Back to results
US 8,896,847 B2Granted
Method and system to sense relative partial-pose information using a shape sensor
AssigneeIntuitive Surgical Operations, Inc.
InventorsVincent Duindam, Guiseppe Maria Prisco, Theodore W. Rogers, John Ryan Steger
Life of this patent
Estimating the term…
Abstract
A shape-sensing segment traverses through at least a portion of a kinematic chain of a tele-operated slave surgical instrument in a tele-operated minimally-invasive surgical system. The shape-sensing segment includes a pre-set perturbation. Shape information from the pre-set perturbation allows determination of relative partial-pose information for at least one link in the kinematic chain.
Claims20
An apparatus comprising:
- a first element having a first axis;
- a second element coupled to the first element;
- and
- a shape-sensing segment extending between the first element and the second element, the shape-sensing segment having a mechanically-constrained permanent pre-set transition,
- wherein the permanent pre-set transition is between a first position in the first element and a second position in the second element,
- wherein the first axis intersects the first position, and
- wherein the second position is displaced from the first axis so that the second position is displaced axially from the first position.
4 more elements
A method comprising:
- receiving information from a mechanically-constrained permanent pre-set transition in a shape-sensing segment,
- wherein the permanent pre-set transition is formed by the shape-sensing segment that extends from a first position in a first element to a second position in a second element of a surgical device,
- wherein the first element comprises a first axis,
- wherein the first axis intersects the first position,
- wherein the second position is displaced from the first axis so that the second position is displaced axially from the first position;
- and
- generating, by a processor from the received information, relative partial-pose information for the first element and the second element.
4 more elements
Dependencies are inferred from the claim text.