# US 11,076,753 B2 · Fiber management in medical instrument backend > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,076,753 B2 - Document ID: US11076753B2 - Status: Granted - Kind: B2 - Application number: 16/678,728 - Filed: 2019-11-08 - Published: 2020-03-26 - Granted: 2021-08-03 - Earliest claimed: 2015-05-01 - Assignees: Intuitive Surgical Operations, Inc. - Applicants: Intuitive Surgical Operations, Inc. - Inventors: Stephen J. Blumenkranz; Vincent Duindam; Mark Froggatt; Eric Sanborn - Web page: https://patentgrep.com/patent/US11076753B2 ## CPC - A61B 1/07: using light-conductive means, e.g. optical fibres - A61B 1/00165: {with light-conductive means, e.g. fibre optics (A61B1/07 takes precedence)} - A61B 1/0051: {with controlled bending of insertion part} - G02B 6/36: Mechanical coupling means (G02B6/255, G02B6/42 take precedence) - G02B 23/26: using light guides {(for illumination G02B23/2469)} - A61B 5/065: {Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe} - A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis - A61B 2034/2061: {using shape-sensors, e.g. fiber shape sensors with Bragg gratings} - A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes} - A61M 2025/0166: {Sensors, electrodes or the like for guiding the catheter to a target zone, e.g. image guided or magnetically guided} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - G02B: OPTICAL ELEMENTS, SYSTEMS OR APPARATUS - A61M: DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY (introducing media into or onto the bodies of animals A61D7/00; means for inserting tampons A61F13/26; devices for administering food or medicines orally A61J; containers for collecting, storing or administering blood or medical fluids A61J1/05); DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY (surgery A61B; chemical aspects of surgical articles A61L); DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR {(Electrotherapy, e.g. producing anaesthesia by the use of alternating or intermittent currents A61N1/36021)} ## Abstract A tool may comprise an optical fiber including a proximal end, a distal end, an intermediate portion between the proximal end and the distal end, and an adjustable bend between the proximal end and the intermediate portion. Motion of the intermediate portion may be constrained to translational motion substantially along an axis defined by the optical fiber at the intermediate portion. The tool may also comprise a cylindrical passage through which the intermediate portion of the optical fiber extends and a housing enclosing the adjustable bend and the cylindrical passage. The cylindrical passage may extend through a cylindrical member that includes an outer wall surrounding the cylindrical passage. The housing encloses the outer wall of the cylindrical member. ## Claims ### Claim 1 A tool comprising: an optical fiber including a proximal end, a distal end, an intermediate portion between the proximal end and the distal end, and an adjustable bend between the proximal end and the intermediate portion, wherein motion of the intermediate portion is constrained to translational motion substantially along an axis defined by the optical fiber at the intermediate portion; a cylindrical passage through which the intermediate portion of the optical fiber extends; and a housing enclosing the adjustable bend and the cylindrical passage, wherein the cylindrical passage extends through a cylindrical member, the cylindrical member including an outer wall surrounding the cylindrical passage and wherein the housing encloses the outer wall of the cylindrical member. ### Claim 2 (depends on 1) The tool of claim 1, wherein the intermediate portion is constrained to translational motion by the cylindrical passage. ### Claim 3 (depends on 1) The tool of claim 1, wherein the proximal end of the optical fiber is fixed within the housing relative to the housing. ### Claim 4 (depends on 1) The tool of claim 1, further comprising a return mechanism that is configured to urge the intermediate portion towards a predetermined starting location. ### Claim 5 (depends on 4) The tool of claim 4, wherein the return mechanism is positioned between the proximal end and the intermediate portion. ### Claim 6 (depends on 4) The tool of claim 4, wherein the return mechanism includes a magnet. ### Claim 7 (depends on 4) The tool of claim 4, wherein the return mechanism includes a spring. ### Claim 8 (depends on 4) The tool of claim 4, wherein the return mechanism includes a pressurized gas. ### Claim 9 (depends on 1) The tool of claim 1, wherein the adjustable bend includes at least one complete loop. ### Claim 10 (depends on 1) The tool of claim 1, wherein the adjustable bend is less than one complete loop. ### Claim 11 (depends on 1) The tool of claim 1, wherein the adjustable bend is constrained to movement in a single plane. ### Claim 12 (depends on 1) The tool of claim 1, further comprising a roller ball extending into the cylindrical passage, wherein the intermediate portion is constrained to translational motion by the roller ball. ### Claim 13 A catheter system comprising: a catheter body; an optical fiber extending within and movable relative to the catheter body, the optical fiber including a proximal end, a distal end, an intermediate portion between the proximal end and the distal end, and an adjustable bend between the proximal end and the intermediate portion, wherein motion of the intermediate portion is constrained to translational motion substantially along an axis defined by the optical fiber at the intermediate portion; a cylindrical passage through which the intermediate portion of the optical fiber extends; and a housing enclosing the adjustable bend and the cylindrical passage, wherein the cylindrical passage extends through a cylindrical member, the cylindrical member including an outer wall surrounding the cylindrical passage and wherein the housing encloses the outer wall of the cylindrical member and wherein the catheter body extends through the housing. ### Claim 14 (depends on 13) The catheter system of claim 13, wherein the intermediate portion is constrained to translational motion by the cylindrical passage. ### Claim 15 (depends on 13) The catheter system of claim 13, wherein the proximal end of the optical fiber is fixed within the housing relative to the housing. ### Claim 16 (depends on 13) The catheter system of claim 13, wherein the adjustable bend is constrained to movement in a single plane. ### Claim 17 (depends on 13) The catheter system of claim 13, wherein the adjustable bend is less than one complete loop. ### Claim 18 (depends on 13) The catheter system of claim 13, further comprising a return mechanism that is configured to urge the intermediate portion towards a predetermined starting location.