Fiber sensor

Patent metadata

Field	Value
Publication number	US-10111580-B2
Application number	US-201715728647-A
Country	US
Kind code	B2
Filing date	Oct 10, 2017
Priority date	Apr 10, 2015
Publication date	Oct 30, 2018
Grant date	Oct 30, 2018

Abstract

At least one optical fiber of a fiber sensor has sensing parts whose number is number of the anticipated inflection points+one or more, the anticipated inflection points being inflection points of a shape of a detection target range of a detection target. The number of the anticipated inflection points is decided based on one of a functional limit and a structural limit which limit a degree of freedom in a bending shape of the detection target. A space L 1 between the anticipated inflection points is L 1 =r 1 ·θ 1 , wherein r 1 is a curvature radius at a maximum bending of the detection target range of the detection target, θ 1 is a central angle of an arc created by the space between the anticipated inflection points at the maximum bending, and θ 1 ≥π/2.

First claim

What is claimed is:

1. A fiber sensor comprising:
at least one optical fiber having one or more sensing parts;
a light emitter configured to cause light to enter the at least one optical fiber; and
a light receiver configured to receive light emitted from the at least one optical fiber, wherein
the at least one optical fiber is laid in a detection target at least a part of which is bendable and is arranged along a longitudinal direction of the detection target in a detection target range which is the at least the part of the detection target,
the fiber sensor is configured to detect light guided through the at least one optical fiber and thereby detect a state of the detection target range of the detection target,
when anticipated inflection points are inflection points of a shape of the detection target range and are anticipated from one of a possible shape of the detection target range of the detection target and a state detectable in the detection target range, the at least one optical fiber has the sensing parts whose number is the number of the anticipated inflection points+one or more,
the number of the anticipated inflection points is decided based on one of a functional limit and a structural limit which limit a degree of freedom in a bending shape of the detection target,
a space L 1 between the anticipated inflection points is
L 1 =r 1 ·θ 1

wherein r 1 is a curvature radius at a maximum bending of the detection target range of the detection target, θ 1 is a central angle of an arc created by the space between the anticipated inflection points at the maximum bending, and θ 1 ≥π/2.

2. The fiber sensor according to claim 1 , wherein
a structure of the detection target in the detection target range comprises:
rigid members; and
a bending mechanism which bends a range of the detection target comprising the rigid members, and

the space between the anticipated inflection points is equal to or more than ten times the rigid member.

3. The fiber sensor according to claim 1 , wherein
the detection target has a long and tubular shape, and
the space between the anticipated inflection points is equal to or more than ten times a diameter of the detection target in the detection target range.

4. The fiber sensor according to claim 1 , wherein
the detection target range of the detection target has an insertion section to be inserted into a subject, and
the number of the anticipated inflection points is decided on the basis of a structure of the subject.

5. The fiber sensor according to claim 1 , wherein
the detection target in the detection target range has structures different in the longitudinal direction, and
the sensing parts are densely or sparsely arranged on the basis of the structure of the detection target in the detection target range.

6. The fiber sensor according to claim 5 , wherein
the structure of the detection target in the detection target range comprises:
first rigid members;
second rigid members whose length in the longitudinal direction is smaller than that of the first rigid members;
a first bending mechanism configured to bend a range of the detection target comprising the first rigid members; and
a second bending mechanism configured to bend a range of the detection target comprising the second rigid members, and

the sensing parts are more densely arranged in the range of the detection target comprising the second rigid members than in the range of the detection target comprising the first rigid members.

7. The fiber sensor according to claim 5 , wherein
the structure of the detection target in the detection target range varies in hardness against bending in the longitudinal direction, and
the sensing parts are more densely arranged in a range of the detection target in which the hardness against bending is low than in a range of the detection target in which the hardness against bending is high.

8. The fiber sensor according to claim 7 , wherein
when certain force is applied to a force point opposite to a supporting point, the supporting point supporting at one end of a certain range in which the hardness of the detection target is judged, the force point being at the other end of the certain range,
the hardness of the detection target against bending in the detection target range is judged on the basis of an angle formed by an axis along the longitudinal direction of the detection target at the supporting point and an axis along the longitudinal direction of the detection target at the force point.

9. The fiber sensor according to claim 1 , wherein
the sensing parts are arranged substantially in the midpoint, in the longitudinal direction, of one of: a range intervening between the adjacent anticipated inflection points; and a range intervening between the anticipated inflection point and an end of the detection target range.

10. The fiber sensor according to claim 1 , wherein
a sensing part space L 2 which is a space between centers of the sensing parts adjacent in the longitudinal direction of the detection target in the detection target range is
L 2 =r 2 ·θ 2

wherein r 2 is a curvature radius at the maximum bending of the detection target range of the detection target, θ 2 is a central angle of an arc created by the sensing part space at the maximum bending, and θ 2 ≤π.

11. The fiber sensor according to claim 1 , wherein
at least one of the sensing parts is disposed as divided sensing parts which are divided from this one sensing part in the longitudinal direction.

12. The fiber sensor according to claim 11 , wherein
the dividing number and arrangement of the divided sensing parts are decided so that a divided sensing part space L 3 is
L 3 =r 3 ·θ 3

wherein the divided sensing part space L 3 is one of: a space between inner ends of the divided sensing parts; and a space between an end of a shape calculation range that is a range where a shape of the detection target range of the detection target is calculated on the basis of the state detected in the divided sensing parts, and ends of the divided sensing parts on the side of the end of the shape calculation range, r 3 is a curvature radius at the maximum bending of the detection target range of the detection target, θ 3 is a central angle of an arc created by the divided sensing part space at the maximum bending, and θ 3 ≤π/2.

13. The fiber sensor according to claim 11 , wherein
the divided sensing parts are arranged so that a space between inner ends of the adjacent divided sensing parts is substantially equal.

14. The fiber sensor according to claim 11 , wherein
one of the optical fibers included in the at least one optical fiber has a first sensing part, and a second sensing part which detects a state in a direction different from that of the first sensing part,
at least one of the first and second sensing parts is configured as divided sensing parts which are divided into more than one part in the longitudinal direction, and
at least some of the divided sensing parts of the at least one of the first and second sensing parts are arranged across the other sensing part in the longitudinal direction.

15. The fiber sensor according to claim 1 , wherein
a length of each of the sensing parts in the longitudinal direction is equal to or more than ⅛ of a shape calculation range that is a range where a shape of the detection target range of the detection target is calculated on the basis of the state detected in the sensing parts.

16. The fiber sensor according to claim 1 , wherein
the dete

Assignees

• Olympus Corp

Inventors

• Tojo Ryo
• Fujita Hiromasa

Classifications

• A61B2034/2061

  using shape-sensors, e.g. fiber shape sensors with Bragg gratings · CPC title

• A61B1/005

  Flexible endoscopes · CPC title

• A61B34/20

  Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis · CPC title

• A61B1/07 Primary

  using light-conductive means, e.g. optical fibres · CPC title

• A61B1/009 Primary

  with bending or curvature detection of the insertion part · CPC title