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US 9,429,696 B2Granted
Systems and methods for reducing measurement error in optical fiber shape sensors
AssigneeIntuitive Surgical Operations, Inc.
InventorsCaitlin Q. Donhowe, Stephen J. Blumenkranz, Vincent Duindam
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Abstract
A shape sensing apparatus comprises an instrument including an elongated shaft with a neutral axis. The shape sensing apparatus also includes a first shape sensor with an elongated optical fiber extending within the elongated shaft at a first radial distance from the neutral axis. The apparatus also includes a shape sensor compensation device extending within the elongated shaft. The apparatus also comprises a tracking system for receiving shape data from the first shape sensor and compensating data from the shape sensor compensation device for use in calculating a bend measurement for the instrument.
Claims7
A shape sensing apparatus comprising:
- an instrument including an elongated shaft with a neutral axis;
- a first shape sensor including an elongated optical fiber extending within the elongated shaft at a first radial distance from the neutral axis, wherein the first shape sensor includes a first plurality of optical cores, each of which includes a fiber Bragg grating;
- a shape sensor compensation device extending within the elongated shaft, the shape sensor compensation device including a second shape sensor, wherein the second shape sensor includes a second plurality of optical cores, each of which includes a fiber Bragg grating and wherein the second shape sensor extends within the elongated shaft at a second radial distance from the neutral axis and wherein an angular displacement between the first and second shape sensor about the neutral axis is approximately 180° and the first and second radial distances are approximately equal;
- and
- a tracking system adapted to receive shape data from the first shape sensor and compensating data from the shape sensor compensation device for calculating a bend measurement for the instrument at the neutral axis.
2 more elements
A method of operating a shape sensing apparatus comprising:
- providing an instrument including an elongated shaft defining a neutral axis;
- receiving shape data from a first shape sensor, the first shape sensor including an elongated optical fiber extending within the elongated shaft at a first radial distance from the neutral axis, wherein the first shape sensor includes a first plurality of optical cores, each of which includes a fiber Bragg grating;
- receiving compensation data from a shape sensor compensation device extending within the elongated shaft, the shape sensor compensation device including a second shape sensor, wherein the second shape sensor includes a second plurality of optical cores, each of which includes a fiber Bragg grating and wherein the second shape sensor extends within the elongated shaft at a second radial distance from the neutral axis and wherein an angular displacement between the first and second shape sensor about the neutral axis is approximately 180° and the first and second radial distances are approximately equal;
- generating an instrument bend measurement at the neutral axis based upon the received shape data and the compensation data;
- and
- displaying a virtual image of the instrument based on the instrument bend measurement.
3 more elements
A medical instrument system comprising:
- an instrument including an elongated shaft with a neutral axis;
- a first shape sensor including an elongated optical fiber extending within the elongated shaft at a first radial distance from the neutral axis, wherein the first shape sensor includes a first plurality of optical cores, each of which includes a fiber Bragg grating;
- and
- a shape sensor compensation device extending within the elongated shaft, the shape sensor compensation device including a second shape sensor, wherein the second shape sensor includes a second plurality of optical cores, each of which includes a fiber Bragg grating and wherein the second shape sensor extends within the elongated shaft at a second radial distance from the neutral axis and wherein an angular displacement between the first and second shape sensor about the neutral axis is approximately 180° and the first and second radial distances are approximately equal;
- a tracking system adapted to receive shape data from the first shape sensor and compensating data from the shape sensor compensation device for calculating a bend measurement for the instrument at the neutral axis;
- and
- a display system adapted to display a virtual image of the instrument using the bend measurement.
4 more elements
Dependencies are inferred from the claim text.