method of measuring a position and / or shape for a multi-core fiber, apparatus for performing posit

专利摘要:
MEASUREMENT METHOD FOR A MULTIPLE NUCLEUS FIBER, APPLIANCE FOR MEASURING A MULTIPLE NUCLEUS FIBER AND NON-TRANSITIONAL STORAGE MEDIA. The present invention relates to a method and apparatus for accurate measurement which are described for the perception of shape with a multi-core fiber. A change in optical length is detected in some of the cores in the multi-core fiber up to a point in the multi-core fiber. A location and / or direction is determined at the point in the multi-core fiber based on the detected changes in optical length. The accuracy of the determination is greater than 0.5% of the optical length of the multi-core fiber to the point in the multi-core fiber. In a preferred illustrative embodiment, the determination includes determining a shape of at least a portion of the multi-core fiber based on the detected changes in optical length.
公开号:BR112012008347B1
申请号:R112012008347-3
申请日:2010-09-16
公开日:2020-12-08
发明作者:Mark E. Froggatt；Justin W. Klein；Dawn K. Gifford；Stephen Tod Kreger
申请人:Intuitive Surgical Operations, Inc.；
IPC主号:

专利说明:

Technical Field
[001] The technical field refers to optical measurements, and more particularly, to the optical position and / or format perception. This invention deals with a method and apparatus for making such measurements for a multi-core fiber, and an associated non-transitory storage medium. Background
[002] Format measurement is a general term that includes the perception of the position of structure in three-dimensional space. This measurement coincides with what the human eye perceives as the position of an object.
[003] Since the eyes continuously perform this task, it can be assumed that the measurement is simple. If you consider a rope length, you can physically measure the position at each centimeter along the rope to estimate the shape. But this task is tedious and is increasingly difficult with more complex formats.
[004] Another consideration is how to perform the measurement if the rope is not physically reached or seen.
[005] If the string is contained within a sealed box, its position cannot be determined by conventional measurement techniques. The rope, in this example, can be replaced by an optical fiber.
[006] Perception of the shape of a long, thin, deformed cylinder, such as an optical fiber, is useful in many applications ranging, for example, from manufacturing and construction to medicine and aerospace applications. In most of these applications, the shape perception system must be able to accurately determine the position of the fiber, for example, within less than one percent of its length, and in many cases, less than a tenth of a per cent of its length. There are a number of approaches to the shape measurement problem, but none adequately address the requirements of most applications since they are very slow, do not address the necessary precision, do not work in the presence of tight folds, or fail to adequately compensate for fiber twist. In many applications, the presence of toroidal forces that twist the fiber undermines precision, and thus, the usefulness of these approaches.
[007] Conventional approaches to measuring the shape of a fiber use voltage as the fundamental measurement signal. The tension is a reason for the change in the length of a post-tension fiber segment X the original length of that segment (pre-tension). As an object such as a fiber is folded, the material on the outside of the fold is stretched, while the material on the inside of the fold is compressed. Knowing these changes in local tension and knowing the original position of the object, an approximation of the new position of the fiber can be performed.
[008] In order to effectively perceive the position with high precision, several key factors must be resolved. First, for a voltage-based approach, voltage measurements are preferably accurate at dozens of nanotension levels (10 parts per billion). But high precision voltage measurements are not readily obtainable by conventional resistive and optical voltage measurements. Therefore, a new technique for measuring tension with extremely high precision must be envisaged and is not based on tension in the conventional sense.
[009] Secondly, the presence of the twist in the optical fiber must be measured to a high degree of precision and compensated for in the computation of the format. By creating a multi-core fiber that is coiled and has a central core, the twist of a fiber can be perceived. But the problem is how to obtain a rotational position accuracy less than 1 degree. For a high precision rotation sensor, the position of the tension sensors along the fiber length must also be known with a high degree of accuracy. Therefore, some way of measuring the rotation rate of the outer cores in the coiled fiber is desirable, which can then be used to correct the calculation of the fiber position.
[0010] Thirdly, the multi-core fiber that is coiled at a sufficient rate and with a Bragg grid (a conventional optical voltage measurement) is difficult and expensive to manufacture. It is therefore desirable to provide a method for obtaining nanotension resolutions without a Bragg grid.
