The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Mar. 15, 2016
Filed:
Jul. 20, 2010
Method and system for absolute three-dimensional measurements using a twist-insensitive shape sensor
Giuseppe M. Prisco, Mountain View, CA (US);
Theodore W. Rogers, Alameda, CA (US);
Vincent Duindam, Mountain View, CA (US);
Myriam J. Curet, Los Altos, CA (US);
Catherine J. Mohr, Mountain View, CA (US);
Katherine D. Stoy, Mountain View, CA (US);
Giuseppe M. Prisco, Mountain View, CA (US);
Theodore W. Rogers, Alameda, CA (US);
Vincent Duindam, Mountain View, CA (US);
Myriam J. Curet, Los Altos, CA (US);
Catherine J. Mohr, Mountain View, CA (US);
Katherine D. Stoy, Mountain View, CA (US);
Intuitive Surgical Operations, Inc., Sunnyvale, CA (US);
Abstract
An apparatus includes a reference fixture. The reference fixture includes a joint, and a joint tracker to track motion of the joint. The apparatus also includes a surgical instrument. A tether is connected between the joint and the surgical instrument. A shape sensor extends from the reference fixture through the joint, through the tether, and into the surgical instrument. The shape sensor is substantially free of twist. The joint tracker measures the motion of the joint. Information from the shape sensor in combination with information from the joint tracker provides absolute three-dimensional information relative to the reference fixture, i.e., provides absolute three-dimensional information in a fixed world reference frame.