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

Patent metadata

Field	Value
Publication number	US-10876831-B2
Application number	US-201916506997-A
Country	US
Kind code	B2
Filing date	Jul 9, 2019
Priority date	May 15, 2015
Publication date	Dec 29, 2020
Grant date	Dec 29, 2020

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 inserted into a conduit of an instrument, the optical fiber including a core; and
a tubular structure encasing a distal region of the optical fiber where no Bragg gratings exist, the tubular structure secured to the conduit in a region at a distal end of the instrument,
wherein the optical fiber is configured for connection to an optical interferometric system that processes light Rayleigh-backscattered along the core in the distal region of the optical fiber where no Bragg gratings exist to produce a measurement of strain due to a force present at the distal end of the instrument.

2. The optical force sensor of claim 1 , wherein the optical fiber includes Bragg gratings along the core except in the distal region of the optical fiber.

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

4. The optical force sensor of claim 3 , wherein the epoxy transfers strain from the tubular structure to the optical fiber.

5. The optical force sensor of claim 1 , wherein the tubular structure is bonded to the conduit in a bonding region at the distal end of the instrument.

6. The optical fiber sensor of claim 5 , wherein the bonding region extends proximally beyond the tubular structure to a section of the optical fiber including Bragg gratings.

7. The optical fiber sensor of claim 1 , wherein the optical fiber includes multiple cores and the optical interferometric system processes light Rayleigh-backscattered along the multiple cores in the distal region of the optical fiber to distinguish, in the measurement of strain, strain due to a force present at the distal end of the instrument from strain due to bending.

8. An optical fiber force sensing system comprising:
an instrument;
an optical fiber inserted into a conduit of the instrument, the optical fiber including a core;
a tubular structure encasing a distal region of the optical fiber where no Bragg gratings exist, the tubular structure secured to the conduit in a region at a distal end of the instrument; and
an optical interferometric system coupled to the optical fiber and configured to process light Rayleigh-backscattered along the core in the distal region of the optical fiber where no Bragg gratings exist to produce a measurement of strain due to a force present at the distal end of the instrument.

9. The optical fiber force sensing system of claim 8 , wherein the optical interferometric system is configured to measure a phase signal of the light Rayleigh-backscattered along the core in the distal region and to determine the strain due to the force present at the distal end of the instrument.

10. The optical fiber force sensing system of claim 8 ; wherein the phase signal is measured using optical frequency domain reflectometry.

11. The optical fiber force sensing system of claim 8 , comprising multiple optical fibers inserted into multiple conduits of the instrument, the multiple optical fibers used to distinguish, in the measurement of strain; strain due to a force present at the distal end of the instrument from strain due to bending.

12. The optical fiber force sensing system of claim 8 , wherein the optical fiber includes multiple cores and the optical interferometric system processes light Rayleigh-backscattered along the multiple cores in the distal region of the optical fiber to distinguish, in the measurement of strain, strain due to a force present at the distal end of the instrument from strain due to bending.

13. The optical fiber force sensing system of claim 8 , wherein the optical fiber includes Bragg gratings along the core except in the distal region of the optical fiber.

14. The optical fiber force sensing system of claim 8 , wherein the tubular structure is bonded to the conduit in a bonding region at the distal end of the instrument.

15. A method for measuring a force at a distal end of an instrument using a fiber sensor including an optical fiber inserted in a conduit of the instrument, a distal region of the optical fiber where no Bragg gratings exist being encased in a tubular structure bonded to the conduit in a region at the distal end of the instrument, the method comprising:
using an optical interferometric system coupled to the optical fiber to measure a phase signal of light Rayleigh-backscattered along a core of the optical fiber in a distal region of the optical fiber where no Bragg gratings exist; and
processing the phase signal to determine a strain due to the force at the distal end of the instrument.

16. The method of claim 15 , further comprising using the measured force to provide feedback to an operator of the instrument.

17. The method of claim 15 , wherein the force is measured in a medical application where the instrument is used inside a patient, the method further comprising using the measured force to provide feedback to avoid puncturing tissue.

18. The method of claim 15 , further comprising converting the determined strain to a value of the force.

19. The method of claim 18 , further comprising calibrating the optical fiber sensor with a series of known loads to relate strains to loads.

20. The method of claim 18 , wherein the converting is based on an effective Young's modulus modeled for a cross-sectional area of the fiber sensor and instrument in the distal region.

Assignees

• Intuitive Surgical Operations
• Intuitive Surgical Operation Inc

Inventors

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

Classifications

• G01L1/24 Primary

  by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis {using infrared, visible light, ultraviolet} · CPC title

• G02B23/26

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

• G02B6/34

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

• A61B1/00165

  with light-conductive means, e.g. fibre optics (A61B1/07 takes precedence) · CPC title

• G02B6/00

  Light guides; Structural details of arrangements comprising light guides and other optical elements, e.g. couplings · CPC title