# US 8,784,303 B2 · System for controlling an instrument using shape sensors

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- Number: US 8,784,303 B2
- Document ID: US8784303B2
- Status: Granted
- Kind: B2
- Application number: 12/524,249
- Filed: 2008-01-29
- Published: 2010-04-22
- Granted: 2014-07-22
- Earliest claimed: 2007-01-29
- Assignees: Intuitive Surgical Operations, Inc.
- Applicants: Keith P. Laby; Robert M. Ohline; Christoph M. Pistor; Charles E. Swinehart; Bruce R. Woodley; Amir Belson
- Inventors: Keith P. Laby; Robert M. Ohline; Christoph M. Pistor; Charles E. Swinehart; Bruce R. Woodley; Amir Belson
- Web page: https://patentgrep.com/patent/US8784303B2

## CPC

- A61B 1/0055: {Constructional details of insertion parts, e.g. vertebral elements}
- A61B 1/00045: {Display arrangement}
- A61B 1/0052: {Constructional details of control elements, e.g. handles}
- A61B 1/009: {with bending or curvature detection of the insertion part}
- A61B 1/05: characterised by the image sensor, e.g. camera, being in the distal end portion
- A61B 1/313: for introducing through surgical openings, e.g. laparoscopes
- A61B 2034/2061: {using shape-sensors, e.g. fiber shape sensors with Bragg gratings}
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)

## Abstract

The present invention relates, generally, to controlling a steerable instrument having an elongate body. More particularly, the present invention relates to a system and method for sensing the shape of a steerable instrument and controlling the steerable instrument in response to a control signal from a user input device and a shape signal corresponding to the sensed shape of at least a portion of the steerable instrument. The present invention also relates to a system for sensing the shape of a flexible instrument with an optical shape sensor.

## Claims

### Claim 1

A minimally invasive surgical system comprising:
an instrument comprising a plurality of articulating segments;
a user input device that provides a control signal to change the shape of the plurality of articulating segments; and
a closed loop control system comprising a controller, an actuator coupled to the controller, and a shape sensor coupled to the controller and associated with the plurality of articulating segments;
wherein the shape sensor provides a shape signal corresponding to the shape of the plurality of articulating segments; and
wherein the controller directs movement of the plurality of articulating segments in response to the control signal from the user input device and the shape signal from the shape sensor;
wherein the shape sensor comprises an optical fiber that spirals around the plurality of articulating segments.

### Claim 2 (depends on 1)

The minimally invasive surgical system of claim 1:
wherein the optical fiber is positioned off center in the instrument.

### Claim 3 (depends on 1)

The minimally invasive surgical system of claim 1:
wherein the user input device comprises an interactive display configured to display an output representing the shape of at least a portion of the instrument, wherein the user input device is configured to receive a user input for a desired shape of the instrument.

### Claim 4 (depends on 1)

The minimally invasive surgical system of claim 1:
wherein the plurality of articulating segments comprises a first segment and a second segment; and
wherein the controller determines that a shape of the first segment has conformed to a shape of the second segment as the instrument advances or withdraws.

### Claim 5 (depends on 1)

The minimally invasive surgical system of claim 1:
wherein the user input device comprises an interface that receives a command from a user to change a shape of the instrument; and
wherein the controller determines whether or to what degree the instrument has moved into a desired shape based at least in part on the shape signal provided by the shape sensor.

### Claim 6 (depends on 1)

The minimally invasive surgical system of claim 1:
wherein controller-directed movement of the instrument compensates for errors within the instrument that would otherwise cause the instrument to fail to achieve an intended shape.

### Claim 7 (depends on 1)

The minimally invasive surgical system of claim 1 further comprising:
a second sensor placed at a fixed reference location;
wherein the position of the shape sensor compared to the reference location is used to determine a position of the instrument relative to the reference location or to determine a depth the instrument has been inserted beyond the reference location.

### Claim 8 (depends on 1)

The minimally invasive surgical system of claim 1:
wherein the optical fiber comprises a linear array of high spatial resolution fiber optic bend sensors.

### Claim 9 (depends on 1)

The minimally invasive surgical system of claim 1:
wherein the optical fiber comprises Bragg gratings.

### Claim 10 (depends on 1)

The minimally invasive surgical system of claim 1:
wherein the optical fiber includes a counter twist.

### Claim 11 (depends on 10)

The minimally invasive surgical system of claim 10:
wherein the counter twist is in a direction counter to a direction of the spiral of the optical fiber.