« PrécédentContinuer »
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.
(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;
See application file for complete search history. (56) References Cited
U.S. PATENT DOCUMENTS
4,437,114 A * 3/1984 LaRussa 348/94
4,792,715 A 12/1988 Barskyetal.
5,307,437 A * 4/1994 Facqetal 385/124
5,792,135 A 8/1998 Madhani et al.
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
U.S. PATENT DOCUMENTS
6,902,560 Bl 6/2005 Morleyetal.
6,936,042 B2 8/2005 Wallace et al.
6,994,703 B2 2/2006 Wangetal.
7,042,573 B2 5/2006 Froggatt
2004/0202400 Al * 10/2004 Kochergin et al 385/12
2006/0013523 Al 1/2006 Childlers et al.
2006/0149418 Al * 7/2006 Anvari 700/245
2007/0065077 Al 3/2007 Childers et al.
2007/0151391 Al 7/2007 Larkinetal.
2007/0265503 Al 11/2007 Schlesinger et al.
2008/0156971 Al * 7/2008 Ogisuetal 250/227.14
2008/0212082 Al 9/2008 Froggatt et al.
Berthold J; Historical Review of Microbend Fiber-Optic Sensors, Journal of Lightwave Technology, vol. 13, No. 7, Jul. 1995. Cao, C, Designing for Spatial Orientation in Endoscopic Environments, Proceedings of the Human Factors and Ergonomics Society 45thAnnualMtg.,2001,pp. 1259-1263.
Cao, C, Milgram, P., Disorientatin in Minimal Access Surgery: A Case Study, Proceedings of the IEA 2000, pp. 4-169-4-172. Childers B, Froggatt M, Allison S, Moore L, Hare D, Batten C, Jegley D; Use of 3000 Bragg grating strain sensors distributed on four eight-meter optical fibers during static load tests of a composite structure, SPIE 8th International Symposium on Smart Structures and Materials, Mar. 2001.
Cowie B, Webb D, Lam B, Slack P, Brett P; Distributive Lactile Sensing using Fibre Bragg Grating Sensors for Biomedical Applications, IEEE / RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, Feb. 2006.
Danisch L, Englehart K, Lrivet A; Spatially continuous six degree of freedom position and orientation sensor, Sensor Review, 19, 2, pp. 106-112, 1999.
Duncan R; Sensing Shape: Fiber-Bragg-grating sensor arrays monitor shape at a high resolution, SPIE's oemagazine, Sep. 2005. Gander, M.J., MacPherson, W.N., McBride, R., Jones, J.D.C., Zhang, L., Bennion, I., Blanchard, P.M., Burnett, J.G. and Greenaway, A.H., Bend measurement using bragg gratings in multicore fibre, Electronics Letter, Jan. 20, 2000, vol. 36, No. 2, 2 pages. Kreger S, Calvert S, Udd E; Optical Frequency Domain Refiectometry for High Density Multiplexing of Multi-Axis Fiber Bragg Gratings, 16"" International Conference on Optical Fiber Sensors, Oct. 2003.
Lertpiriyasuwat V, Berg M, Buffinton K; Extended Kalman Filtering Applied to a Lwo-Axis Robotic Arm with Flexible Links, Lhe International Journal of Robotics Research, vol. 19, No. 3, 254-270 (2000).
Lunwei, Z., Jinwu, Q., Linyong S., Yanan, Z., FBG Sensor Devices for Spatial Shape Detection of Intelligent Colonoscope, Proceedings of the 2004 IEEE, Int'l Conf, on Robotics & Automation, Apr. 2004, pp. 835-840.
Martinez A, Lai Y, Dubov M, Khrushchev I, Bennion I; Vector bending sensors based on fibre Bragg gratings inscribed by infrared femtosecond laser, Electronics Letters Apr. 14, 2005 vol. 41 No. 8. Stieber M, McKay M, Vukovich G, Petriu E; Vision-Based Sensing and Control for Space Robotics Applications, IEEE Lransactions on Instrumentation and Measurement, vol. 48, No. 4, Aug. 1999. ShapeLape Overview, http://www.measureand.com/products/ ShapeTape_overview.html, Measureand Shape Advantage, pp. 1-3. Blue Road Research, Overview of Fiber Optic Sensors, 40 pages. Internet <www.bluerr.com/papers/Overview_of_FOS2.pdf>. Dario, P. et al., "A miniature device for medical intracavitary intervention," Proceedings of IEEE Micro Electro Mechanical Systems (MEMS '91) 1991: An Investigation of Micro Structures, Sensors, Actuators, Machines and Robots; Jan. 30-Feb. 2, 1991, pp. 171-175. Hill, Kenneth O. and George Meltz, "Fiber Bragg grating technology fundamentals and overview," IEEE Journal of Lightwave Technology, vol. 15, Issue 8, Aug. 1997, pp. 1263-1276. Jin, Long et al., "Two-dimensional bend sensing with a cantilevermounted FBG," Measurement Science and Technology, vol. 17, 2006, pp. 168-172.
Meltz, Gerald, "Overview of Fiber Grating-Based Sensors," Proceedings of SPIE Distributed Multiplexed Fiber Optic Sensors VI, Nov. 27, 1996, Eds. Kersey et al.,vol. 2838, pp. 2-22. Wang, Yi-Ping andYun-Jiang Rao, "A novel long period fiber grating sensor measuring curvature and determining bend-direction simultaneously," IEEE Sensors Journal, Oct. 2005, vol. 5, Iss. 5, pp. 839-843. Wong, Allan C. L. et al., "Multiplexed fibre Fizeau interferometer and fibre Bragg grating sensor system for simultaneous measurement of quasi-static strain and temperature using discrete wavelet transform," Measurement Science and Technology, 2006, vol. 17, pp. 384-392. Vertut, Jean and Coeffet, Philippe Coiffet; "Robot Technology; vol. 3A Teleoperation and Robotics Evolution and Development"; 1986; Prentice-Hall, Inc; Englewood Cliffs, N.J.
* cited by examiner