Methods and apparatus for determining shape parameter(s) using a sensing fiber having a single core with multiple light propagating modes

Patent metadata

Field	Value
Publication number	US-11035699-B2
Application number	US-201716474531-A
Country	US
Kind code	B2
Filing date	Dec 20, 2017
Priority date	Dec 29, 2016
Publication date	Jun 15, 2021
Grant date	Jun 15, 2021

Abstract

Example embodiments include an optical interrogation system with a sensing fiber having a single core, the single core having multiple light propagating modes. Interferometric apparatus probes the single core multimode sensing fiber over a range of predetermined wavelengths and detects measurement interferometric data associated with the multiple light propagating modes of the single core for each predetermined wavelength in the range. Data processing circuitry processes the measurement interferometric data associated with the multiple light propagating modes of the single core to determine one or more shape-sensing parameters of the sensing fiber from which the shape of the fiber in three dimensions can be determined.

First claim

The invention claimed is:

1. An optical interrogation system for a sensing fiber, the system comprising:
interferometric apparatus to probe a single core of the sensing fiber over a range of predetermined wavelengths, the single core having multiple light propagating modes, and to detect measurement interferometric data associated with the multiple light propagating modes of the single core for each predetermined wavelength in the range; and
data processing circuitry to process the measurement interferometric data associated with the multiple light propagating modes of the single core to determine strain, bend, and twist parameters of the sensing fiber.

2. The optical interrogation system in claim 1 , wherein the data processing circuitry is configured to determine a shape of the sensing fiber based on the strain, bend, and twist parameters.

3. The optical interrogation system in claim 1 , wherein the single core includes a grating pattern that varies with bend, strain, and twist applied to the sensing fiber, and wherein the data processing circuitry is configured to process the measurement interferometric data associated with the multiple light propagating modes of the single core to determine a variation in the grating pattern and to determine the strain, bend, and twist parameters at least in part based on the variation in the grating pattern.

4. The optical interrogation system in claim 3 , wherein the grating pattern is created by overlapping tilted gratings written into the single core.

5. The optical interrogation system in claim 3 , wherein the grating pattern is associated with a cross-sectional index perturbation for the sensing fiber as a function of distance along the sensing fiber, and the cross-sectional index perturbation is associated with coupling coefficients between back-scattered light propagating modes for the sensing fiber.

6. The optical interrogation system in claim 5 , wherein the interferometric apparatus is configured to measure a phase and an amplitude of the coupling coefficients, and the data processing circuitry is configured to determine differences between the measured phase and amplitude of the coupling coefficients and a predetermined baseline phase and amplitude of the coupling coefficients.

7. The optical interrogation system in claim 1 , wherein the single core comprises a shape that limits a number of the multiple light propagating modes below a predetermined number while providing a predetermined sensitivity to the twist parameter.

8. The optical interrogation system in claim 7 , wherein the single core is ring-shaped in cross-section.

9. The optical interrogation system in claim 1 , wherein the interferometric apparatus includes:
multiple interferometers including multiple reference branches and multiple measurement branches having an array of corresponding multiple single core, single mode fibers; and
a tunable laser to generate light over the range of predetermined wavelengths;
wherein each fiber of the array of corresponding multiple single core, single mode fibers has a different optical delay.

10. The optical interrogation system in claim 9 , wherein the interferometric apparatus further includes:
a collimator arranged to collimate light from the single core and de-collimate light to the single core; and
a microlens array to receive and focus collimated light from the collimator onto the array of corresponding multiple single core, single mode fibers.

11. The optical interrogation system in claim 9 , wherein the different optical delays produce multiple coupling coefficients that appear on different ones of the array of corresponding multiple single core, single mode fibers.

12. A method in an optical interrogation system having a sensing fiber having a single core, the single core having multiple light propagating modes, comprising:
probing with an interferometric apparatus the single core over a range of predetermined wavelengths and detecting measurement interferometric data associated with the multiple light propagating modes of the single core for each predetermined wavelength in the range; and
processing with a data processor the measurement interferometric data associated with the multiple light propagating modes of the single core to determine strain, bend, and twist parameters of the sensing fiber.

13. The method in claim 12 , further comprising determining a shape of the sensing fiber based on the strain, bend, and twist parameters.

14. The method in claim 12 , further comprising:
processing the measurement interferometric data associated with the multiple light propagating modes of the single core to determine a variation in a grating pattern of the single core that varies with bend, strain, and twist applied to the sensing fiber; and
determining the strain, bend, and twist parameters at least in part based on the variation in the grating pattern.

15. The method in claim 14 , wherein the grating pattern is created by overlapping tilted gratings written into the single core.

16. The method in claim 14 , wherein the grating pattern is associated with a cross-sectional index perturbation for the sensing fiber as a function of distance along the sensing fiber and the cross-sectional index perturbation is associated with coupling coefficients between back-scattered light propagating modes for the sensing fiber, the method further comprising measuring a phase and an amplitude of the coupling coefficients, and determining differences between the measured phase and amplitude of the coupling coefficients and a predetermined baseline phase and amplitude of the coupling coefficients.

17. The method in claim 12 , wherein the single core is shaped to limit a number of the multiple light propagating modes below a predetermined number while providing a predetermined sensitivity to the twist parameter.

18. The method in claim 12 , wherein the interferometric apparatus includes multiple interferometers including multiple reference branches and multiple measurement branches having an array of corresponding multiple single core, single mode fibers, each fiber of the array of corresponding multiple single core, single mode fibers being provided with a different optical delay, the method further comprising:
generating light over the range of predetermined wavelengths;
collimating light from the single core and de-collimate light to the single core; and
receiving and focusing collimated light from the collimator onto the array of corresponding multiple single core, single mode fibers.

19. The method in claim 18 , wherein the different optical delays produce multiple coupling coefficients that appear on different ones of the array of corresponding multiple single core, single mode fibers, the method further comprising:
measuring a phase and an amplitude of the coupling coefficients, and
determining a difference between the measured coupling coefficient phase and amplitude and a predetermined baseline coupling coefficient phase and amplitude for the sensing fiber.

20. A non-transitory machine-readable medium comprising a plurality of machine-readable instructions which when executed by one or more processors associated with a medical device are adapted to cause the one or more processors to perform operations comprising:
processing measurement interferometric data associated with multiple light propagating modes acquired from a single core of a sensing fiber over a range of predetermined wavelengths to determine strain, bend, and twist parameters of the sensing fiber.

Assignees

• Intuitive Surgical Operations

Inventors

• Froggatt Mark E
• Gifford Dawn K
• Sanborn Eric E
• Sang Alexander K

Classifications

• G01D5/35354

  Sensor working in reflection · CPC title

• G01B11/24

  for measuring contours or curvatures · CPC title

• G01D5/35306

  using an interferometer arrangement · CPC title

• G02B6/02047

  Dual mode fibre (G02B6/105 takes precedence) · CPC title

• G02B6/02042

  Multicore optical fibres · CPC title