# US 10,245,115 B2 · Fiber optic sensing of tool strain or tool angle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,245,115 B2 - Document ID: US10245115B2 - Status: Granted - Kind: B2 - Application number: 15/670,310 - Filed: 2017-08-07 - Published: 2018-03-08 - Granted: 2019-04-02 - Earliest claimed: 2016-09-06 - Assignees: Intuitive Surgical Operations, Inc. - Applicants: Intuitive Surgical Operations, Inc. - Inventors: Mark Froggatt; Eric Sanborn; Alexander K. Sang; Matthew S. Wolfe - Web page: https://patentgrep.com/patent/US10245115B2 ## CPC - A61B 34/76: {Manipulators having means for providing feel, e.g. force or tactile feedback} - A61B 34/70: {Manipulators specially adapted for use in surgery} - A61B 90/06: {Measuring instruments not otherwise provided for} - G01L 1/242: {the material being an optical fibre} - G01L 5/0038: {applying a pushing force} - G02B 6/02042: {Multicore optical fibres} - A61B 2090/064: {for measuring force, pressure or mechanical tension} - A61B 2090/067: {for measuring angles} - G01B 11/16: for measuring the deformation in a solid, e.g. optical strain gauge - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - G01L: MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE (weighing G01G) - G02B: OPTICAL ELEMENTS, SYSTEMS OR APPARATUS - G01B: MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS ## Abstract A hinged tool includes a first member; a second member pivotally connected to the first member at a pivot; and an optical fiber. The optical fiber is fixed to the first member at a load application region and fixed to at least one of the pivot and the second member at a location such that the optical fiber bends when the first member and the second member are pivoted with respect to one another. A method of using a hinged tool includes measuring fiber strain in an optical fiber fixed to the hinged tool, and determining at least one of tool strain applied to the hinged tool and a degree of pivoting of the hinged tool using the fiber strain. ## Claims ### Claim 1 A method of using a hinged tool, the method comprising: measuring fiber strain in an optical fiber fixed to at least one jaw of opposed jaws of the hinged tool; and determining at least one of tool strain applied to the hinged tool and a degree of pivoting of the hinged tool using the fiber strain. ### Claim 2 (depends on 1) The method according to claim 1, wherein determining the at least one of the tool strain applied to the hinged tool and the degree of pivoting of the hinged tool using the fiber strain comprises: determining both the tool strain applied to the hinged tool and the degree of pivoting of the hinged tool. ### Claim 3 (depends on 1) The method according to claim 1, wherein determining the at least one of the tool strain applied to the hinged tool and the degree of pivoting of the hinged tool using the fiber strain comprises determining the tool strain applied to the hinged tool, the method further comprising: correlating the fiber strain to a force applied to the hinged tool. ### Claim 4 (depends on 3) The method according to claim 3, wherein correlating the fiber strain to the force applied to the hinged tool comprises: correlating the fiber strain to a magnitude and a distribution of force applied to the hinged tool. ### Claim 5 (depends on 1) The method according to claim 1, further comprising: adjusting the hinged tool based on the at least one of the tool strain applied to the hinged tool and the degree of pivoting of the hinged tool. ### Claim 6 (depends on 1) The method according to claim 1, wherein determining the at least one of the tool strain applied to the hinged tool and the degree of pivoting of the hinged tool using the fiber strain comprises: determining a distribution of the tool strain applied to the hinged tool along a predetermined length of the hinged tool. ### Claim 7 (depends on 1) The method according to claim 1, further comprising: determining a position where an object contacts the opposed jaws using the fiber strain, wherein the object is between the opposed jaws. ### Claim 8 (depends on 1) The method according to claim 1, further comprising: determining whether an area that an object contacts the opposed jaws is changing using the fiber strain, wherein the object is between the opposed jaws. ### Claim 9 (depends on 1) The method according to claim 1, further comprising: determining a degree of wear of the hinged tool by comparing the at least one of the tool strain applied to the hinged tool and the degree of pivoting of the hinged tool to a predetermined condition of the hinged tool. ### Claim 10 (depends on 9) The method according to claim 9, further comprising: adjusting control parameters for the hinged tool based on the degree of wear. ### Claim 11 (depends on 9) The method according to claim 9, further comprising determining at least one of a safety and a remaining amount of useful life of the hinged tool based on the degree of wear. ### Claim 12 A tool system comprising: a hinged tool comprising: a first member; a second member pivotally connected to the first member at a pivot such that the hinged tool has opposed jaws; and a single core optical fiber fixed to the first member along a load application region, wherein tool strain induced in the hinged tool in the load application region induces fiber strain in the single core optical fiber; and a control system configured to: measure fiber strain in the optical fiber; and determine at least one of tool strain applied to the hinged tool and a degree of pivoting of the hinged tool using the fiber strain. ### Claim 13 (depends on 12) The tool system according to claim 12, wherein determining the at least one of the tool strain applied to the hinged tool and the degree of pivoting of the hinged tool using the fiber strain comprises: determining both the tool strain applied to the hinged tool and the degree of pivoting of the hinged tool. ### Claim 14 (depends on 12) The tool system according to claim 12, wherein determining the at least one of the tool strain applied to the hinged tool and the degree of pivoting of the hinged tool using the fiber strain comprises determining the tool strain applied to the hinged tool, and further comprises: correlating the fiber strain to a force applied to the hinged tool. ### Claim 15 (depends on 12) The tool system according to claim 12, wherein determining the at least one of the tool strain applied to the hinged tool and the degree of pivoting of the hinged tool using the fiber strain comprises: determining a distribution of the tool strain applied to the hinged tool along a predetermined length of the hinged tool. ### Claim 16 (depends on 12) The tool system according to claim 12, wherein the control systems is configured to determine a position where an object contacts the opposed jaws using the fiber strain when the object is between the opposed jaws. ### Claim 17 (depends on 12) The tool system according to claim 12, wherein the control systems is configured to determine whether an area that an object contacts the opposed jaws is changing using the fiber strain when the object is between the opposed jaws. ### Claim 18 (depends on 12) The tool system according to claim 12, wherein the control systems is configured to determine a degree of wear of the hinged tool by comparing the at least one of the tool strain applied to the hinged tool and the degree of pivoting of the hinged tool to a predetermined condition of the hinged tool. ### Claim 19 (depends on 18) The tool system according to claim 18, wherein the control systems is configured to adjust control parameters for the hinged tool based on the degree of wear. ### Claim 20 (depends on 18) The tool system according to claim 18, wherein the control systems is configured to determine at least one of a safety and a remaining amount of useful life of the hinged tool based on the degree of wear.