Robotic surgery system including position sensors using fiber bragg gratings

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US007930065B2

(12)

United States Patent

Larkin et al.

(io) Patent No.: (45) Date of Patent:

US 7,930,065 B2 Apr. 19, 2011

(54) ROBOTIC SURGERY SYSTEM INCLUDING POSITION SENSORS USING FIBER BRAGG GRATINGS

(75) Inventors: David Q. Larkin, Menlo Park, CA (US);

David C. Shafer, Menlo Park, CA (US)

(73) Assignee: Intuitive Surgical Operations, Inc.,

Sunnyvale, CA (US)

( * ) Notice: Subject to any disclaimer, the term of this patent is extended or adjusted under 35 U.S.C. 154(b) by 1262 days.

(21) Appl.No.: 11/491,384

(22) Filed: Jul. 20, 2006

(65) Prior Publication Data

US 2007/0156019 Al Jul. 5, 2007

Related U.S. Application Data

(60) Provisional application No. 60/755,157, filed on Dec. 30, 2005.

(51) Int. CI.

A61B1/00 (2006.01)

(52) U.S. CI 700/245; 600/104; 600/106; 600/145;

606/1; 606/10; 606/13; 606/15

(58) Field of Classification Search 600/104;

700/245

See application file for complete search history. (56) References Cited

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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; a detection system coupled to the optical fiber bend sensor, said detection system comprising a light source and a light detector for detecting light reflected by or transmitted through the optical fiber bend sensor to determine a position of at least one joint region of the at least one articulatable arm based on the detected light reflected by or transmitted through the optical fiber bend sensor; and a control system comprising a servo controller for effectuating movement of the arm.

50 Claims, 10 Drawing Sheets

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* cited by examiner