US 12,251,181 B2
Robotic surgery system including position sensors using fiber Bragg gratings
David Q. Larkin, Menlo Park, CA (US); and David C. Shafer, Menlo Park, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Jun. 7, 2023, as Appl. No. 18/331,033.
Application 18/331,033 is a continuation of application No. 17/477,846, filed on Sep. 17, 2021, granted, now 11,712,312.
Application 17/477,846 is a continuation of application No. 15/870,116, filed on Jan. 12, 2018, granted, now 11,135,023, issued on Oct. 5, 2021.
Application 15/870,116 is a continuation of application No. 14/813,944, filed on Jul. 30, 2015, granted, now 9,883,914, issued on Feb. 6, 2018.
Application 14/813,944 is a continuation of application No. 13/049,003, filed on Mar. 16, 2011, granted, now 9,125,679, issued on Sep. 8, 2015.
Application 13/049,003 is a continuation of application No. 11/491,384, filed on Jul. 20, 2006, granted, now 7,930,065, issued on Apr. 19, 2011.
Claims priority of provisional application 60/755,157, filed on Dec. 30, 2005.
Prior Publication US 2023/0414301 A1, Dec. 28, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 18/06 (2006.01); A61B 34/00 (2016.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 34/37 (2016.01); A61B 90/30 (2016.01); B25J 9/16 (2006.01); B25J 19/02 (2006.01); A61B 17/00 (2006.01); A61B 17/04 (2006.01); A61B 17/29 (2006.01); A61B 90/00 (2016.01)
CPC A61B 34/30 (2016.02) [A61B 34/20 (2016.02); A61B 34/37 (2016.02); A61B 34/71 (2016.02); A61B 90/30 (2016.02); B25J 9/1635 (2013.01); B25J 18/06 (2013.01); B25J 19/025 (2013.01); A61B 2017/00057 (2013.01); A61B 2017/00477 (2013.01); A61B 2017/0477 (2013.01); A61B 2017/2906 (2013.01); A61B 2034/2048 (2016.02); A61B 2034/2059 (2016.02); A61B 2034/2061 (2016.02); A61B 2034/2065 (2016.02); A61B 2034/305 (2016.02); A61B 90/361 (2016.02); A61B 2090/3614 (2016.02); Y10S 901/09 (2013.01); Y10S 901/28 (2013.01); Y10S 901/46 (2013.01); Y10S 901/47 (2013.01); Y10T 29/49826 (2015.01); Y10T 74/20305 (2015.01)] 20 Claims
OG exemplary drawing
 
1. A method for determining a shape of a lumen in an anatomical structure, the method comprising:
receiving information from a plurality of position sensors disposed along at least a portion of a length of an elongate, flexible device when the elongate, flexible device is positioned in the lumen, wherein when the elongate, flexible device is positioned in the lumen, the elongate, flexible device conforms to the shape of the lumen; and
determining, by a processing system, the shape of the lumen based on the information received from the plurality of position sensors.