发明授权
US09060793B2 Robotic surgery system including position sensor using fiber bragg gratings
有权
机器人手术系统包括使用光纤布拉格光栅的位置传感器
- 专利标题： Robotic surgery system including position sensor using fiber bragg gratings
- 专利标题（中）： 机器人手术系统包括使用光纤布拉格光栅的位置传感器
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申请号： US13049023申请日： 2011-03-16
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公开(公告)号： US09060793B2公开(公告)日： 2015-06-23
- 发明人: David Q. Larkin , David C. Shafer
- 申请人： David Q. Larkin , David C. Shafer
- 申请人地址： US CA Sunnyvale
- 专利权人： INTUITIVE SURGICAL OPERATIONS, INC.
- 当前专利权人： INTUITIVE SURGICAL OPERATIONS, INC.
- 当前专利权人地址： US CA Sunnyvale
- 主分类号： A61B19/00
- IPC分类号： A61B19/00 ; B25J18/00 ; G01L1/24 ; B23P17/04 ; A61B17/00 ; A61B17/29
摘要：
A surgical instrument is provided, including: at least one articulatable arm having a distal end, a proximal end, and at least one joint region disposed between the distal and proximal ends; an optical fiber bend sensor provided in the at least one joint region of the at least one articulatable arm; a detection system coupled to the optical fiber bend sensor, said detection system comprising a light source and a light detector for detecting light reflected by or transmitted through the optical fiber bend sensor to determine a position of at least one joint region of the at least one articulatable arm based on the detected light reflected by or transmitted through the optical fiber bend sensor; and a control system comprising a servo controller for effectuating movement of the arm.