Robotic surgery system including position sensors using fiber bragg gratings
First Claim
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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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.
388 Citations
23 Claims
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1. An apparatus comprising:
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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, and an 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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23)
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Specification