公开(公告)号：US20240183691A1

公开(公告)日：2024-06-06

申请号：US18439567

申请日：2024-02-12

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Mark E. Froggatt ,  Dawn K. Gifford ,  Eric E. Sanborn ,  Alexander K. Sang

IPC: G01D5/353 ,  G01J1/04 ,  G02B6/02

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.

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.

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

IPC: G02B6/02 ,  G01D5/353 ,  G01B11/16 ,  G01B21/04

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.

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

IPC: G01B11/16 ,  G01L1/24 ,  G02B23/26 ,  A61B1/00 ,  G02B6/02 ,  G02B6/34 ,  G02B6/00

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.

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

IPC: G01B11/16 ,  G01B9/02 ,  A61B34/30 ,  B25J9/16 ,  G01B11/26 ,  A61B34/35 ,  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.

公开(公告)号：US20190331479A1

公开(公告)日：2019-10-31

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

IPC: G01B11/24 ,  G01L1/24 ,  G01B11/16

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.

公开(公告)号：US10054420B2

公开(公告)日：2018-08-21

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

IPC: G01B9/02 ,  G01B11/06 ,  G01D5/353 ,  G01L1/24

CPC classification number: G01B9/0207 ,  G01B9/02004 ,  G01B9/02069 ,  G01B9/02072 ,  G01B9/02076 ,  G01B9/02083 ,  G01B9/0209 ,  G01B11/0658 ,  G01B11/18 ,  G01D5/35329 ,  G01D5/35358 ,  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.

公开(公告)号：US09784569B2

公开(公告)日：2017-10-10

申请号：US14326004

申请日：2014-07-08

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Mark E. Froggatt ,  Justin W. Klein ,  Dawn K. Gifford ,  Stephen Tod Kreger

IPC: G01B11/24 ,  G01B11/16 ,  G01L1/24 ,  G02B6/02

CPC classification number: G01B11/24 ,  G01B11/16 ,  G01B11/168 ,  G01B11/18 ,  G01L1/242 ,  G01L1/246 ,  G02B6/02042

Abstract: An accurate measurement method and apparatus using an optical fiber are disclosed. A total change in optical length in an optical core in the optical fiber is determined that reflects an accumulation of all of the changes in optical length for multiple segment lengths of the optical core up to a point on the optical fiber. The total change in optical length in the optical core is provided for calculation of an average strain over a length of the optical core based on the detected total change in optical length.

公开(公告)号：US09435702B2

公开(公告)日：2016-09-06

申请号：US14932023

申请日：2015-11-04

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Mark E. Froggatt ,  Dawn K. Gifford

IPC: G01L1/24 ,  G01D5/353

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.

公开(公告)号：US20240044638A1

公开(公告)日：2024-02-08

申请号：US18382315

申请日：2023-10-20

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Mark E. Froggatt ,  Justin W. Klein ,  Dawn K. Gifford ,  Stephen T. Kreger

IPC: G01B11/24 ,  G01B11/16 ,  G01L1/24 ,  G01M11/00 ,  G01M11/02

CPC classification number: G01B11/24 ,  G01B11/18 ,  G01L1/242 ,  G01M11/31 ,  G01M11/3172 ,  G01M11/025 ,  G01M11/3181 ,  G01B11/16 ,  G01B11/168 ,  G01L1/246 ,  G02B6/02042

Abstract: To sense the shape of a multicore optical fiber sensor, light reflected in a center and two or more helixed outer cores of the optical fiber sensor is measured, and phases associated with strain in the center and helixed outer cores is tracked along the length of the fiber sensor. Further, a wobble signal indicative of a variation in the spin rate of the fiber sensor is determined. Based on the tracked phases and the wobble signal, the fiber shape is computed.