Calculation of redundant bend in multi-core fiber for safety

Patent metadata

Field	Value
Publication number	US-12449252-B2
Application number	US-202218083205-A
Country	US
Kind code	B2
Filing date	Dec 16, 2022
Priority date	Jul 8, 2016
Publication date	Oct 21, 2025
Grant date	Oct 21, 2025

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 system for measuring an optical fiber comprising a plurality of cores, the system comprising:
a plurality of interferometric interrogators, each interferometric interrogator configured to interfere reflected light from a respective core of the plurality of cores with reference light to create an interference pattern for the respective core;
detection circuitry configured to measure the interference patterns for the plurality of cores;
data processing circuitry configured to perform operations comprising:
determining, based on analyzing the interference patterns for a first subset of the plurality of cores, a first measurement of a set of distributed shape parameters along a length of the optical fiber;
determining, based on analyzing the interference patterns for a second subset of the plurality of cores, a second measurement of the set of distributed shape parameters along the length of the optical fiber, the first subset differing from the second subset by at least one core;
performing a comparison of the first measurement and the second measurement; and
in response to determining, based on the comparison, that the first measurement and the second measurement differ by more than a predetermined amount, providing a signal indicating that the first measurement is determined to be unreliable.

2. The system of claim 1 , wherein determining that the first measurement is unreliable also determines that the second measurement is unreliable.

3. The system of claim 1 , further comprising:
a light source configured to direct light into the plurality of interferometric interrogators, wherein the plurality of interferometric interrogators is configured to couple the light into the plurality of cores of the optical fiber to cause formation of the reflected light.

4. The system of claim 1 , wherein:
the set of distributed shape parameters comprises at least one parameter selected from the group consisting of: a bend angle of the optical fiber, an axial strain of the optical fiber, and a twist of the optical fiber.

5. The system of claim 1 , wherein
the operations further comprise: in response to the fault signal, causing a display of a visual indication that a fault is present or a generation of an audible alarm to indicate that a fault is present.

6. The system of claim 1 , wherein
the operations further comprise: in response to the signal, halting operation of an actuating system, the actuating system configured to cause movement of the optical fiber.

7. The system of claim 1 , wherein:
the cores of the plurality of cores include six peripheral cores spaced apart from a central axis of the optical fiber; and
the first subset of the plurality of cores includes three peripheral cores and the second subset of the plurality of cores includes three peripheral cores.

8. The system of claim 1 , wherein:
the cores of the plurality of cores include a central core and five peripheral cores spaced apart from a central axis of the optical fiber; and
the first subset of the plurality of cores includes the central core and three cores of the peripheral cores and the second subset of the plurality of cores includes three cores of the peripheral cores.

9. The system of claim 8 , wherein:
the set of distributed shape parameters comprises bend and strain parameters; and
the operations further comprise: determining, based on analyzing the interference patterns from the first subset of the plurality of cores, at least one of a twist parameter of the optical fiber or a temperature along the optical fiber.

10. The system of claim 1 , wherein:
the optical fiber is inserted in a catheter; and
the operations further comprise: in response to determining, based on the comparison, that the first measurement and the second measurement do not differ by more than the predetermined amount, providing a signal indicating that the first measurement is determined as reliable, and using at least the first measurement for causing movement of the catheter to a particular shape or to a particular location.

11. A method for measuring an optical fiber comprising a plurality of cores, the method comprising:
interferometrically interrogating the optical fiber, the interrogating comprising interfering reflected light from the plurality of cores with reference light to create an interference pattern for each core of the plurality of cores;
measuring the interference patterns for the plurality of cores;
determining, based on analyzing the interference patterns for a first subset of the plurality of cores, a first measurement of a set of distributed shape parameters along a length of the optical fiber;
determining, based on analyzing the interference patterns for a second subset of the plurality of cores, a second measurement of the set of distributed shape parameters along the length of the optical fiber, the first subset differing from the second subset by at least one core;
performing a comparison of the first measurement and the second measurement;
in response to determining, based on the comparison, that the first measurement and the second measurement differ by more than a predetermined amount, providing a signal indicating that the first measurement is determined to be unreliable.

12. The method of claim 11 , further comprising:
directing light from a light source into a plurality of interferometric interrogators, the plurality of interferometric interrogators configured to couple the light into the plurality of cores of the optical fiber to cause formation of the reflected light and to interfere the reflected light from the plurality of cores with the reference light; wherein
determining that the first measurement is unreliable also determines that the second measurement is unreliable.

13. The method of claim 11 , wherein:
the set of distributed shape parameters comprises at least one parameter selected from the group consisting of: a bend angle of the optical fiber, an axial strain of the optical fiber, and a twist of the optical fiber.

14. The method of claim 11 ,
further comprising:
in response to the signal, causing a display of a visual indication that a fault is present or a generation of an audible alarm to indicate that a fault is present, or
in response to the signal, halting operation of an actuating system, the actuating system configured to cause movement of the optical fiber.

15. The method of claim 11 , wherein:
the set of distributed shape parameters comprises bend and strain parameters; and
the method further comprises: determining, based on analyzing the interference patterns from the first subset of the plurality of cores, at least one of a twist parameter of the optical fiber or a temperature along the optical fiber.

16. The method of claim 11 , wherein:
the optical fiber is inserted in a catheter; and
the method further comprises, in response to determining, based on the comparison, that the first measurement and the second measurement do not differ by more than the predetermined amount, providing a signal indicating that the first measurement is determined as reliable, and using at least the first measurement for causing movement of the catheter to a particular shape or to a particular location.

17. A system for measuring an optical fiber comprising a plurality of cores, the system comprising:
means for interferometrically interrogating the optical fiber, the interrogating comprising interfering reflected light from the plurality of cores with reference light to create an interference pattern for each core of the plurality of

Assignees

• Intuitive Surgical Operations

Inventors

• Roye Patrick
• Froggatt Mark E
• Gifford Dawn K

Classifications

• G01B11/26

  for measuring angles or tapers; for testing the alignment of axes · CPC title

• B25J9/1694

  characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion · CPC title

• A61B34/35

  for telesurgery · CPC title

• A61B2034/301

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

• A61B34/30

  Surgical robots · CPC title