Force sensing in a distal region of an instrument including single-core or multi-core optical fiber

Patent metadata

Field	Value
Publication number	US-10378883-B2
Application number	US-201615572135-A
Country	US
Kind code	B2
Filing date	May 12, 2016
Priority date	May 15, 2015
Publication date	Aug 13, 2019
Grant date	Aug 13, 2019

Abstract

An optical force sensor along with an optical processing apparatus and method are disclosed. The optical force sensor includes an optical fiber, a core included in the optical fiber, an instrument including the optical fiber, the instrument having a distal region, and a tubular structure encasing an end of the optical fiber and secured to the first conduit at the distal region of the instrument. When an optical interferometric system is coupled to the optical fiber, it processes reflected light from a portion of the core included within the tubular structure that does not include Bragg gratings to produce a measurement of a force present at the distal region of the instrument.

First claim

The invention claimed is:

1. An optical force sensor, comprising:
an optical fiber having a length;
a core included in the optical fiber, wherein the core includes a plurality of Bragg gratings along an entire length of the optical fiber except for a portion of the core corresponding to an end region of the optical fiber where no Bragg gratings exist;
an instrument including the optical fiber, the instrument having a distal region and a proximal region;
a tubular structure encasing the end region of the optical fiber where no Bragg gratings exist and secured at the distal region of the instrument;
the optical fiber being configured for connection to an optical interferometric system which processes reflected light corresponding to a Rayleigh scatter pattern distributed along a portion of the core included within the tubular structure that does not include Bragg gratings to produce a measurement of strain due to a force present at the distal region of the instrument separate from bending induced strain.

2. The optical force sensor in claim 1 , wherein the optical fiber is tapered within the tubular structure and is secured within the tubular structure by an epoxy index-matched to the optical fiber.

3. The optical force sensor in claim 2 , wherein the epoxy transfers strain from the distal region of the instrument to the optical fiber.

4. The optical force sensor in claim 1 , wherein the tubular structure is made of metal, glass, or polymer and completely surrounds the end of the optical fiber.

5. The optical force sensor in claim 1 , wherein the tubular structure is secured at the end of the optical fiber using a mechanical attachment, an adhesive attachment, or a flame spray attachment.

6. The optical force sensor in claim 1 , wherein the instrument includes a first conduit into which the optical fiber is inserted, and wherein the tubular structure is bonded to the first conduit at a bonded region that extends as far as the tubular structure, and wherein the core includes Bragg gratings except on a portion of the core defined by the bonded region.

7. The optical force sensor in claim 1 , wherein the instrument includes a first conduit into which the optical fiber is inserted, and wherein the tubular structure is bonded to the first conduit at the end of the optical fiber at a bonded region that extends beyond the tubular structure and secures the optical fiber to the first conduit, and wherein the core includes Bragg gratings that extend into the bonded region.

8. The optical force sensor in claim 1 , wherein the optical fiber includes multiple cores.

9. The optical force sensor in claim 1 , wherein the instrument includes a first conduit into which the optical fiber is inserted and a second conduit containing another optical fiber encased in a tubular structure like the optical fiber and tubular structure recited in claim 1 , and wherein the optical interferometric system processes reflected light from portions of the core contained within the tubular structures of the respective optical fibers that do not include Bragg gratings to produce a measurement of forces present on the respective tubular structures.

10. An optical processing apparatus, comprising:
an optical fiber having a length;
a core included in the optical fiber, wherein the core includes a plurality of Bragg gratings along an entire length of the optical fiber except for a portion of the core corresponding to an end region of the optical fiber where no Bragg gratings exist;
an instrument including the optical fiber, the instrument having a distal region and a proximal region;
a tubular structure encasing the end region of the optical fiber where no Bragg gratings exist and secured at the distal region of the instrument;
an optical interferometric system coupled to the optical fiber and configured to process reflected light corresponding to a Rayleigh scatter pattern distributed along a portion of the core included within the tubular structure that does not include Bragg gratings to produce a measurement of strain due to a force present at the distal region of the instrument separate from bending induced strain.

11. The optical processing apparatus in claim 10 , wherein the optical fiber is tapered within the tubular structure and is secured within the tubular structure by an epoxy index-matched to the optical fiber, the epoxy transferring strain from the instrument to the optical fiber.

12. The optical processing apparatus in claim 11 , wherein the optical interferometric system is configured to determine strain present on the distal region of the instrument and to determine the force based on the determined strain.

13. An optical processing apparatus, comprising:
an optical fiber having a length;
a core included in the optical fiber, wherein the core includes a plurality of Bragg gratings along an entire length of the optical fiber except for a portion of the core corresponding to an end region of the optical fiber where no Bragg gratings exist;
an instrument including the optical fiber, the instrument having a distal region and a proximal region;
a tubular structure encasing the end region of the optical fiber where no Bragg gratings exist and secured at the distal region of the instrument;
an optical interferometric system coupled to the optical fiber and configured to process reflected light from a portion of the core included within the tubular structure that does not include Bragg gratings to produce a measurement of strain due to a force present at the distal region of the instrument separate from bending induced strain,
wherein the optical fiber is secured within the tubular structure by an epoxy, and
wherein the optical interferometric system is configured to determine the strain present on the distal region of the instrument based on a first light reflection from a distal end of the optical fiber and on a second light reflection from a distal end surface of the epoxy.

14. The optical processing apparatus in claim 13 , wherein the first and second light reflections form an interference pattern with a sinusoidal oscillation as a function of optical frequency, and
wherein the optical interferometric system is configured to measure a change in a period of the sinusoidal oscillation to determine the strain present on the distal region of the instrument.

15. The optical processing apparatus in claim 10 , wherein the optical interferometric system is configured to detect the scatter pattern, compare the detected scatter pattern to a reference scatter pattern to determine a difference, and determine the force based on the difference.

16. The optical processing apparatus in claim 10 , wherein the instrument includes a first conduit into which the optical fiber is inserted and a second conduit into which a second optical fiber is inserted and a second tubular structure encasing an end of the second optical fiber located at the distal region and secured within the second tubular structure by an epoxy index-m to the optical fiber, the epoxy transferring strain from the first and second conduits to the optical fiber, and wherein the optical interferometric system is configured to process reflected light from a portion of respective cores in the first and second optical fibers that do not include Bragg gratings to produce a measurement of multiple forces present on the distal region of the instrument.

17. An optical processing method using an optical fiber including a core attached to an instrument having a distal region, where a tubular structure encases an end of the optical fiber and is secured at the d

Assignees

• Intuitive Surgical Operations

Inventors

• Gifford Dawn K
• Barbagli Federico
• Chang Samuel Y
• Kowshik Anoop B
• Wagner Oliver J
• Paris Michael D
• Froggatt Mark E

Classifications

• G02B23/26

  using light guides {(for illumination G02B23/2469)} · CPC title

• G01B11/16 Primary

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

• G02B6/02042

  Multicore optical fibres · CPC title

• G02B6/34

  utilising prism or grating {(G02B6/293 takes precedence)} · CPC title

• G02B6/02

  Optical fibres with cladding {with or without a coating} · CPC title