Fiber optic sensing of tool strain or tool angle

Patent metadata

Field	Value
Publication number	US-10245115-B2
Application number	US-201715670310-A
Country	US
Kind code	B2
Filing date	Aug 7, 2017
Priority date	Sep 6, 2016
Publication date	Apr 2, 2019
Grant date	Apr 2, 2019

Abstract

A hinged tool includes a first member; a second member pivotally connected to the first member at a pivot; and an optical fiber. The optical fiber is fixed to the first member at a load application region and fixed to at least one of the pivot and the second member at a location such that the optical fiber bends when the first member and the second member are pivoted with respect to one another. A method of using a hinged tool includes measuring fiber strain in an optical fiber fixed to the hinged tool, and determining at least one of tool strain applied to the hinged tool and a degree of pivoting of the hinged tool using the fiber strain.

First claim

The invention claimed is:

1. A method of using a hinged tool, the method comprising:
measuring fiber strain in an optical fiber fixed to at least one jaw of opposed jaws of the hinged tool; and
determining at least one of tool strain applied to the hinged tool and a degree of pivoting of the hinged tool using the fiber strain.

2. The method according to claim 1 , wherein determining the at least one of the tool strain applied to the hinged tool and the degree of pivoting of the hinged tool using the fiber strain comprises:
determining both the tool strain applied to the hinged tool and the degree of pivoting of the hinged tool.

3. The method according to claim 1 , wherein determining the at least one of the tool strain applied to the hinged tool and the degree of pivoting of the hinged tool using the fiber strain comprises determining the tool strain applied to the hinged tool, the method further comprising:
correlating the fiber strain to a force applied to the hinged tool.

4. The method according to claim 3 , wherein correlating the fiber strain to the force applied to the hinged tool comprises:
correlating the fiber strain to a magnitude and a distribution of force applied to the hinged tool.

5. The method according to claim 1 , further comprising: adjusting the hinged tool based on the at least one of the tool strain applied to the hinged tool and the degree of pivoting of the hinged tool.

6. The method according to claim 1 , wherein determining the at least one of the tool strain applied to the hinged tool and the degree of pivoting of the hinged tool using the fiber strain comprises:
determining a distribution of the tool strain applied to the hinged tool along a predetermined length of the hinged tool.

7. The method according to claim 1 , further comprising:
determining a position where an object contacts the opposed jaws using the fiber strain, wherein the object is between the opposed jaws.

8. The method according to claim 1 , further comprising:
determining whether an area that an object contacts the opposed jaws is changing using the fiber strain, wherein the object is between the opposed jaws.

9. The method according to claim 1 , further comprising:
determining a degree of wear of the hinged tool by comparing the at least one of the tool strain applied to the hinged tool and the degree of pivoting of the hinged tool to a predetermined condition of the hinged tool.

10. The method according to claim 9 , further comprising: adjusting control parameters for the hinged tool based on the degree of wear.

11. The method according to claim 9 , further comprising determining at least one of a safety and a remaining amount of useful life of the hinged tool based on the degree of wear.

12. A tool system comprising:
a hinged tool comprising:
a first member;
a second member pivotally connected to the first member at a pivot such that the hinged tool has opposed jaws; and
a single core optical fiber fixed to the first member along a load application region, wherein tool strain induced in the hinged tool in the load application region induces fiber strain in the single core optical fiber; and

a control system configured to:
measure fiber strain in the optical fiber; and
determine at least one of tool strain applied to the hinged tool and a degree of pivoting of the hinged tool using the fiber strain.

13. The tool system according to claim 12 , wherein determining the at least one of the tool strain applied to the hinged tool and the degree of pivoting of the hinged tool using the fiber strain comprises:
determining both the tool strain applied to the hinged tool and the degree of pivoting of the hinged tool.

14. The tool system according to claim 12 , wherein determining the at least one of the tool strain applied to the hinged tool and the degree of pivoting of the hinged tool using the fiber strain comprises determining the tool strain applied to the hinged tool, and further comprises:
correlating the fiber strain to a force applied to the hinged tool.

15. The tool system according to claim 12 , wherein determining the at least one of the tool strain applied to the hinged tool and the degree of pivoting of the hinged tool using the fiber strain comprises:
determining a distribution of the tool strain applied to the hinged tool along a predetermined length of the hinged tool.

16. The tool system according to claim 12 , wherein
the control systems is configured to determine a position where an object contacts the opposed jaws using the fiber strain when the object is between the opposed jaws.

17. The tool system according to claim 12 , wherein
the control systems is configured to determine whether an area that an object contacts the opposed jaws is changing using the fiber strain when the object is between the opposed jaws.

18. The tool system according to claim 12 , wherein
the control systems is configured to determine a degree of wear of the hinged tool by comparing the at least one of the tool strain applied to the hinged tool and the degree of pivoting of the hinged tool to a predetermined condition of the hinged tool.

19. The tool system according to claim 18 , wherein the control systems is configured to adjust control parameters for the hinged tool based on the degree of wear.

20. The tool system according to claim 18 , wherein the control systems is configured to determine at least one of a safety and a remaining amount of useful life of the hinged tool based on the degree of wear.

Assignees

• Intuitive Surgical Operations

Inventors

• Froggatt Mark
• Sanborn Eric
• Sang Alexander K
• Wolfe Matthew S

Classifications

• G01L1/242

  the material being an optical fibre · CPC title

• A61B2090/067

  for measuring angles · CPC title

• G02B6/02042

  Multicore optical fibres · CPC title

• A61B90/06

  Measuring instruments not otherwise provided for · CPC title

• G01B11/16

  for measuring the deformation in a solid, e.g. optical strain gauge · CPC title