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公开(公告)号:US11076753B2
公开(公告)日:2021-08-03
申请号:US16678728
申请日:2019-11-08
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor: Stephen J. Blumenkranz , Vincent Duindam , Mark Froggatt , Eric Sanborn
IPC: A61B1/07 , A61B1/005 , G02B6/36 , G02B23/26 , A61B1/00 , A61B34/30 , A61B5/06 , A61M25/01 , A61B34/20
Abstract: A tool may comprise an optical fiber including a proximal end, a distal end, an intermediate portion between the proximal end and the distal end, and an adjustable bend between the proximal end and the intermediate portion. Motion of the intermediate portion may be constrained to translational motion substantially along an axis defined by the optical fiber at the intermediate portion. The tool may also comprise a cylindrical passage through which the intermediate portion of the optical fiber extends and a housing enclosing the adjustable bend and the cylindrical passage. The cylindrical passage may extend through a cylindrical member that includes an outer wall surrounding the cylindrical passage. The housing encloses the outer wall of the cylindrical member.
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公开(公告)号:US11899248B2
公开(公告)日:2024-02-13
申请号:US17193166
申请日:2021-03-05
Applicant: Intuitive Surgical Operations, Inc.
Inventor: Matthew D. Rohr Daniel , Troy K. Adebar , David W. Bailey , Stephen J. Blumenkranz , Edward P. Donlon , Mark Froggatt , Christopher M. Major , Randall L. Schlesinger
CPC classification number: G02B6/3866 , B08B1/008 , B08B1/04 , B08B2240/02
Abstract: An optical fiber cleaning assembly includes a cleaning tape, a first spool having the cleaning tape wound thereon, a second spool onto which the cleaning tape is drawn, a drive mechanism configured to move the cleaning tape from the first spool to the second spool, and one or more first connectors configured to mate with one or more connectors of a system, the system including a first optical fiber. The optical fiber cleaning assembly further includes one or more second connectors configured to mate with one or more optical fiber connectors of a device while the optical fiber cleaning assembly is attached to the system by the one or more first connectors, the device including a second optical fiber. The drive mechanism is configured to move the cleaning tape from the first spool to the second spool to wipe the face of the first or second optical fiber.
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3.
公开(公告)号:US20220214158A1
公开(公告)日:2022-07-07
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
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:US10732075B2
公开(公告)日:2020-08-04
申请号:US15528911
申请日:2016-04-01
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor: Dawn K. Gifford , Mark Froggatt , Patrick Roye , Jeffrey 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:US10132614B2
公开(公告)日:2018-11-20
申请号:US15520950
申请日:2015-12-07
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor: Mark Froggatt , Dawn K. Gifford , Stephen T. Kreger , Alexander K. Sang , Jeffrey T. Lacroix , Eric E. Sanborn
Abstract: An optical fiber includes multiple optical waveguides configured in the fiber. An interferometric measurement system mitigates or compensates for the errors imposed by differences in a shape sensing optical fiber's response to temperature and strain. A 3-D shape and/or position are calculated from a set of distributed strain measurements acquired for a multi-core optical shape sensing fiber that compensates for these non-linear errors using one or more additional cores in the multicore fiber that react differently to temperature changes than the existing cores.
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6.
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:US10976155B2
公开(公告)日:2021-04-13
申请号:US16333752
申请日:2017-08-16
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor: Mark Froggatt , Eric Sanborn , Alexander K. Sang
Abstract: Example embodiments include an optical assembly for an optical interrogation system having a single core or a multicore sensing fiber, a measurement fiber to couple light into the sensing fiber, and a reference fiber arranged with the measurement fiber as part of an optical interferometer. A beam splitter combines light from the sensing fiber and with light from the reference fiber. A polarization beam splitting prism separates the combined light into first polarized light and second polarized light that is orthogonal to the first polarized light. The optical assembly can substantially reduce the size, complexity, or cost associated with the traditional optical components in an optical interrogation system that it replaces. Other example optical assemblies are described. Embodiments describe optical interrogation systems using the example optical assemblies.
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公开(公告)号:US20200093548A1
公开(公告)日:2020-03-26
申请号:US16678728
申请日:2019-11-08
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor: Stephen J. Blumenkranz , Vincent Duindam , Mark Froggatt , Eric Sanborn
Abstract: A flexible tool includes an optical fiber including a proximal end, a distal end, an intermediate portion between the proximal end and the distal end and an adjustable bend between the proximal end and the intermediate portion. The intermediate portion may be constrained to have a single degree of freedom that is translational substantially along an axis defined by the optical fiber at the intermediate portion. The adjustable bend may be enclosed with a housing that provides space within the housing for the adjustable bend to adjust. The optical fiber may be used to provide shape sensing of the flexible tool.
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公开(公告)号:US20210278604A1
公开(公告)日:2021-09-09
申请号:US17193166
申请日:2021-03-05
Applicant: Intuitive Surgical Operations, Inc.
Inventor: Matthew D. Rohr Daniel , Troy K. Adebar , David W. Bailey , Stephen J. Blumenkranz , Edward P. Donlon , Mark Froggatt , Christopher M. Major , Randall L. Schlesinger
Abstract: An optical fiber cleaning assembly includes a cleaning tape, a first spool having the cleaning tape wound thereon, and a second spool onto which the cleaning tape is drawn. The optical fiber cleaning assembly further includes a drive mechanism for moving the cleaning tape from the first spool onto the second spool. A face of an optical fiber may be placed into contact with the cleaning tape, such that a portion of the cleaning tape wipes the face of the optical fiber as the drive mechanism moves the cleaning tape from the first spool onto the second spool.
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公开(公告)号:US10416391B2
公开(公告)日:2019-09-17
申请号:US15524388
申请日:2016-03-24
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor: Mark Froggatt , Eric Sanborn , Jeffrey Lacroix
Abstract: The ends of sensing and interrogating multicore fibers are brought into proximity for connection in a first orientation with one or more cores in the sensing fiber being paired up with corresponding one or more cores in the interrogating fiber. Optical interferometry is used to interrogate at least one core pair and to determine a first reflection value that represents a degree of alignment for the core pair in the first orientation. The relative position is adjusted between the ends of the fibers to a second orientation. Interferometry is used to interrogate the core pair and determine a second reflection value that represents a degree of alignment for the core pair in the second orientation. The first reflection value is compared with the second reflection value, and an aligned orientation is identified for connecting the sensing and interrogating fibers based on the comparison.
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