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21.发明授权公开(公告)号：US09841269B2
公开(公告)日：2017-12-12
申请号：US14362759
申请日：2012-12-03
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Mark E. Froggatt , Alexander K. Sang , Dawn K. Gifford , Justin W. Klein
CPC classification number: G01B9/0207 , G01B9/02004 , G01B9/02069 , G01B9/02072 , G01B9/02076 , G01B9/02083 , G01B9/0209 , G01B11/0658 , G01B11/18 , 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. Further robustness is achieved using averaging and strain compensation. The compensation technique may be applied along the length of the light guide.
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公开(公告)号：US20140320846A1
公开(公告)日：2014-10-30
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
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.
Abstract translation: 公开了一种使用光纤的精确测量方法和装置。 确定光纤中的光纤中的光学长度的总变化，其反映光纤的多个段长度的所有光学长度变化的累积直到光纤上的一点。 提供了光学核心中的光学长度的总变化，用于基于检测到的光学长度的总变化来计算光学核心长度上的平均应变。
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公开(公告)号：US12235095B2
公开(公告)日：2025-02-25
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
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.
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公开(公告)号：US11761797B2
公开(公告)日：2023-09-19
申请号：US16652938
申请日：2018-09-21
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Mark E. Froggatt , Dawn K. Gifford , Alexander K. Sang
CPC classification number: G01D5/35316 , G02B6/02042 , G02B6/02076 , G02B6/02128 , G02B6/022
Abstract: An optical fiber with one or more microgratings is disclosed. Methods and apparatus are described for making an optical fiber with one or more microgratings. Methods and apparatus are described for an optical fiber with one or more microgratings Optical sensing methods and an optical sensing system effectively decouple strain range from the laser tuning range, permit the use of a smaller tuning range without sacrificing strain range, and compensate for ambiguity in phase measurements normally associated with smaller tuning ranges.
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公开(公告)号：US20230152568A1
公开(公告)日：2023-05-18
申请号：US18008094
申请日：2021-06-02
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Dawn K. Gifford , Mark E. Froggatt , Eric E. Sanborn , Brooks Childers
CPC classification number: G02B21/06 , G02B21/0076
Abstract: A system can direct light into an optical fiber. Imaging optics can form an image of an end of an optical fiber. An actuatable optical element can be configured to define an optical path that extends to the actuatable optical element and further extends to the end of the optical fiber. A processor can determine a location in the image of a specified feature in the image. The processor can cause, based on the location of the specified feature in the image, the actuatable optical element to actuate to align the optical path to a core of the optical fiber. A light source can direct a light beam along the optical path to couple into the core of the optical fiber.
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Patent Agency Ranking
公开(公告)号：US11555692B2
公开(公告)日：2023-01-17
申请号：US17184357
申请日：2021-02-24
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Patrick Roye , Mark E. Froggatt , Dawn K. Gifford
IPC: B25J9/00 , B25J9/12 , B25J11/00 , B25J13/08 , B25J18/00 , G01B11/16 , G01B9/02004 , A61B34/30 , A61B34/35 , B25J9/16 , G01B11/26 , 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.
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公开(公告)号：US11473941B2
公开(公告)日：2022-10-18
申请号：US17178061
申请日：2021-02-17
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Mark E. Froggatt , Dawn K. Gifford , Eric E. Sanborn , Alexander K. Sang
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.
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28.发明授权公开(公告)号：US11473902B2
公开(公告)日：2022-10-18
申请号：US17142634
申请日：2021-01-06
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Mark E. Froggatt , Justin W. Klein , Dawn K. Gifford , Stephen T. Kreger
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.
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29.发明申请公开(公告)号：US20210131796A1
公开(公告)日：2021-05-06
申请号：US17142634
申请日：2021-01-06
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Mark E. Froggatt , Justin W. Klein , Dawn K. Gifford , Stephen T. Kreger
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.
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30.发明申请公开(公告)号：US20200378866A1
公开(公告)日：2020-12-03
申请号：US16900643
申请日：2020-06-12
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Dawn K. Gifford , Mark E. Froggatt , Patrick Roye , Jeffrey T. LaCroix
Abstract: A system and method are used for an optical fiber having a core multiple, closely-spaced optical gratings written along the core that create a repeated pattern in the core. A memory stores predetermined reference reflection data and measurement reflection data determined for a length of the core detected from interferometric patterns corresponding to scatter reflections received from the core. Data processing circuitry reduces or removes from the measurement reflection data information that corresponds to reflections due to the repeated pattern in the core to produce filtered measurement data. One or more portions of the filtered measurement data is/are correlated with one or more portions of the reference reflection data to produce multiple correlation values. The greatest of the multiple correlation values is determined, and a location along the fiber corresponding to the greatest correlation value is identified.
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