[0011] Fourth, the multi-core fiber does not typically maintain polarization and thus the effects of polarization are preferably considered. summary
[0012] The technology described below explains how to use the intrinsic properties of the optical fiber to allow a very precise shape calculation in view of the factors and considerations above. Essentially, the position of the fiber is determined by the interpretation of the posterior reflections of the laser light scattered from the glass molecules within the fiber. This measurement can be performed quickly, with a high resolution and with a high degree of accuracy.
[0013] A very accurate measuring method and apparatus are described to measure the position and / or direction of a multi-core fiber. A change in optical length is detected in one of the cores in the multi-core fiber to the tip in the multi-core fiber. A location and / or a pointed direction are determined at the tip of the multi-core fiber based on the detected changes in the obtained length. The direction corresponds to a bending angle of the multi-core fiber at the position along the multi-core fiber determined based on the orthonormal stress signals. The accuracy of the determination is better than 0.5% of the optical length of the multi-core fiber to the tip of the multi-core fiber. In a preferred illustrative embodiment, the determination includes determining a shape of at least a portion of the multi-core fiber based on the detected changes in optical length.
[0014] The determination may include calculating a bend angle of the multi-core fiber at any position along the multi-core fiber based on the detected changes in length to position. Thereafter, the shape of the multi-core fiber can be determined based on the calculated bend angle. The bend angle can be calculated in two or three dimensions.
[0015] Detecting the change in optical length preferably includes detecting an incremental change in optical length in one of the cores in the multi-core fiber for each of the multiple segment lengths up to a tip in the multi-core fiber. The overall detected change in optical length is then based on a combination of incremental changes. The change in optical length is determined by calculating an optical phase change at each segment length along the multi-core fiber and the unfolding of the optical phase change to determine the optical length.
[0016] More specifically, in a non-limiting illustrative embodiment, a phase response of a light signal reflected in at least two of the multiple cores from multiple segment lengths can be detected. The tension in the fiber in the segment lengths causes a change in the phase of the light signal reflected from the segment lengths in the two cores. The phase response is preferably and continuously monitored along the optical length of the multi-core fiber for each segment length.
[0017] In another illustrative non-limiting modality, a Rayleigh scattering pattern reflected in the reflected light signal is detected for each segment length, thus eliminating the need for Bragg grid or similar. The reflected Rayleigh scattering pattern is compared to a reference Rayleigh scattering pattern for each segment length. The phase response is determined for each segment length based on the comparison.
[0018] An illustrative non-limiting modality also determines a torsion parameter associated with the multi-core fiber at a point in the multi-core fiber based on the detected changes in optical length of the multi-core fiber. The location on the point in the multi-core fiber is then translated into an orthonormal coordinate system based on the determined torsion parameter. Preferably, the determined torsion parameter is corrected for each segment length.
[0019] In an illustrative application where the multi-core fiber includes three peripheral cores spaced around a fourth core along the center of the multi-core fiber, a phase response of a light signal reflected in each of the four cores from each segment length is determined. The tension in the multi-core fiber in one or more of the segment lengths causes a change in the phase of the light signal reflected in each core. The phase responses for the three peripheral cores are measured. The measured phase response is combined with the fourth core phase response to remove a common mode voltage. The torsion parameter is then determined from the combined phase response.
[0020] In another illustrative non-limiting modality, changes in optical length induced by bending along the multi-core fiber are determined and compensated when determining the torsion parameter. A bend in one of the segment lengths is calculated and square. The square bend is multiplied by a constant to produce a bend product that is combined with the determined change in the optical length of an outer core of the multi-core fiber in a segment length. An illustrative beneficial application for this modality is that the bending radius is less than 50 mm.
[0021] Another illustrative non-limiting modality determines a rotating orientation of the multi-core fiber around its geometric axis at a point in the multi-core fiber in each of the segment lengths. A correction is made to perform the torsion and the resulting torsion in the determined orientation based on the changes detected in the optical length of the multiple fiber cores. This correction is necessary to compute the current bend direction.
[0022] According to a multi-core fiber characterized by a nominal rate of rotation, another illustrative non-limiting mode determines an angular rotation of the multi-core fiber at one end of the multi-core fiber in each of the segment lengths in comparison with the rated rotation rate of the multi-core fiber. A variation in the nominal rotation rate at the point along the multi-core fiber is determined and corrected. An "oscillation factor" is determined for the multi-core fiber by restricting the multi-core fiber to a curved orientation in a plane. The correction is then made for the oscillation factor when determining the location on the point in the multi-core fiber based on the detected changes in the optical length.
