Intuitive Surgical Operations, Inc.

Luna Innovations Inc.

Stephen Tod Kreger

Mark Earl Froggatt

Dawn K Gifford

Justin W Klein

Paul Francis Wysocki

Eric E Sanborn

Alexander K Sang

Daniel Kominsky

Evan M Lally

Jeffrey T LaCroix

Matthew T Reaves

Emily E H Templeton

Sandra M Klute

Brian M Rife

Brian Templeton

Jeff T Lacroix

Alan Heaney

Ken Walker

Kenneth Walker

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.

Methods and apparatus to determine a shape of an optical fiber sensor

Local birefringence is determined from a scatter signature of a birefringent waveguide. Four copies of a Rayleigh scatter time delay domain signature of the fiber are collected from two orthogonal polarization received states and from two orthogonal polarization launched states to form a Jones transfer matrix. Obtaining the Jones transfer matrix for the waveguide eliminates the need to align the instrument polarization launch state to the birefringence axes. Birefringence is determined from an autocorrelation of a polarization state averaged function calculated from the transfer matrix terms. Alternatively, the transfer matrix is rotated until fast and slow eigenvectors are separated, fast and slow amplitude functions are generated, and a cross-correlation is performed on the fast and slow amplitude functions in order to determine the birefringence. Because the shift is determined at a high signal-to-noise level with improved sensitivity to the spectral shift, the local birefringence is determined more accurately.

Calculation of distributed birefringence and polarization mode dispersion from waveguide scatter with full polarization state optical frequency domain reflectometry

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.

Methods and apparatus to determine a twist parameter and/or a bend angle associated with a multi-core fiber

An optical fiber includes primary optical core(s) having a first set of properties and secondary optical core(s) having a second set of properties. The primary set of properties includes a first temperature response, and the secondary set of properties includes a second temperature response sufficiently different from the first temperature response to allow a sensing apparatus when coupled to the optical fiber to distinguish between temperature and strain on the optical fiber. A method and apparatus interrogate an optical fiber having one or more primary optical cores with a first temperature response and one or more secondary optical cores with a second temperature response. Interferometric measurement data associated with each primary and secondary optical core are detected when the optical fiber is placed into a sensing position. Compensation parameter(s) is(are) determined to compensate for measurement errors caused by temperature variations along the optical fiber based on a difference between the first temperature response of the primary cores and the second temperature response of the secondary cores. The detected data are compensated using the compensation parameter(s).

Optical fiber and method and apparatus for accurate fiber optic sensing under multiple stimuli

An optical fiber includes multiple optical waveguides configured in the fiber. An interferometric measurement system mitigates or compensates for the errors imposed by differences in a shape sensing optical fiber's response to temperature and strain. A 3-D shape and/or position are calculated from a set of distributed strain measurements acquired for a multi-core optical shape sensing fiber that compensates for these non-linear errors using one or more additional cores in the multicore fiber that react differently to temperature changes than the existing cores.

Dissimilar cores in multicore optical fiber for strain and temperature separation

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.

Methods and apparatus to determine strain on an optical core based on tracked change in phase

A twisted, multicore fiber communicates light input to each core to an output. The twisting mitigates relative time delays of the input light traveling through each of the cores in the multicore fiber to the output caused by bending of that multicore fiber. An example application is in an optical network that includes an optical input terminal and an optical sensor connected by a twisted multicore connecting fiber. One example of twisted multicore optical fiber is helically-wrapped, multicore fiber.

Co-registration of cores in multicore optical fiber sensing systems

A method and structure for terminating an optical fiber are disclosed that provide an optical fiber termination structure with a small volume and very low return loss, even when the termination is in close proximity to reflective surfaces. In one example embodiment, the optical fiber termination reduces reflections into the one or more cores to a return loss of &#x2212;70 dB or less regardless of the presence of surfaces proximate the optical fiber termination. At the same time, a length of the optical fiber termination is less than 5 mm and a largest transverse dimension of the optical fiber termination is less than 325 um. The optical fiber termination is useful in fiber sensing applications in general and is particularly effective for terminating a multi-core fiber used in a distributed shape sensing application.

Reducing reflection at termination of optical fiber in a small volume

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.

Optical position and/or shape sensing

An interferometric measurement system includes a spun optical fiber including multiple optical waveguides configured in the fiber. Interferometric detection circuitry detects measurement interferometric pattern data associated with each of the multiple optical waveguides when the optical fiber is placed into a bend. Data processing circuitry determines compensation parameters that compensate for variations between an optimal configuration of the multiple optical waveguides in the fiber and an actual configuration of multiple optical waveguides in the fiber. The compensation parameters are stored in memory for compensating subsequently-obtained measurement interferometric pattern data for the fiber. The compensation parameters are applied to the subsequently-obtained measurement interferometric pattern data in order to distinguish between axial strain, bend strain, and twist strain on the fiber and to accurately determine one or more strain values for the fiber corresponding to one or more of the axial strain, bend strain, or twist strain on the fiber.

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Blacksburg, VA, United States of America

Stephen Tod Kreger