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公开(公告)号：US20180058838A1
公开(公告)日：2018-03-01
申请号：US15793177
申请日：2017-10-25
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Mark E. FROGGATT , Alexander K. SANG , Dawn K. GIFFORD , Justin W. KLEIN
CPC classification number: G01B9/0207 , G01B9/02004 , G01B9/02069 , G01B9/02072 , G01B9/02076 , G01B9/02083 , G01B9/0209 , G01B11/0658 , G01B11/18 , G01D5/3537 , G01L1/242 , G01M11/3172
Abstract: An optical interrogation system, e.g., an OFDR-based system, measures local changes of index of refraction of a sensing light guide subjected to a time-varying disturbance. Interferometric measurement signals detected for a length of the sensing light guide are transformed into the spectral domain. A time varying signal is determined from the transformed interferometric measurement data set. A compensating signal is determined from the time varying signal which is used to compensate the interferometric measurement data set for the time-varying disturbance. The compensation technique may be applied along the length of the light guide.
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公开(公告)号：US20190234727A1
公开(公告)日：2019-08-01
申请号：US16315773
申请日：2017-06-22
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Patrick ROYE , Mark E. FROGGATT , Dawn K. GIFFORD
CPC classification number: G01B11/161 , A61B34/30 , A61B34/35 , A61B2034/2061 , A61B2034/301 , B25J9/1694 , G01B9/02004 , 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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3.发明申请公开(公告)号：US20180128599A1
公开(公告)日：2018-05-10
申请号：US15572135
申请日：2016-05-12
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Dawn K. GIFFORD , Federico BARBAGLI , Samuel Y. CHANG , Anoop B. KOWSHIK , Oliver J. WAGNER , Michael D. PARIS , Mark E. FROGGATT
CPC classification number: G01B11/16 , A61B1/00096 , A61B1/00165 , G01L1/24 , G02B6/02042 , G02B6/022 , 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：US20160054186A1
公开(公告)日：2016-02-25
申请号：US14932023
申请日：2015-11-04
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Mark E. FROGGATT , Dawn K. GIFFORD
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：US20190234726A1
公开(公告)日：2019-08-01
申请号：US16307269
申请日：2017-05-25
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Dawn K. GIFFORD , Mark E. FROGGATT , Jeffrey T. LACROIX , Eric E. SANBORN , Alexander K. SANG
Abstract: An interferometric measurement system measures a spun optical fiber sensor that includes multiple optical cores configured in the fiber sensor. A calibration machine includes a calibration fixture having known dimensions, one or more automatically controllable actuators for wrapping the fiber sensor starting at one end of the fiber sensor onto a calibration fixture having known dimensions, and an actuator controller configured to control the one or more actuators with actuator control signals. Interferometric detection circuitry, coupled to the actuator controller and to the other end of the fiber sensor, detects measured interferometric pattern data associated with each of the multiple cores when the fiber sensor is wrapped onto the calibration fixture. Data processing circuitry determines compensation parameters that compensate for variations between an optimal configuration of the multiple cores and an actual configuration of the multiple cores in the fiber sensor based on the detected measured interferometric pattern data. The compensation parameters compensate subsequently-obtained measurement interferometric pattern data for the fiber sensor.
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Patent Agency Ranking
公开(公告)号：US20190094459A1
公开(公告)日：2019-03-28
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：US20180356203A1
公开(公告)日：2018-12-13
申请号：US16044559
申请日：2018-07-25
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Mark E. FROGGATT , Alexander K. SANG , Dawn K. GIFFORD , Justin W. KLEIN
CPC classification number: G01B9/0207 , G01B9/02004 , G01B9/02069 , G01B9/02072 , G01B9/02076 , G01B9/02083 , G01B9/0209 , G01B11/0658 , G01B11/18 , G01D5/3537 , G01L1/242 , G01M11/3172
Abstract: Interferometric measurement signals are detected by a single optical interferometric interrogator for a length of a sensing light guide and an interferometric measurement data set corresponding to the interferometric measurement signals is generated. The interferometric measurement data set is transformed into a spectral domain to produce a transformed interferometric measurement data set. The transformed interferometric measurement data set is compared to a baseline interferometric data set to identify a time-varying signal corresponding to a time-varying disturbance. The baseline interferometric data set is representative of the sensing light guide not being subjected to the time-varying disturbance. A compensating signal is determined from the time-varying signal and used to compensate at least a portion of the interferometric measurement data set for the time-varying disturbance as part of producing a measurement of the parameter.
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8.发明申请公开(公告)号：US20170370705A1
公开(公告)日：2017-12-28
申请号：US15698707
申请日：2017-09-08
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Mark E. FROGGATT , Justin W. KLEIN , Dawn K. GIFFORD , Stephen Tod KREGER
CPC classification number: G01B11/24 , G01B11/16 , G01B11/168 , G01B11/18 , G01L1/242 , G01L1/246 , G02B6/02042
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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公开(公告)号：US20170370704A1
公开(公告)日：2017-12-28
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
CPC classification number: G01B11/161 , G01B11/18 , G01B21/042 , G01D5/344 , G01D5/35316 , G01D5/35354 , G01K11/3206 , G01L1/242 , G01M11/3172 , G01M11/3181 , G02B6/02042 , G02B6/02057
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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10.发明申请公开(公告)号：US20170322113A1
公开(公告)日：2017-11-09
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
IPC: G01M11/00
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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