Surgical robotic user input apparatus having optical fiber-based intrinsic sensors

Patent metadata

Field	Value
Publication number	US-12569310-B2
Application number	US-202318470363-A
Country	US
Kind code	B2
Filing date	Sep 19, 2023
Priority date	Mar 7, 2018
Publication date	Mar 10, 2026
Grant date	Mar 10, 2026

Abstract

A surgical robotic user input apparatus has a fiber optic cable with a handheld user input device attached at one end, and a connector attached at another end. Multiple intrinsic sensors, such as fiber Bragg grating sensors, are in the fiber optic cable. The intrinsic sensors are used to detect a pose of the handheld user input device. Other embodiments are also described and claimed.

First claim

What is claimed is:

1 . A surgical device comprising:
a housing having a distal portion and a proximal portion, the distal portion is attached to a fiber optic cable having a plurality of intrinsic sensors therein, and the proximal portion comprises an elastic enclosure having a coupling to a pressure sensing one of the plurality of intrinsic sensors, and the plurality of intrinsic sensors are configured to modify propagating light in the fiber optic cable to detect a position or rotation of the surgical device.

2 . The surgical device of claim 1 , further comprising:
an optical sensing interrogator arranged to couple to a connector of the fiber optic cable.

3 . The surgical device of claim 1 , wherein the plurality of intrinsic sensors comprises a plurality of fiber Bragg grating sensors.

4 . The surgical device of claim 1 , wherein the plurality of intrinsic sensors comprises a plurality of interferometric sensors.

5 . The surgical device of claim 1 , wherein the fiber optic cable comprises:
a first plurality of optical fibers having a first plurality of intrinsic sensors, arranged inline with respect to a longitudinal axis of the fiber optic cable; and a second plurality of optical fibers having a second plurality of intrinsic sensors, wrapped or woven at a bias with respect to the longitudinal axis of the fiber optic cable.

6 . The surgical device of claim 1 wherein the fiber optic cable comprises a bundle of single-core optical fibers or a multi-core optical fiber, and wherein the plurality of intrinsic sensors are distributed discretely along a length of the single-core fibers or multi-core optical fiber.

7 . The surgical device of claim 1 , wherein
the elastic enclosure comprises a squeeze bulb having gas, liquid, gel or semisolid material therein; a diaphragm, piston or plunger within the squeeze bulb and exposed to the gas, liquid, gel or semisolid material; and a spring-loaded coupling from the diaphragm, piston or plunger to one or more of the plurality of intrinsic sensors, to compress or tension the one or more of the plurality of intrinsic sensors in response to finger or hand pressure on the squeeze bulb.

8 . The surgical device of claim 1 , wherein the housing and the fiber optic cable include no electrical devices and are sterilizable.

9 . The surgical device of claim 1 , further comprising:
an optical sensing interrogator, arranged to couple to the fiber optic cable and transmit light to the plurality of intrinsic sensors, and to detect light returned from the plurality of intrinsic sensors; and a programmed processor to determine, based on the detected light, pressure exerted on the surgical device, the position or orientation of the surgical device, and ambient temperature changes.

10 . The surgical device of claim 1 , further comprising:
a touch-sensing device attached to or integrated with the surgical device.

11 . A method of operating a surgical device, the method comprising:
sending first light into a fiber optic cable having a plurality of intrinsic sensors; receiving second light from the fiber optic cable, wherein the second light comprises the first light modified by the plurality of intrinsic sensors; and determining a position or rotation of a housing of the surgical device based on the received second light, and the housing having a distal portion that is attached to the fiber optic cable, and a proximal portion having therein a coupling to a pressure sensing one of the plurality of intrinsic sensors and determining the position of the housing is based on differential mode analysis of the first light modified by a first subset of the plurality of intrinsic sensors, wherein the first subset is oriented inline with a longitudinal axis of the fiber optic cable.

12 . The method of claim 11 , further comprising:
determining relative pressure or pressure change of the housing based on the second light received from the fiber optic cable.

13 . The method of claim 11 , further comprising:
determining common mode modification of the first light, in the second light; and determining differential mode modification of the first light, in the second light.

14 . The method of claim 11 , further comprising:
determining temperature change, based on detecting common mode modification of the first light, in the second light; and correcting for thermal drift in readings of the plurality of intrinsic sensors, based on the determined temperature change.

15 . The method of claim 11 , further comprising:
determining a shape of one of the plurality of intrinsic sensors, based on detecting differential mode modification of the first light, in the second light, wherein the determining the position or rotation is based on the determining the shape.

16 . The method of claim 11 , wherein the determining the position or rotation comprises differential mode analysis of the second light as the first light modified by a plurality of fiber Bragg grating sensors that are a subset of the plurality of intrinsic sensors.

17 . The method of claim 11 , wherein the determining the position or rotation comprises differential mode analysis of the second light as the first light modified by a plurality of interferometric sensors that are a subset of the plurality of intrinsic sensors.

18 . The method of claim 11 , wherein the determining the position or rotation of the surgical device comprises:
determining the rotation based on differential mode analysis of the first light modified by a second subset of the plurality of intrinsic sensors, wherein the second subset is oriented at a bias relative to the longitudinal axis of the fiber optic cable.

19 . The method of claim 11 , further comprising:
determining a value of a compression or extension of one of the plurality of intrinsic sensors that is arranged to react to pressure of the surgical device, through analysis of the first light modified by the intrinsic sensor.

20 . The method of claim 11 , further comprising:
sending data regarding the position or rotation of the surgical device to a robotic controller in a surgical robotics system.

Assignees

• Verb Surgical Inc
• Auris Health Inc

Inventors

• Fuerst Bernhard A
• Gonenc Berk
• Moses Dennis
• Garcia Kilroy Pablo E

Classifications

• G06F3/0346

  with detection of the device orientation or free movement in a three-dimensional [3D] space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors · CPC title

• A61B2034/742

  Joysticks · CPC title

• A61B2090/064

  for measuring force, pressure or mechanical tension · CPC title

• A61B34/74

  Manipulators with manual electric input means · CPC title

• A61B2034/2061

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