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

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：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

IPC: G02B6/02 ,  G01B11/16 ,  G01L1/24 ,  G01B21/04 ,  G01D5/34 ,  G01D5/353 ,  G01K11/32 ,  G01M11/00

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.

公开(公告)号：US10775157B2

公开(公告)日：2020-09-15

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

IPC: G01N21/00 ,  G01B11/16 ,  G01B21/04 ,  G01D5/353 ,  G01D18/00 ,  G01L1/24 ,  G01B11/26

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.