	US 11,666,243 B2
	Systems and methods for reducing measurement error using optical fiber shape sensors
Stephen J. Blumenkranz, Los Altos, CA (US); Caitlin Q. Donhowe, Mountain View, CA (US); and Randall L. Schlesinger, San Mateo, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on May 13, 2019, as Appl. No. 16/410,710.
Application 16/410,710 is a continuation of application No. 14/879,291, filed on Oct. 9, 2015, granted, now 10,314,513.
Claims priority of provisional application 62/062,304, filed on Oct. 10, 2014.
Prior Publication US 2019/0343424 A1, Nov. 14, 2019
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 5/06 (2006.01); A61B 1/005 (2006.01); A61B 5/00 (2006.01); A61B 5/107 (2006.01); A61B 34/20 (2016.01); A61B 5/05 (2021.01)

CPC A61B 5/065 (2013.01) [A61B 1/0051 (2013.01); A61B 5/1076 (2013.01); A61B 5/6852 (2013.01); A61B 5/6855 (2013.01); A61B 5/05 (2013.01); A61B 5/066 (2013.01); A61B 2034/2061 (2016.02); A61B 2562/0233 (2013.01)]

20 Claims

1. An apparatus comprising:

an instrument comprising:

an elongated, flexible body including an inner surface and an outer surface, wherein the inner surface is shaped to define a lumen extending through at least a portion of the elongated, flexible body; and

a plurality of portions extending along a length of the elongated, flexible body;

a shape sensor extending at least partially along the elongated, flexible body; and

one or more radiopaque materials incorporated into a first portion of the plurality of portions and a second portion of the plurality of portions such that the first portion has a first radiopacity and the second portion has a second radiopacity, wherein the first radiopacity is different from the second radiopacity, wherein the first portion includes a first band and the second portion includes a second band, and wherein the first and second bands are spaced at different longitudinal positions along a length of the shape sensor.