in a longitudinal direction with reference to the first link.

15. A minimally invasive surgical instrument comprising:

an instrument shaft;

an end effector; and

a wrist mechanism coupled between the instrument shaft and the end effector, wherein the wrist mechanism includes

a first link, the first link having first and second ends with a first channel extending between the first and second ends of the first link;

a second link, the second link having first and second ends with a second channel extending between the first and second ends;

a joint that couples the first and second links;

an optical fiber extending between the first link and the second link; and

a tube with a third channel, the tube positioned within the first channel, and the third channel having a lip with a curved surface, wherein the optical fiber extends through the third channel beyond the lip into the joint and is bendable along the lip of the third channel.

16. The minimally invasive surgical instrument of claim 15 wherein

the curved surface begins substantially tangent to a wall of the third channel.

17. The minimally invasive surgical instrument of claim 15 wherein the first link is formed from a fused deposition modeling process.

18. The minimally invasive surgical instrument of claim 15 wherein the tube is formed of Polyetheretherketone.

19. The minimally invasive surgical instrument of claim 15 wherein the optical fiber includes fiber Bragg gratings positioned adjacent to the lip of the third channel.

20. The minimally invasive surgical instrument of claim 15 wherein the optical fiber is bendable tangent to the curved surface of the lip of the third channel.