Patent ID: 9066739
Filing Date: 2015-06-30
Classification: A61B,B25J,Y10S,Y10T

Abstract:
1. A calibration method for a surgical instrument mounted on a robotic manipulator comprising: positioning the surgical instrument using a control system in a minimally invasive surgical system, wherein the surgical instrument comprises: an elongate arm having a joint region, and an optical fiber bend sensor positioned in a sensor region that is at least in part within the joint region, wherein the optical fiber bend sensor translates axially relative to the joint region in response to bending of the joint region, and wherein a length of the sensor region exceeds a length of the joint region; determining a measured location of the surgical instrument based on information from the optical fiber bend sensor; determining an expected location of the surgical instrument based on the positioning; and generating a kinematic error map of the elongate arm using the measured location and the expected location.