Fiber management in medical instrument backend

Patent metadata

Field	Value
Publication number	US-10492871-B2
Application number	US-201615570912-A
Country	US
Kind code	B2
Filing date	Apr 29, 2016
Priority date	May 1, 2015
Publication date	Dec 3, 2019
Grant date	Dec 3, 2019

Abstract

A flexible tool comprising an optical fiber and a rigid member. The optical fiber includes a proximal end, a distal end, an intermediate portion between the proximal end and the distal end, and an adjustable bend between the proximal end and the intermediate portion. The intermediate portion is fixed within the rigid member, wherein the rigid member is substantially a cylinder with a flat surface along an axial length of the cylinder, and wherein the intermediate portion is constrained to have a single degree of freedom that is translational substantially along an axis defined by the optical fiber at the intermediate portion.

First claim

The invention claimed is:

1. A flexible tool comprising:
an optical fiber including
a proximal end,
a distal end,
an intermediate portion between the proximal end and the distal end, and
an adjustable bend between the proximal end and the intermediate portion; and

a rigid member, wherein the intermediate portion is fixed within the rigid member, and wherein the rigid member is substantially a cylinder with a flat surface along an axial length of the cylinder,
wherein the intermediate portion is constrained to have a single degree of freedom that is translational substantially along an axis defined by the optical fiber at the intermediate portion.

2. The flexible tool according to claim 1 , further comprising a body including a flexible portion and a free end, wherein a portion of the optical fiber is within the body and the distal end is fixed relative to the body at or near the free end.

3. The flexible tool according to claim 2 , wherein the body includes a neutral axis and the optical fiber is disposed within the body offset from and substantially parallel to the neutral axis at least at the flexible portion.

4. The flexible tool according to claim 2 , wherein the distal end is movable with three degrees of translational freedom and two degrees of rotational freedom with respect to the proximal end.

5. The flexible tool according to claim 2 , wherein the flexible portion includes a flexible joint.

6. The flexible tool according to claim 1 , further comprising:
two first cylindrical pins with first central axes that are substantially parallel to one another and together define a first plane;
a second cylindrical pin with a second central axis that is in a second plane that is substantially parallel to and offset from the flat surface and that is substantially normal to the first plane;
a ball; and
a spring, wherein the second cylindrical pin and the ball are in contact with the rigid member along the flat surface, wherein the two first cylindrical pins are in contact with the rigid member along the axial length of the cylinder but not on the flat surface, and wherein the spring contacts the rigid member to urge the rigid member into contact with the two first cylindrical pins, the second cylindrical pin, and the ball.

7. The flexible tool according to claim 1 , wherein the rigid member comprises a block with a first flat surface defined by a first plane and a second flat surface defined by a second plane that intersects the first plane along a line that is substantially parallel to the single degree of freedom.

8. The flexible tool according to claim 7 , further comprising a support member with three spherical points of contact that contact the first flat surface, two spherical points of contact that contact the second flat surface and an urging member that urges the first flat surface and second flat surface into respective contact with the three spherical points of contact and the two spherical points of contact.

9. The flexible tool according to claim 8 , wherein the rigid member includes a third flat surface substantially parallel to the first flat surface and a fourth flat surface substantially parallel to the second flat surface, and the urging member includes a first member that contacts the third flat surface to urge the rigid member towards the three spherical points of contact and a second member that contacts the fourth flat surface to urge the rigid member towards the two spherical points of contact.

10. The flexible tool according to claim 1 , further comprising a return mechanism that is configured to urge the intermediate portion towards a predetermined starting location.

11. A method for detecting a shape of a flexible tool, the method comprising:
disposing an optical fiber along at least a portion of the flexible tool;
fixing a first end of the optical fiber at or near an end of the flexible tool;
fixing a second end of the optical fiber at a known position;
constraining an intermediate portion of the optical fiber between the first end and the second end to a single degree of translational freedom substantially along an axis defined by the optical fiber, wherein constraining the intermediate portion of the optical fiber includes contacting a flat surface along an axial length of a rigid member, wherein the intermediate portion is fixed within the rigid member, and wherein the rigid member is substantially a cylinder;
moving at least the end of the flexible tool so that the flexible tool has a resultant shape;
transmitting light along the optical fiber; and
detecting the resultant shape of the flexible tool using the transmitted light.

12. A flexible tool comprising:
an optical fiber including:
a proximal end,
a distal end,
an intermediate portion between the proximal end and the distal end, and
an adjustable bend between the proximal end and the intermediate portion; and

a rigid member, wherein the intermediate portion is fixed within the rigid member, and wherein the rigid member is substantially a cylinder with a flat surface along an axial length of the cylinder; and
a housing that encloses the adjustable bend and provides space within the housing for the adjustable bend to adjust, wherein the intermediate portion is constrained to have a single degree of freedom that is translational substantially along an axis defined by the optical fiber at the intermediate portion.

13. The flexible tool according to claim 12 , wherein the housing prevents contact with the adjustable bend from exterior to the flexible tool.

14. The flexible tool according to claim 12 , wherein the adjustable bend includes at least one complete loop.

15. The flexible tool according to claim 12 , wherein the adjustable bend is less than one complete loop.

16. The flexible tool according to claim 12 , wherein the housing provides a clearance to allow relative bending and straightening of the adjustable bend, and the flexible tool is configured to bend a predetermined positive angle within the intermediate portion and a predetermined negative angle within the intermediate portion; and the clearance accommodates an entire extent of relative bending and straightening within the adjustable bend that is caused by bending the flexible tool the predetermined positive angle and the predetermined negative angle.

17. The flexible tool according to claim 12 , wherein the space within the housing is sufficient to provide radial clearance around an entire perimeter of the adjustable bend along a predetermined length of the adjustable bend.

18. The flexible tool according to claim 12 , wherein the space within the housing constrains the adjustable bend to be substantially within a plane.

Assignees

• Intuitive Surgical Operations

Inventors

• Blumenkranz Stephen J
• Duindam Vincent
• Froggatt Mark E
• Sanborn Eric E

Classifications

• A61B1/0051 Primary

  with controlled bending of insertion part · CPC title

• G02B6/36

  Mechanical coupling means (G02B6/255, G02B6/42 take precedence) · CPC title

• A61B1/07 Primary

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

• A61M2025/0166

  Sensors, electrodes or the like for guiding the catheter to a target zone, e.g. image guided or magnetically guided · CPC title

• A61B2034/2061

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