Calculation of redundant bend in multi-core fiber for safety

Patent metadata

Field	Value
Publication number	US-11555692-B2
Application number	US-202117184357-A
Country	US
Kind code	B2
Filing date	Feb 24, 2021
Priority date	Jul 8, 2016
Publication date	Jan 17, 2023
Grant date	Jan 17, 2023

Abstract

A fiber includes M primary cores and N redundant cores, where M an integer is greater than two and N is an integer greater than one. Interferometric circuitry detects interferometric pattern data associated with the M primary cores and the N redundant cores when the optical fiber is placed into a sensing position. Data processing circuitry calculates a primary core fiber bend value for the M primary cores and a redundant core fiber bend value for the N redundant cores based on a predetermined geometry of the M primary cores and the N redundant cores in the fiber and detected interferometric pattern data associated with the M primary cores and the N redundant cores. The primary core fiber bend value and the redundant core fiber bend value are compared in a comparison. The detected data for the M primary cores is determined reliable or unreliable based on the comparison. A signal is generated in response to an unreliable determination.

First claim

What is claimed is:

1. A measurement system, comprising:
a light source configured to direct light into a plurality of cores of a multi-core optical fiber, each core of the plurality of cores being configured to reflect a portion of the light from a plurality of locations along a length of the multi-core optical fiber to form reflected light;
a processor;
memory coupled to the processor, the memory storing instructions that, when executed by the processor, cause the processor to execute operations, the operations comprising:
determining, based on analyzing the reflected light from a first subset of the plurality of cores, a first measurement of a set of bend angles of the multi-core optical fiber;
determining, based on analyzing the reflected light from a second subset of the plurality of cores, a second measurement of the set of bend angles of the multi-core optical fiber, the first subset differing from the second subset by at least one core;
performing a comparison of a specified threshold to a difference, the difference being between the first measurement and the second measurement;
determining whether the first measurement and the second measurement are unreliable based on the comparison; and
providing a signal indicative of whether the first measurement and the second measurement are determined to be unreliable.

2. The measurement system of claim 1 , wherein determining whether the first measurement and the second measurement are unreliable based on the comparison comprises:
determining that the first measurement and the second measurement are unreliable in response to the difference exceeding the specified threshold.

3. The measurement system of claim 1 , wherein the signal is a fault signal indicating that the first measurement and the second measurement are determined to be unreliable, and wherein providing the signal indicative of whether the first measurement and the second measurement are determined to be unreliable comprises:
providing the fault signal in response to determining that the first measurement and the second measurement are unreliable.

4. The measurement system of claim 3 , wherein the operations further comprise, in response to the fault signal:
causing a display of a visual indication that a fault is present.

5. The measurement system of claim 3 , wherein the operations further comprise, in response to the fault signal:
causing a generation of an audible alarm to indicate that a fault is present.

6. The measurement system of claim 3 , wherein the operations further comprise, in response to the signal indicating that the first measurement and second measurement are determined as unreliable:
halting operation of an actuating system, the actuating system configured to cause movement of the multi-core optical fiber.

7. The measurement system of claim 1 , wherein:
the cores of the plurality of cores extend along the length of the optical fiber and are equally spaced apart from a central axis of the multi-core optical fiber; and
the plurality of cores includes at least six cores.

8. The measurement system of claim 1 , wherein the first subset of the plurality of cores and the second subset of the plurality of cores each include exactly three cores.

9. The measurement system of claim 1 , wherein:
analyzing the reflected light from the first subset of the plurality of cores comprises using optical frequency domain reflectometry; and
analyzing the reflected light from the second subset of the plurality of cores comprises using optical frequency domain reflectometry.

10. The measurement system of claim 1 , wherein:
the multi-core optical fiber is inserted in a catheter; and
the operations further comprise:
in response to the first measurement and the second measurement not being determined as unreliable, using at least one of the first or second measurements for causing movement of the catheter to a particular shape or to a particular location.

11. A method, comprising:
directing light into a plurality of cores of a multi-core optical fiber, each core of the plurality of cores being configured to reflect a portion of the light from a plurality of locations along a length of the multi-core optical fiber to form reflected light;
determining, based on analyzing the reflected light from a first subset of the plurality of cores, a first measurement of a set of bend angles of the multi-core optical fiber;
determining, based on analyzing the reflected light from a second subset of the plurality of cores, a second measurement of the set of bend angles of the multi-core optical fiber, the first subset differing from the second subset by at least one core;
performing a comparison of a specified threshold to a difference, the difference being between the first measurement and the second measurement;
determining whether the first measurement and the second measurement are unreliable based on the comparison; and
providing a signal indicative of whether the first measurement and the second measurement are determined to be unreliable.

12. The method of claim 11 , wherein determining whether the first measurement and the second measurement are unreliable based on the comparison comprises:
determining that the first measurement and the second measurement are unreliable in response to the difference exceeding the specified threshold.

13. The method of claim 11 , wherein the signal is a fault signal indicating that the first measurement and the second measurement are determined to be unreliable, and wherein providing the signal indicative of whether the first measurement and the second measurement are determined to be unreliable comprises:
providing the fault signal in response to determining that the first measurement and the second measurement are unreliable.

14. The method of claim 13 , further comprising, in response to the signal indicating that the first measurement and the second measurement are determined to be unreliable:
causing a display of a visual indication that a fault is present; or
causing a generation of an audible alarm to indicate that a fault is present.

15. The method of claim 13 , further comprising, in response to the signal indicating that the first measurement and the second measurement are determined to be unreliable:
halting operation of an actuating system, the actuating system configured to cause movement of the multi-core optical fiber.

16. The method of claim 11 , wherein the first subset of the plurality of cores and the second subset of the plurality of cores each include exactly three cores.

17. The method of claim 11 , wherein:
the multi-core optical fiber is inserted in a catheter; and
the method further comprises, in response to the first measurement and the second measurement not being determined as unreliable:
using at least one of the first and second measurements for causing movement of the catheter to a particular shape or to a particular location.

18. A non-transitory computer-readable medium storing instructions that, when executed by a processor of a measurement system, the measurement system comprising a light source, cause the processor to execute operations, the operations comprising:
operating the light source to direct light into a plurality of cores of a multi-core optical fiber, each core of the plurality of cores being configured to reflect a portion of the light from a plurality of locations along a length of the multi-core optical fiber to form reflected light;
determining, based on analyzing the reflected light from a first subset of the plurality

Assignees

• Intuitive Surgical Operations

Inventors

• Roye Patrick
• Froggatt Mark E
• Gifford Dawn K

Classifications

• B25J11/005

  Manipulators for mechanical processing tasks · CPC title

• G01B11/161 Primary

  by interferometric means · CPC title

• B25J9/0096

  co-operating with a working support, e.g. work-table · CPC title

• A61B2034/301

  for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes · CPC title

• A61B2034/2061

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