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

Patent metadata

Field	Value
Publication number	US-10376134-B2
Application number	US-201515518385-A
Country	US
Kind code	B2
Filing date	Oct 16, 2015
Priority date	Oct 17, 2014
Publication date	Aug 13, 2019
Grant date	Aug 13, 2019

Abstract

An apparatus comprises an instrument including an elongated shaft. The apparatus also comprises a first shape sensor including an elongated optical fiber extending within the elongated shaft at a first radial distance from the neutral axis. The apparatus also comprises a twist resistant feature configured 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.

First claim

What is claimed is:

1. An apparatus comprising:
an instrument including an elongated shaft;
a first shape sensor including an elongated optical fiber extending within the elongated shaft at a first radial distance from a neutral axis; and
a twist resistant feature configured 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, wherein the twist resistant feature includes a keying feature that includes:
a first spline disposed along the first shape sensor; and
a second spline disposed along the first shape sensor and separated from the first spline by a region of the first shape sensor that is free of the twist resistant feature.

2. The apparatus of claim 1 , further comprising a tracking system adapted to receive shape data from the first shape sensor for calculating a bend measurement for the instrument.

3. The apparatus of claim 1 , wherein the twist resistant feature is coupled to the elongated shaft.

4. The apparatus of claim 1 , wherein the twist resistant feature is coupled to at least a portion of the elongated optical fiber.

5. The apparatus of claim 1 , wherein the keying feature further includes a fiber lumen extending within the elongated shaft and having a cross-sectional shape that is configured to complement the first spline and the second spline, wherein the fiber lumen interfaces with the first spline and the second spline to limit the twisting of the elongated optical fiber within the fiber lumen.

6. The apparatus of claim 5 , wherein the cross-sectional shape of the fiber lumen is oblong.

7. The apparatus of claim 1 , wherein the keying feature comprises a first spline sheath configured to encase the first spline and at least a portion of the elongated optical fiber to maintain their mated configuration and a second spline sheath configured to encase the second spline and at least a portion of the elongated optical fiber to maintain their mated configuration.

8. The apparatus of claim 1 , wherein the first spline is coupled to the elongated optical fiber at a first radial angle and the second spline is coupled to the elongated optical fiber at a second radial angle that is offset from the first radial angle.

9. The apparatus of claim 1 , further comprising an elastomeric fastening coupling the first spline and the second spline and configured to maintain first spline and the second spline in an offset configuration.

10. The apparatus of claim 9 , wherein the keying feature further includes a fiber lumen extending within the elongated shaft to receive the first shape sensor, and wherein the offset configuration of the first spline and the second spline is configured to apply pressure against the fiber lumen.

11. The apparatus of claim 10 , wherein the offset configuration is configured to increase friction between the fiber lumen and the first and second splines.

12. The apparatus of claim 10 , wherein the offset configuration is configured to create a pre-load against the fiber lumen.

13. The apparatus of claim 1 , further comprising a position sensor disposed within the elongated shaft at a first axial distance from a distal portion of the elongated shaft.

14. The apparatus of claim 13 , wherein the elongated optical fiber is affixed to the elongated shaft at the first axial distance and the twist resistant feature is coupled to the elongated optical fiber adjacent the distal portion of the elongated shaft.

15. The apparatus of claim 13 , wherein the twist resistant feature is coupled to the elongated optical fiber at the first axial distance and the elongated optical fiber is affixed to the elongated shaft at the distal portion of the elongated shaft.

16. The apparatus of claim 13 , wherein the elongated optical fiber is affixed to the position sensor at the first axial distance, the position sensor is affixed to the elongated shaft at the first axial distance, and the twist resistant feature is coupled to the elongated optical fiber at the distal portion of the elongated shaft.

17. The apparatus of claim 13 , wherein the elongated optical fiber is affixed to the position sensor at the first axial distance, the twist resistant feature is coupled to the elongated optical fiber at the first axial distance, and the elongated optical fiber and the position sensor are able to axially translate along a longitudinal axis of the elongated shaft.

18. The apparatus of claim 1 , wherein each of the first spline and the second spline includes a member from a group consisting of: a metal wire, a polymeric rod, and a glass fiber.

19. The apparatus of claim 1 , wherein each of the first spline and the second spline includes a cylindrical portion and a biconcave prism portion disposed between the cylindrical portion and the first shape sensor.

20. The apparatus of claim 19 , wherein each of the first spline and the second spline further includes:
a spline sheath disposed around the respective spline and the first shape sensor; and
a bonding material disposed between the biconcave prism portion and the spline sheath.

21. The apparatus of claim 1 , further comprising a position sensor disposed within the elongated shaft, wherein a length of the keying feature is longer than a length of the position sensor.

22. The apparatus of claim 1 , wherein the first spline and the second spline are coupled only by the first shape sensor.

23. The apparatus of claim 1 , wherein an outermost portion of the first spline disposed away from the first shape sensor is uncoupled from an outermost portion of the second spline disposed away from the first shape sensor.

Assignees

• Intuitive Surgical Operations
• Intutitive Surgical Operations Inc

Inventors

• Schlesinger Randall L
• Blumenkranz Stephen J
• Carlson Christopher R
• Duindam Vincent
• Kowshik Anoop B
• Soper Timothy D

Classifications

• A61B1/00078

  with stiffening means · CPC title

• A61B1/0055

  Constructional details of insertion parts, e.g. vertebral elements · CPC title

• A61B1/018

  for receiving instruments · CPC title

• A61B1/00096 Primary

  Optical elements · CPC title

• A61B2034/2061

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