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公开(公告)号：US11555692B2
公开(公告)日：2023-01-17
申请号：US17184357
申请日：2021-02-24
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Patrick Roye , Mark E. Froggatt , Dawn K. Gifford
IPC: B25J9/00 , B25J9/12 , B25J11/00 , B25J13/08 , B25J18/00 , G01B11/16 , G01B9/02004 , A61B34/30 , A61B34/35 , B25J9/16 , G01B11/26 , A61B34/20
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.
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2.发明申请公开(公告)号：US20200378866A1
公开(公告)日：2020-12-03
申请号：US16900643
申请日：2020-06-12
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Dawn K. Gifford , Mark E. Froggatt , Patrick Roye , Jeffrey T. LaCroix
Abstract: A system and method are used for an optical fiber having a core multiple, closely-spaced optical gratings written along the core that create a repeated pattern in the core. A memory stores predetermined reference reflection data and measurement reflection data determined for a length of the core detected from interferometric patterns corresponding to scatter reflections received from the core. Data processing circuitry reduces or removes from the measurement reflection data information that corresponds to reflections due to the repeated pattern in the core to produce filtered measurement data. One or more portions of the filtered measurement data is/are correlated with one or more portions of the reference reflection data to produce multiple correlation values. The greatest of the multiple correlation values is determined, and a location along the fiber corresponding to the greatest correlation value is identified.
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公开(公告)号：US20210187752A1
公开(公告)日：2021-06-24
申请号：US17184357
申请日：2021-02-24
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Patrick Roye , Mark E. Froggatt , Dawn K. Gifford
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.
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公开(公告)号：US20190250050A1
公开(公告)日：2019-08-15
申请号：US16342524
申请日：2017-10-20
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Eric E. Sanborn , Mark E. Froggatt , Dawn K. Gifford , Jeffrey T. LaCroix , Patrick Roye , Alexander K. Sang
Abstract: Shape sensing with a multi-core fiber can achieve high accuracy as well as accommodate small bend radii by measuring signals with peripheral waveguide cores placed at multiple different radial distances from the center axis of the fiber, and computing strain metrics from signals of cores selected based on the respective radial distances and a determination of whether the waveguide cores have strained out of range.
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公开(公告)号：US10983268B2
公开(公告)日：2021-04-20
申请号：US16709341
申请日：2019-12-10
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Mark E. Froggatt , Dawn K. Gifford , Jeffrey T. LaCroix , Patrick Roye , Alexander K. Sang
Abstract: An optical fiber includes multiple optical cores configured in the fiber including a set of primary cores and an auxiliary core. An interferometric measurement system uses measurements from the multiple primary cores to predict a response from the auxiliary core. The predicted auxiliary core response is compared with the actual auxiliary core response to determine if they differ by more than a predetermined amount, in which case the measurements from the multiple primary cores may be deemed unreliable.
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Patent Agency Ranking
公开(公告)号：US10823627B2
公开(公告)日：2020-11-03
申请号：US16342524
申请日：2017-10-20
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Eric E. Sanborn , Mark E. Froggatt , Dawn K. Gifford , Jeffrey T. LaCroix , Patrick Roye , Alexander K. Sang
Abstract: Shape sensing with a multi-core fiber can achieve high accuracy as well as accommodate small bend radii by measuring signals with peripheral waveguide cores placed at multiple different radial distances from the center axis of the fiber, and computing strain metrics from signals of cores selected based on the respective radial distances and a determination of whether the waveguide cores have strained out of range.
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公开(公告)号：US10545283B2
公开(公告)日：2020-01-28
申请号：US16099763
申请日：2017-04-26
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Mark E. Froggatt , Dawn K. Gifford , Jeffrey T. Lacroix , Patrick Roye , Alexander K. Sang
Abstract: An optical fiber includes multiple optical cores configured in the fiber including a set of primary cores and an auxiliary core. An interferometric measurement system uses measurements from the multiple primary cores to predict a response from the auxiliary core. The predicted auxiliary core response is compared with the actual auxiliary core response to determine if they differ by more than a predetermined amount, in which case the measurements from the multiple primary cores may be deemed unreliable.
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公开(公告)号：US20230122326A1
公开(公告)日：2023-04-20
申请号：US18083205
申请日：2022-12-16
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Patrick Roye , Mark E. Froggatt , Dawn K. Gifford
IPC: G01B11/16 , G01B9/02004 , B25J9/00 , B25J9/12 , B25J11/00 , B25J13/08 , B25J18/00 , A61B34/30 , A61B34/35 , B25J9/16 , G01B11/26
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.
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公开(公告)号：US11624870B2
公开(公告)日：2023-04-11
申请号：US17203701
申请日：2021-03-16
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Mark E. Froggatt , Dawn K. Gifford , Jeffrey T. LaCroix , Patrick Roye , Alexander K. Sang
Abstract: An optical fiber includes multiple optical cores configured in the fiber including a set of primary cores and an auxiliary core. An interferometric measurement system uses measurements from the multiple primary cores to predict a response from the auxiliary core. The predicted auxiliary core response is compared with the actual auxiliary core response to determine if they differ by more than a predetermined amount, in which case the measurements from the multiple primary cores may be deemed unreliable.
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公开(公告)号：US10962351B2
公开(公告)日：2021-03-30
申请号：US16315773
申请日：2017-06-22
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Patrick Roye , Mark E. Froggatt , Dawn K. Gifford
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.
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