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公开(公告)号：US09200971B2
公开(公告)日：2015-12-01
申请号：US14256189
申请日：2014-04-18
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Mark E. Froggatt , Dawn K. Gifford
IPC: G01L1/24
CPC classification number: G01L1/246 , G01D5/35306 , G01K11/3206
Abstract: Mechanical parameters of an object subjected to a force or condition are measured. A curved portion of a multicore optical fiber is attached to the object, and the multicore optical fiber includes a center core and plural off-center cores. A distributed, optically-based sensing technique is used to obtain information at each of multiple points along the curved portion from multiple ones of the cores of the multicore optical fiber. A curvature associated with the fiber attached to the object is determined using the information obtained from multiple ones of the cores. Strain information is obtained for the center core without having to obtain strain information for the off-center cores. Mechanical parameters are determined based on the strain information obtained for the center core and the curvature information obtained from the multiple ones of the cores.
Abstract translation: 测量受到力或条件的物体的机械参数。 多芯光纤的弯曲部分附着在物体上，多芯光纤包括中心芯和多个偏心芯。 使用分布式的基于光学的感测技术来获得来自多芯光纤的多个核心的沿弯曲部分的多个点的信息。 使用从多个核心获得的信息确定与附接到对象的光纤相关联的曲率。 对于中心芯获得应变信息，而不必获得偏心芯的应变信息。 基于针对中心芯获得的应变信息和从多个芯获得的曲率信息来确定机械参数。
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公开(公告)号：US11940305B2
公开(公告)日：2024-03-26
申请号：US17899463
申请日：2022-08-30
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Mark E. Froggatt , Dawn K. Gifford , Eric E. Sanborn , Alexander K. Sang
CPC classification number: G01D5/35316 , G01J1/0425 , G02B6/02042 , G02B6/02085 , G02B6/02142
Abstract: Example embodiments include an optical interrogation system with a sensing fiber having a single core, the single core having multiple light propagating modes. Interferometric apparatus probes the single core multimode sensing fiber over a range of predetermined wavelengths and detects measurement interferometric data associated with the multiple light propagating modes of the single core for each predetermined wavelength in the range. Data processing circuitry processes the measurement interferometric data associated with the multiple light propagating modes of the single core to determine one or more shape-sensing parameters of the sensing fiber from which the shape of the fiber in three dimensions can be determined.
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33.发明授权公开(公告)号：US11781857B2
公开(公告)日：2023-10-10
申请号：US17700370
申请日：2022-03-21
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Dawn K. Gifford , Federico Barbagli , Samuel Chang , Anoop B. Kowshik , Oliver Wagner , Michael Paris , Mark Froggatt
CPC classification number: G01B11/16 , A61B1/00096 , A61B1/00165 , G01L1/24 , G02B6/00 , G02B6/02 , G02B6/022 , G02B6/02042 , G02B6/34 , G02B23/26
Abstract: An optical force sensor along with an optical processing apparatus and method are disclosed. The optical force sensor includes an optical fiber, a core included in the optical fiber, an instrument including the optical fiber, the instrument having a distal region, and a tubular structure encasing an end of the optical fiber and secured to the first conduit at the distal region of the instrument. When an optical interferometric system is coupled to the optical fiber, it processes reflected light from a portion of the core included within the tubular structure that does not include Bragg gratings to produce a measurement of a force present at the distal region of the instrument.
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公开(公告)号：US20220412778A1
公开(公告)日：2022-12-29
申请号：US17899463
申请日：2022-08-30
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Mark E. Froggatt , Dawn K. Gifford , Eric E. Sanborn , Alexander K. Sang
Abstract: Example embodiments include an optical interrogation system with a sensing fiber having a single core, the single core having multiple light propagating modes. Interferometric apparatus probes the single core multimode sensing fiber over a range of predetermined wavelengths and detects measurement interferometric data associated with the multiple light propagating modes of the single core for each predetermined wavelength in the range. Data processing circuitry processes the measurement interferometric data associated with the multiple light propagating modes of the single core to determine one or more shape-sensing parameters of the sensing fiber from which the shape of the fiber in three dimensions can be determined.
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35.发明申请公开(公告)号：US20210231432A1
公开(公告)日：2021-07-29
申请号：US17115694
申请日：2020-12-08
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Dawn K. Gifford , Federico Barbagli , Samuel Chang , Anoop B. Kowshik , Oliver Wagner , Michael Paris , Mark E. Froggatt
Abstract: An optical force sensor along with an optical processing apparatus and method are disclosed. The optical force sensor includes an optical fiber, a core included in the optical fiber, an instrument including the optical fiber, the instrument having a distal region, and a tubular structure encasing an end of the optical fiber and secured to the first conduit at the distal region of the instrument. When an optical interferometric system is coupled to the optical fiber, it processes reflected light from a portion of the core included within the tubular structure that does not include Bragg gratings to produce a measurement of a force present at the distal region of the instrument.
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Patent Agency Ranking
公开(公告)号：US11035699B2
公开(公告)日：2021-06-15
申请号：US16474531
申请日：2017-12-20
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Mark E. Froggatt , Dawn K. Gifford , Eric E. Sanborn , Alexander K. Sang
Abstract: Example embodiments include an optical interrogation system with a sensing fiber having a single core, the single core having multiple light propagating modes. Interferometric apparatus probes the single core multimode sensing fiber over a range of predetermined wavelengths and detects measurement interferometric data associated with the multiple light propagating modes of the single core for each predetermined wavelength in the range. Data processing circuitry processes the measurement interferometric data associated with the multiple light propagating modes of the single core to determine one or more shape-sensing parameters of the sensing fiber from which the shape of the fiber in three dimensions can be determined.
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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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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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39.发明申请公开(公告)号：US20200318951A1
公开(公告)日：2020-10-08
申请号：US16908414
申请日：2020-06-22
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Mark E. Froggatt , Justin W. Klein , Dawn K. Gifford , Stephen T. Kreger
Abstract: A multi-core fiber includes multiple optical cores, and for each different core of a set of different cores of the multiple optical cores, a total change in optical length is detected. The total change in optical length represents an accumulation of all changes in optical length for multiple segments of that different core up to a point on the multi-core fiber. A difference is determined between the total changes in optical length for cores of the set of different cores. A twist parameter and/or a bend angle associated with the multi-core fiber at the point on the multi-core fiber is/are determined based on the difference.
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40.发明授权公开(公告)号：US10551173B2
公开(公告)日：2020-02-04
申请号：US16506998
申请日：2019-07-09
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Mark E. Froggatt , Justin W. Klein , Dawn K. Gifford , Stephen T Kreger
Abstract: A multi-core fiber includes multiple optical cores, and for each different core of a set of different cores of the multiple optical cores, a total change in optical length is detected. The total change in optical length represents an accumulation of all changes in optical length for multiple segments of that different core up to a point on the multi-core fiber. A difference is determined between the total changes in optical length for cores of the set of different cores. A twist parameter and/or a bend angle associated with the multi-core fiber at the point on the multi-core fiber is/are determined based on the difference.
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