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

Patent metadata

Field	Value
Publication number	US-11781857-B2
Application number	US-202217700370-A
Country	US
Kind code	B2
Filing date	Mar 21, 2022
Priority date	May 15, 2015
Publication date	Oct 10, 2023
Grant date	Oct 10, 2023

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

What is claimed is:

1. An optical force sensor, comprising:
an optical fiber comprising one or more optical cores surrounded by a cladding, the optical fiber being terminated in a distal region to suppress back reflection; and
a protective tube encasing only the distal region of the fiber, filled with an epoxy that transfers strain from the protective tube to the optical fiber.

2. The optical force sensor of claim 1 , wherein the epoxy is index-matched to the optical fiber.

3. The optical force sensor of claim 1 , wherein the protective tube is made of at least one of glass, polymer, or metal.

4. The optical force sensor of claim 1 , wherein the optical fiber is terminated in the distal region by angle cleaving or by tapering.

5. The optical force sensor of claim 1 , further comprising a coating surrounding the cladding except in the distal region.

6. The optical force sensor of claim 1 , further comprising a conduit containing the optical fiber and the protective tube.

7. The optical force sensor of claim 6 , wherein the conduit is bonded to the protective tube in a bonded region extending as far as the protective tube.

8. The optical force sensor of claim 6 , wherein the conduit is bonded to the protective tube and the coating in an extended bonded region.

9. The optical force sensor of claim 6 , wherein the protective tube is secured to the conduit by mechanical attachment.

10. The optical force sensor of claim 6 , wherein the protective tube is secured to the conduit by adhesive attachment or flame spray attachment.

11. The optical force sensor of claim 1 , wherein the one or more optical cores comprise multiple optical cores.

12. The optical force sensor of claim 1 , further comprising a Bragg grating along the one or more optical cores except in the distal region.

13. A system comprising:
an instrument defining one or more conduits; and
contained within the one or more conduits, one or more optical force sensors each comprising:
an optical fiber comprising one or more optical cores surrounded by a cladding, the optical fiber being terminated in a distal region to suppress back reflection, and
a protective tube encasing only the distal region of the optical fiber, filled with an epoxy that transfers strain from the protective tube to the optical fiber.

14. The system of claim 13 , wherein the instrument defines multiple conduits, and wherein the one or more optical force sensors include at least two optical force sensors each contained in a respective one of the multiple conduits.

15. The system of claim 13 , further comprising:
an optical interferometric system coupled to the optical fiber of each of the one or more optical force sensors and configured to produce a measurement of strain due to a force present at the protective tube encasing the distal region of the optical fiber.

16. The system of claim 15 wherein the optical interferometric system is configured to process light Rayleigh-backscattered along the one or more cores in the distal region of the optical fiber to produce the measurement of strain.

17. The system of claim 15 , wherein the optical interferometric system is configured to produce the measurement of strain from a first light reflection from a distal end of the optical fiber and a second light reflection from a distal termination surface of the epoxy.

18. The system of claim 17 , 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 produce the measurement of strain.

19. The system of claim 15 , wherein the optical fiber comprises a Bragg grating along the one or more cores except in the distal region, and wherein the optical interferometric system is further configured to process light reflected off the Bragg gratings to produce a measurement of strain along the one or more optical cores.

20. A method for measuring forces with an optical force sensor comprising an optical fiber terminated in a distal region to suppress back reflection and a protective tube filled with epoxy encasing only the distal region, the method comprising:
using an optical interferometric system coupled to the optical fiber to measure a first light reflection from a distal end of the optical fiber and a second light reflection from a distal termination surface of the epoxy; and
processing the phase signal to determine a strain due to a force on the protective tube, transferred from the protective tube to the optical fiber via epoxy filling the protective tube.

Assignees

• Intuitive Surgical Operations

Inventors

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

Classifications

• G01B11/16 Primary

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

• A61B1/00096

  Optical elements · CPC title

• A61B1/00165

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

• 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

• G02B6/00

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