Fixture for shape-sensing optical fiber in a kinematic chain
AssigneeIntuitive Surgical Operations, Inc.
InventorsTheodore W. Rogers, Giuseppe Maria Prisco
Life of this patent
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Abstract
A first link and a second link are articulated relative to each other via a joint coupled between the first and second links. A shape-sensing optical fiber is used to sense a position of the first link and the second link relative to each other. The fiber passes through a channel having an opening defining a lip and extending from the first link toward the joint. The lip has a curved surface that begins substantially tangent to a wall of the channel, and during bending of the optical fiber, the optical fiber is positioned tangent to the curved surface of the lip.
Claims20
A method comprising:
- articulating a first link and a second link relative to each other via a joint coupled between the first and second links;
- and
- during the articulating, bending a shape-sensing optical fiber to remain tangent along a curved surface of a lip of a channel in the first link through which the fiber extends towards the joint, the curved surface beginning substantially tangent to a wall of the channel.
A method comprising:
- articulating a first link and a second link relative to each other via a joint coupled between the first and second links;
- and
- during the articulating, bending a shape-sensing optical fiber as the optical fiber exits a channel in the first link through which the optical fiber extends towards the joint such that a minimum bend radius of the optical fiber is greater than a maximum radius of curvature of a lip of the channel.
A method of articulating links in a surgical instrument, the method comprising:
- articulating a first link and a second link in a surgical instrument relative to each other via a joint coupled between the first and second links;
- and
- during the articulating, bending a shape-sensing optical fiber to remain tangent along a curved surface of a lip of a channel in the first link through which the fiber extends towards the joint, the curved surface beginning substantially tangent to a wall of the channel.
Dependencies are inferred from the claim text.