A surgical instrument is provided, including: at least one articulatable arm having a distal end, a proximal end, and at least one joint region disposed between the distal and proximal ends; an optical fiber bend sensor provided in the at least one joint region of the at least one articulatable arm;...http://www.google.fr/patents/US7930065?utm_source=gb-gplus-shareBrevet US7930065 - Robotic surgery system including position sensors using fiber bragg gratings
Robotic surgery system including position sensors using fiber bragg gratings
