US 10,376,134 B2
Systems and methods for reducing measurement error using optical fiber shape sensors
Randall L. Schlesinger, San Mateo, CA (US); Stephen J. Blumenkranz, Los Altos Hills, CA (US); Christopher R. Carlson, Belmont, CA (US); Vincent Duindam, San Francisco, CA (US); Anoop B. Kowshik, Saratoga, CA (US); and Timothy D. Soper, San Jose, CA (US)
Assigned to Intutitive Surgical Operations, Inc., Sunnyvale, CA (US)
Appl. No. 15/518,385
Filed by Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
PCT Filed Oct. 16, 2015, PCT No. PCT/US2015/055879
§ 371(c)(1), (2) Date Apr. 11, 2017,
PCT Pub. No. WO2016/061431, PCT Pub. Date Apr. 21, 2016.
Claims priority of provisional application 62/065,349, filed on Oct. 17, 2014.
Prior Publication US 2017/0303824 A1, Oct. 26, 2017
Int. Cl. A61B 1/00 (2006.01); G02B 6/12 (2006.01); A61B 1/005 (2006.01); A61B 1/018 (2006.01); A61B 34/20 (2016.01)
CPC A61B 1/00096 (2013.01) [A61B 1/0051 (2013.01); A61B 1/0055 (2013.01); A61B 1/00078 (2013.01); A61B 1/018 (2013.01); A61B 2034/2061 (2016.02)] 23 Claims
OG exemplary drawing
 
1. An apparatus comprising:
an instrument including an elongated shaft;
a first shape sensor including an elongated optical fiber extending within the elongated shaft at a first radial distance from a neutral axis; and
a twist resistant feature configured to reduce twisting of the elongated optical fiber relative to the elongated shaft while permitting axial translation of the elongated optical fiber within the elongated shaft, wherein the twist resistant feature includes a keying feature that includes:
a first spline disposed along the first shape sensor; and
a second spline disposed along the first shape sensor and separated from the first spline by a region of the first shape sensor that is free of the twist resistant feature.