Optic fiber connection for a force sensing instrument
In one embodiment, a surgical instrument includes a housing linkable with a manipulator arm of a robotic surgical system, a shaft operably coupled to the housing, a force transducer on a distal end of the shaft, and a plurality of fiber optic strain gauges on the force transducer. In one example, the plurality of strain gauges are operably coupled to a fiber optic splitter or an arrayed waveguide grating (AWG) multiplexer. A fiber optic connector is operably coupled to the fiber optic splitter or the AWG multiplexer. A wrist joint is operably coupled to a distal end of the force transducer, and an end effector is operably coupled to the wrist joint. In another embodiment, a robotic surgical manipulator includes a base link operably coupled to a distal end of a manipulator positioning system, and a distal link movably coupled to the base link, wherein the distal link includes an instrument interface and a fiber optic connector optically linkable to a surgical instrument. A method of passing data between an instrument and a manipulator via optical connectors is also provided.
1. A surgical instrument, comprising:
a housing linkable with a manipulator arm of a robotic surgical system;
a shaft operably coupled to the housing;
a force transducer on a distal end of the shaft;
a plurality of fiber optic strain gauges on the force transducer, the plurality of strain gauges operably coupled to a fiber optic splitter;
a fiber optic connector operably coupled to the fiber optic splitter;
a wrist joint operably coupled to a distal end of the force transducer;
an end effector operably coupled to the wrist joint; and wherein the fiber optic splitter is operably coupled to the fiber optic connector by a single optic fiber routed at least partially through the shaft.
2. The instrument of claim 1 , wherein the fiber optic connector includes an expanded beam collimator lens selected from the group consisting of a gradient index lens, an aspheric lens, a ball lens, and a lensed optic fiber.
3. The instrument of claim 2 , wherein the fiber optic splitter is directly coupled to the expanded beam collimator lens without optical fiber.
4. The instrument of claim 1 , wherein the plurality of strain gauges is operably coupled to the fiber optic splitter by optic fibers routed at least partially through the shaft.
5. The instrument of claim 4 , wherein the optic fibers are configured in a loop at the housing.
6. The instrument of claim 1 , wherein the optic fiber is configured in a loop at the housing.
7. The instrument of claim 1 , wherein the fiber optic connector is configured on the housing to transmit signals from the plurality of strain gauges to a second fiber optic connector mounted on a distal link of the manipulator arm.
8. The instrument of claim 7 , wherein the fiber optic connector approaches along its optical axis to mate with the second fiber optic connector.
9. The instrument of claim 7 , wherein the fiber optic connector approaches transversely to its optical axis to mate with the second fiber optic connector.
10. The instrument of claim 7 , wherein the fiber optic connector is attached to the housing by a flexible member.
11. The instrument of claim 10 , wherein the fiber optic connector is guided into optical alignment with the second fiber optic connector by a tapered feature.
12. The instrument of claim 1 , wherein the fiber optic connector is covered by a movable cover that is opened by a mating action of the fiber optic connector with the second fiber optic connector.
13. The instrument of claim 1 , wherein the plurality of strain gauges is selected from the group consisting of Fabry-Perot strain gauges and fiber Bragg grating strain gauges.
14. The instrument of claim 1 , wherein the end effector of the surgical instrument is selected from the group consisting of jaws, scissors, graspers, needle holders, micro-dissectors, staple appliers, tackers, suction irrigation tools, clip appliers, cutting blades, cautery probes, irrigators, catheters, and suction orifices.
15. The instrument of claim 1 , wherein the housing interfaces with a sterile adaptor which interfaces with the manipulator arm.
16. A surgical instrument, comprising:
a housing linkable with a manipulator arm of a robotic surgical system a shaft operably coupled to the housing;
a force transducer on a distal end of the shaft;
a plurality of fiber optic strain gauges on the force transducer, the plurality of strain gauges operably coupled to an arrayed waveguide grating (AWG) multiplexer;
a fiber optic connector operably coupled to the AWG multiplexer;
a wrist joint operably coupled to a distal end of the force transducer; an end effector operably coupled to the wrist joint; and wherein the AWG multiplexer is operably coupled to the fiber optic connector by a single optic fiber routed at least partially through the shaft.
17. The instrument of claim 16 , wherein the fiber optic connector includes an expanded beam collimator lens selected from the group consisting of a gradient index lens, an aspheric lens, a ball lens, and a lensed optic fiber.
18. The instrument of claim 17 , wherein the AWG multiplexer is directly coupled to the expanded beam collimator lens without optical fiber.
19. The instrument of claim 16 , wherein the plurality of strain gauges is operably coupled to the AWG multiplexer by optic fibers routed at least partially through the shaft.
20. The instrument of claim 19 , wherein the optic fibers are configured in a loop at the housing.
21. The instrument of claim 16 , wherein the optic fiber is configured in a loop at the housing.
22. The instrument of claim 16 , wherein the fiber optic connector is configured on the housing to transmit signals from the plurality of strain gauges to a second fiber optic connector mounted on a distal link of the manipulator arm.
23. The instrument of claim 22 , wherein the fiber optic connector approaches along its optical axis to mate with the second fiber optic connector.
24. The instrument of claim 22 , wherein the fiber optic connector approaches transversely to its optical axis to mate with the second fiber optic connector.
25. The instrument of claim 22 , wherein the fiber optic connector is attached to the housing by a flexible member.
26. The instrument of claim 25 , wherein the fiber optic connector is guided into optical alignment with the second fiber optic connector by a tapered feature.
27. The instrument of claim 16 , wherein the fiber optic connector is covered by a movable cover that is opened by a mating action of the fiber optic connector with the second fiber optic connector.
28. The instrument of claim 1 , further including:
the fiber optic splitter.
29. The instrument of claim 1 , wherein the fiber optic splitter couples all of the plurality of fiber optic strain gauges to the fiber optic connector.
30. The instrument of claim 29 , wherein the fiber optic splitter is operably coupled to the fiber optic connector by a single optic fiber routed at least partially through the shaft.