Systems and methods for reducing measurement error using optical fiber shape sensors

US10772485B2 · kind B2 · utility

Assignee

• INTUITIVE SURGICAL OPERATIONS, INC. · US

Inventors

• Randall L. Schlesinger · San Mateo, US
• Stephen J. Blumenkranz · Los Altos Hills, US
• Christopher R. Carlson · Menlo Park, US
• Vincent Duindam · Oakland, US
• Anoop B. Kowshik · San Jose, US
• Timothy D. Soper · San Jose, US

Key dates

• Filing date: Jul 11, 2019
• Grant date: Sep 15, 2020
• Expiry date: Jul 11, 2039

Classification

• Technology area (CPC A): Human Necessities
• CPC primary: A61B2034/2061
• WIPO field: Medical technology
• WIPO sector: Instruments

Abstract

An apparatus may include an instrument including an elongated shaft and a shape sensor including an elongated optical fiber extending within the elongated shaft at a first radial distance from a neutral axis. The apparatus may also comprise a reference sensor disposed within the elongated shaft. The shape sensor may be fixed in a known first position relative to the reference sensor. The apparatus may also comprise a twist resistant feature disposed within the elongated shaft. The twist resistant feature may be coupled to the shape sensor to reduce twisting of the elongated optical fiber relative to the elongated shaft while permitting axial translation of the elongated optical fiber within the elongated shaft. The shape sensor may be coupled to the twist resistant feature at a known second position relative to the reference sensor.