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US 12,569,310 B2Granted
Surgical robotic user input apparatus having optical fiber-based intrinsic sensors
AssigneeAuris Health, Inc.
InventorsBernhard A. Fuerst, Berk Gonenc, Dennis Moses, Pablo E. Garcia Kilroy
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Abstract
A surgical robotic user input apparatus has a fiber optic cable with a handheld user input device attached at one end, and a connector attached at another end. Multiple intrinsic sensors, such as fiber Bragg grating sensors, are in the fiber optic cable. The intrinsic sensors are used to detect a pose of the handheld user input device. Other embodiments are also described and claimed.
Claims20
A surgical device comprising:
- a housing having a distal portion and a proximal portion, the distal portion is attached to a fiber optic cable having a plurality of intrinsic sensors therein, and the proximal portion comprises an elastic enclosure having a coupling to a pressure sensing one of the plurality of intrinsic sensors, and the plurality of intrinsic sensors are configured to modify propagating light in the fiber optic cable to detect a position or rotation of the surgical device.
A method of operating a surgical device, the method comprising:
- sending first light into a fiber optic cable having a plurality of intrinsic sensors;
- receiving second light from the fiber optic cable, wherein the second light comprises the first light modified by the plurality of intrinsic sensors;
- and
- determining a position or rotation of a housing of the surgical device based on the received second light, and the housing having a distal portion that is attached to the fiber optic cable, and a proximal portion having therein a coupling to a pressure sensing one of the plurality of intrinsic sensors and determining the position of the housing is based on differential mode analysis of the first light modified by a first subset of the plurality of intrinsic sensors, wherein the first subset is oriented inline with a longitudinal axis of the fiber optic cable.
1 more element
Dependencies are inferred from the claim text.