The apparatus of one embodiment of the present invention is comprised of a flexible sheath instrument, a flexible guide instrument, and a tool. The flexible sheath instrument comprises a first instrument base removably coupleable to an instrument driver and defines a sheath instrument working lumen. The flexible guide instrument comprises a second instrument base removably coupleable to the instrument driver and is threaded through the sheath instrument working lumen. The guide instrument also defines a guide instrument working lumen. The tool is threaded through the guide instrument working lumen. For this embodiment of the apparatus, the sheath instrument and guide instrument are independently controllable relative to each other.

Robotic catheter system and methods

A robotic catheter system includes a controller with a master input device. An instrument driver is in communication with the controller and has a guide instrument interface including a plurality of guide instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate guide instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The guide instrument includes a plurality of guide instrument control elements operatively coupled to respective guide drive elements and secured to the distal end of the guide instrument. The guide instrument control elements are axially moveable relative to the guide instrument such that movement of the guide instrument distal end may be controlled by the master input device.

Robotic catheter system

Rayleigh, Brillouin and Raman scatterings in fibers result from the interaction of photons with local material characteristic features like density, temperature and strain. For example an acoustic/mechanical wave generates a dynamic density variation; such a variation may be affected by local temperature, strain, vibration and birefringence. By detecting changes in the amplitude, frequency and phase of light scattered along a fiber, one can realize a distributed fiber sensor for measuring localized temperature, strain, vibration and birefringence over lengths ranging from meters to one hundred kilometers. Such a measurement can be made in the time domain or frequency domain to resolve location information. With coherent detection of the scattered light one can observe changes in birefringence and beat length for fibers and devices. The progress on state of the art technology for sensing performance, in terms of spatial resolution and limitations on sensing length is reviewed. These distributed sensors can be used for disaster prevention in the civil structural monitoring of pipelines, bridges, dams and railroads. A sensor with centimeter spatial resolution and high precision measurement of temperature, strain, vibration and birefringence can find applications in aerospace smart structures, material processing, and the characterization of optical materials and devices.

Recent progress in distributed fiber optic sensors.

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.

Robotic surgery system including position sensors using fiber bragg gratings

A surgical instrument is inserted through a guide tube. A telemanipulation system moves the distal end of the surgical instrument in all six Cartesian degrees of freedom independently of any guide tube movements.

Minimally invasive surgical system

We describe a technique for polarization sensitive optical frequency domain reflectometry (OFDR) that achieves 22 micrometer two-point spatial resolution over 35 meters of optical length with -97 dB sensitivity in a single measurement taking only seconds. We demonstrate OFDR’s versatility in both time- and frequency-domain metrology by analyzing a fiber Bragg grating (FBG) in both the spectral and impulse response domains. We also demonstrate how a polarization diversity receiver can be used in an OFDR system to track changes in the polarization state of light propagating through a birefringent component.

High resolution optical frequency domain reflectometry for characterization of components and assemblies.

The present invention is directed toward a fiber optic position and shape sensing device and the method of use. The device comprises an optical fiber means. The optical fiber means comprises either at least two single core optical fibers or a multicore optical fiber having at least two fiber cores. In either case, the fiber cores are spaced apart such that mode coupling between the fiber cores is minimized. An array of fiber Bragg gratings are disposed within each fiber core and a frequency domain reflectometer is positioned in an operable relationship to the optical fiber means. In use, the device is affixed to an object. Strain on the optical fiber is measured and the strain measurements correlated to local bend measurements. Local bend measurements are integrated to determine position and/or shape of the object.

Fiber optic position and shape sensing device and method relating thereto

We describe use of swept-wavelength interferometry for distributed fiber-optic strain and temperature sensing in single mode and gradient index multimode fiber. The method is used to measure strain in a four-strand multimode cable under twist.

High Resolution Distributed Strain or Temperature Measurements in Single-and Multi-mode Fiber Using Swept-Wavelength Interferometry

We present a method for measuring the complete linear response, including amplitude, phase, and polarization, of a fiber-optic component or assembly that requires only a single scan of a tunable laser source. The method employs polarization-diverse swept-wavelength interferometry to measure the matrix transfer function of a device under test. We outline the theory of operation to establish how the transfer function is obtained. We demonstrate the enhanced accuracy, precision, and dynamic range of the technique through measurements of several components.

Optical vector network analyzer for single-scan measurements of loss, group delay, and polarization mode dispersion

An accurate measurement method and apparatus are disclosed for shape sensing with a multi-core fiber. A change in optical length is detected in ones of the cores in the multi-core fiber up to a point on the multi-core fiber. A location and/or a pointing direction are/is determined at the point on the multi-core fiber based on the detected changes in optical length. The accuracy of the determination is better than 0.5% of the optical length of the multi-core fiber up to the point on the multi-core fiber. In a preferred example embodiment, the determining includes determining a shape of at least a portion of the multi-core fiber based on the detected changes in optical length.

Dawn K. Gifford

Papers

High resolution optical frequency domain reflectometry for characterization of components and assemblies.

Fiber optic position and shape sensing device and method relating thereto

High Resolution Distributed Strain or Temperature Measurements in Single-and Multi-mode Fiber Using Swept-Wavelength Interferometry

Optical vector network analyzer for single-scan measurements of loss, group delay, and polarization mode dispersion

Optical position and/or shape sensing