Body shape, position, and posture recognition suit with multi-core optical shape sensing fiber

Patent metadata

Field	Value
Publication number	US-9304018-B2
Application number	US-201414531416-A
Country	US
Kind code	B2
Filing date	Nov 3, 2014
Priority date	Nov 5, 2013
Publication date	Apr 5, 2016
Grant date	Apr 5, 2016

Abstract

A measurement apparatus includes a body suit for a body that includes an appendage having a pivotable joint, the body suit comprising a sleeve to cover the appendage, wherein a first portion of the sleeve is configured to cover the pivotable joint. One or more multi-core optical fiber sensors is/are within or on the sleeve in a routing pattern that is substantially aligned with a longitudinal axis of the sleeve except within the first portion and that is at least partially transverse to the longitudinal axis within the first portion. An optical shape sensing system coupled to the one or more multi-core optical fiber sensors sends light into the one or more multi-core optical fiber sensors and determines a position of each of the multiple appendages based on reflected optical signal measurements detected from one or more multi-core optical fiber sensors.

First claim

The invention claimed is:

1. Measurement apparatus comprising:
a body suit for a body that includes an appendage having a pivotable joint, the body suit comprising a sleeve to cover the appendage, wherein a first portion of the sleeve is configured to cover the pivotable joint,
one or more multi-core optical fiber sensors within or on the sleeve in a routing pattern that is substantially aligned with a longitudinal axis of the sleeve except within the first portion where the routing pattern within the first portion is substantially transverse to the longitudinal axis of the sleeve; and
an optical shape sensing system coupled to the one or more multi-core optical fiber sensors and configured to send light into the one or more multi-core optical fiber sensors and determine a position of each of the multiple appendages based on reflected optical signal measurements detected from one or more multi-core optical fiber sensors.

2. The measurement apparatus in claim 1 , wherein the optical shape sensing system is configured to determine a shape of the body based on reflected optical signals detected from one or more multi-core optical fiber sensors.

3. The measurement apparatus in claim 1 , wherein the optical shape sensing system is configured to determine a posture of the body based on reflected optical signals detected from one or more multi-core optical fiber sensors.

4. The measurement apparatus in claim 1 , wherein the optical shape sensing system is an optical frequency-domain reflectometry (OFDR) based system.

5. The measurement apparatus in claim 1 , further comprising a launch unit coupled to a first end of each of the one or more multi-core optical fiber sensors, wherein an orientation of the launch unit defines a coordinate frame for the optical shape sensing system measurements.

6. The measurement apparatus in claim 5 , wherein the launch unit includes or is coupled to an inertial measurement unit (IMU).

7. The measurement apparatus in claim 5 , wherein the launch unit includes or is coupled to a global positioning system (GPS).

8. The measurement apparatus in claim 1 , wherein the one or more multi-core optical fiber sensors is configured in or on the body suit to traverse across the one or more movable joints from a first side of the one or more movable joints to a second opposing side of the one or more movable joints.

9. The measurement apparatus in claim 1 , wherein the one or more multi-core optical fiber sensors is configured in or on the body suit to traverse across the one or more movable joints with a predetermined, minimum bend radius associated with the one or more multi-core optical fiber sensors.

10. The measurement apparatus in claim 1 , wherein the optical shape sensing system is configured to calibrate measurements detected from the one or more multi-core optical fiber sensors as configured in or on the body suit.

11. Measurement apparatus comprising:
a body suit for a body that includes an appendage having a pivotable joint, the body suit comprising a sleeve to cover the appendage, wherein a first portion of the sleeve is configured to cover the pivotable joint;
one or more multi-core optical fiber sensors within or on the sleeve in a routing pattern that is substantially aligned with a longitudinal axis of the sleeve except within the first portion and that is at least partially transverse to the longitudinal axis within the first portion;
a connection terminal configured to connect the one or more multi-core optical fiber sensors to an optical shape sensing system for sending light into the one or more multi-core optical fiber sensors and determining a position of each of the multiple appendages based on reflected optical signal measurements detected from the one or more multi-core optical fiber sensors; and
a launch unit coupled to a first end of each of the one or more multi-core optical fiber sensors, wherein an orientation of the launch unit defines a coordinate frame for the optical shape sensing system measurements.

12. The measurement apparatus in claim 11 , wherein the launch unit includes or is coupled to an inertial measurement unit (IMU).

13. The measurement apparatus in claim 11 , wherein the launch unit includes or is coupled to a global positioning system (GPS).

14. The measurement apparatus in claim 11 , wherein the one or more multi-core optical fiber sensors is configured in or on the body suit to traverse across the one or more movable joints from a first side of the one or more movable joints to a second opposing side of the one or more movable joints.

15. The measurement apparatus in claim 11 , wherein the one or more multi-core optical fiber sensors is configured in or on the body suit to traverse across the one or more movable joints from a first side of the one or more movable joints to a second opposing side of the one or more movable joints.

16. The measurement apparatus in claim 11 , wherein the one or more multi-core optical fiber sensors is configured in or on the body suit to traverse across the one or more movable joints with a predetermined, minimum bend radius associated with the one or more multi-core optical fiber sensors.

17. The measurement apparatus in claim 11 , wherein the body is a human body, an animal body, or a robotic body.

18. A method for making a body suit for a body that includes an appendage having a pivotable joint, the body suit comprising a sleeve to cover the appendage, wherein a first portion of the sleeve is configured to cover the pivotable joint, the method comprising:
routing one or more multi-core optical fiber sensors within or on the sleeve in a routing pattern that is substantially aligned with a longitudinal axis of the sleeve except within the first portion and that is at least partially transverse to the longitudinal axis within the first portion,
providing a connection terminal that is configured to connect the one or more multi-core optical fiber sensors to an optical shape sensing system for injecting light into the one or more multi-core optical fiber sensors and determining a position of one or more of the multiple appendages based on reflected optical signal measurements detected from one or more multi-core optical fiber sensors, and
coupling a launch unit to a first end of each of the one or more multi-core optical fiber sensors, wherein an orientation of the launch unit defines a coordinate frame for the optical shape sensing system measurements.

Assignees

• Intuitive Surgical Operations

Inventors

• Davis Matthew A
• Malinowski Eugene
• Chevalier Jason L
• Mcgregor Alaina M
• Reaves Matthew

Classifications

• A61B5/1079

  using optical or photographic means · CPC title

• A61B5/6804

  Garments; Clothes · CPC title

• Y10T29/49

  Method of mechanical manufacture · CPC title

• A61B2562/0266

  Optical strain gauges · CPC title

• G01D5/35367 Primary

  using reflected light other than backscattered to detect the measured quantity · CPC title