[0023] In another illustrative non-limiting modality, light is transmitted with at least two states of polarization along the multi-core fiber. Light reflections with at least two polarization states are combined and used to determine the location or direction pointed at the point in the multi-core fiber based on the changes detected in the optical length. The two states of polarization include a first state of polarization and a second state of polarization that are at least nominally orthogonal. A polarization controller is used to transmit a first light signal in the first polarization state along the multi-core fiber. An independent polarization change in optical length in each of the multiple cores in the multi-core fiber is calculated to the point in the multi-core fiber using reflections from the first and second light signals. Brief Description of Drawings
[0024] Figure 1 illustrates an illustrative cross-section of a multi-core fiber;
[0025] Figure 2 shows a folded multi-core fiber;
[0026] Figure 3 illustrates that the fold in the fiber is proportional to the tension in the off-center cores;
[0027] Figure 4 illustrates that the bending angle at any location along the fiber can be determined by a sum of all the previous angles;
[0028] Figure 5 illustrates that as a fiber containing Bragg grid is tensioned, a phase difference measured from a reference state begins to accumulate;
[0029] Figure 6 illustrates a clock that helps to visualize the relationship between the change of phase and position;
[0030] Figure 7 illustrates how a lack of resolution in the measurement phase can be problematic;
[0031] Figure 8 is a graph that illustrates a phase difference of a Rayleigh scattering signal between a reference scan and a measurement scan at the beginning of a section of fiber that is under tension;
[0032] Figure 9 is a graph that illustrates that coherence is lost with the reference measurement over a longer distance down a fiber under tension;
[0033] Figure 10 illustrates an optical phase represented against the frequency for two different delays;
[0034] Figure 11 illustrates a phase recovered through a section of the fiber where a third index change occurred;
[0035] Figure 12 illustrates an example of helically wound multi-core shape perception fiber;
[0036] Figure 13 illustrates an optical fiber of multiple test cores illustrative and not limiting;
[0037] Figure 14 illustrates a cross section of a spiral fiber where the position of the outer nuclei appears to rotate around the central nucleus progressing downward through the length of the fiber;
[0038] Figure 15 is a graph that illustrates an example of variations in the rate of rotation of a fiber;
[0039] Figure 16 is a graph that illustrates an illustrative oscillation signal with a periodic phase variation of a rotation rate manufactured along the length of a shape perception fiber;
[0040] Figure 17 illustrates how the twist changes the rotation rate of a shape perception fiber based on the orientation of the force to the nominal rotation direction of the fiber;
[0041] Figure 18 illustrates an outer core that undergoes torsion modeled like a flattened cylinder as it travels along the surface;
[0042] Figure 19 is a flow chart illustrating illustrative non-limiting procedures for calculating the external torsion along the fiber;
[0043] Figure 20 illustrates an illustrative data set for a generic format that illustrates the procedures in figure 19 in greater detail;
[0044] Figure 21 is a graph showing a slight deviation between two phase curves;
[0045] Figure 22 is a graph illustrating a torsion signal produced from figure 21;
[0046] Figure 23 illustrates the need for torsion compensation in the format calculation;
[0047] Figure 24 shows illustrative orthogonal tension curves for a fiber located in several folds that occur in the same plane;
[0048] Figure 25 illustrates a flowchart diagram describing illustrative non-limiting steps for calculating shape from voltage;
[0049] Figure 26 illustrates that if each of the multiple orientation vectors is placed end to end an accurate measurement of the shape is obtained;
[0050] Figure 27 is an illustrative and non-limiting optical format and position perception system;
[0051] Figure 28 is a flow chart illustrating illustrative non-limiting steps to calculate the birefringence correction;
[0052] Figure 29 illustrates a tension profile induced by bending a cross section of a shape perception fiber;
[0053] Figure 30 illustrates two phase representations comparing a central core phase signal with an average phase of the outer cores;
[0054] Figure 31 illustrates an illustrative voltage response for an external core for a 40 mm diameter fiber circuit;
[0055] Figure 32 is a graph illustrating a bend-induced birefringence correction for the 40 mm diameter fiber circuit;
[0056] Figure 33 is a graph comparing a torsion signal with and without a 2a birefringence correction. order;
[0057] Figure 34 illustrates a non-limiting illustrative circuit polarization controller between a shape perception fiber and a position and shape perception system;
[0058] Figure 35 illustrates a plane signal for a relatively simple shape where 1.4 meters of shape perception fiber are directed through a single 180 degree turn with a 50 mm bend radius;
[0059] Figure 36 illustrates three successive out-of-plane measurements where between each measurement, the polarization varies using a polarization controller;
[0060] Figure 37 is a graph illustrating an example in which two successive measurements of the central core, with different input polarization states do not have a significant variation in the phase response;
[0061] Figure 38 is a graph illustrating an example in which two successive measurements of an outer core respond differently to the input bias providing evidence for birefringence in the shape sensor fiber;
[0062] Figure 39 is a graph illustrating that the birefringence correction improves the accuracy of the system; and
[0063] Figure 40 is a graph illustrating that the correction of both first and second order birefringence improves the accuracy of the system. Detailed Description
[0064] In the following description, for the purpose of explanation and not limitation, specific details are presented, such as particular nodes, functional entities, techniques, protocols, standards, etc. in order to provide an understanding of the technology described. It will be apparent to those skilled in the art that other modalities can be practiced in addition to the specific details described below. In other cases, detailed descriptions of well-known methods, devices, techniques, etc. they are omitted so as not to obscure the description with unnecessary details. Individual function blocks are illustrated in the figures. Those skilled in the art will appreciate that the functions of these blocks can be implemented using individual hardware circuits, using software programs and data in conjunction with an appropriately programmed microprocessor or general purpose computer, using application-specific integrated circuits (ASIC) and / or using one or more digital signal processors (DSPs). Software program instructions and data can be stored on a computer-readable storage medium and when the instructions are executed by a computer or other suitable processor control, the computer or processor performs the functions.
[0065] In this way, for example, it will be appreciated by those skilled in the art that the block diagrams presented here can represent conceptual views of the set of illustrative circuit or other functional units embodying the principles of technology. Similarly, it will be appreciated that any flowchart, state transition diagrams, pseudocodes, and the like represent various processes that can be substantially represented in a computer-readable medium and executed by a computer or processor, whether or not that computer or processor is explicitly illustrated.
[0066] The functions of the various elements including function blocks, including, but not limited to, those labeled or described as "computer", "processor", or "controller" can be provided through the use of hardware such as circuit hardware and / or hardware capable of running software in the form of coded instructions stored in a computer-readable medium. Thus, such functions and illustrated functional blocks must be understood as being implemented by hardware and / or implemented by computer, and thus implemented by machine.
[0067] In terms of hardware implementation, functional blocks may include or encompass, without limitation, digital signal processor (DSP) hardware, reduced instruction set processor, hardware circuit set (for example, digital or analog) ) including, but not limited to, application specific integrated circuits (ASIC), and (where appropriate) situation machines capable of performing such functions.
[0068] In terms of computer implementation, a computer is generally understood to comprise one or more processors or one or more controllers, and the terms computer and processor and controller can be used interchangeably here. When provided by a computer or processor or controller, functions can be provided by a single computer, processor or dedicated controller, by a single computer, processor or shared controller, or by a plurality of computers, processors, individual controllers, some of which can be shared or distributed. In addition, the use of the term "processor" or "controller" should also be considered as referring to other hardware capable of performing such functions and / or running the software, such as, for example, the hardware mentioned above. Phase Tracking to Increase Angular Accuracy
[0069] Figure 1 illustrates a cross section of an illustrative multi-core fiber 1 that includes a central core 2 and three peripheral cores 3, 4 and 5 surrounded by sheath 6. These cores 3-5 shown in this example are spaced approximately 120 degrees.
[0070] The perception of shape with a multi-core fiber assumes that the distances between the cores in the fiber remain constant, when observed in cross section, regardless of the shape of the fiber. This consideration is often valid since the glass is very hard and very elastic. In addition, the cross section of the fiber (for example, ~ 125 microns) is small compared to the dimensions of the curves suffered by the fiber (for example, bending radii greater than 5 mm). This maintenance of the transverse position of the nuclei implies that all the deformation of the fiber must be accommodated by the elongation or compression of the nuclei. As illustrated in figure 2, when a shaped fiber is folded, a core on the outside 7 of the fold will be stretched, while a core on the inside 8 of the fold will be compressed.
[0071] Since the average length of a fiber core segment is considered to be unchanged, an exercise in geometry shows that the change in direction (that is, a vector that describes the position of the central geometric axis of the fiber segment), can be calculated based on the change in core lengths and distance between cores. Other effects, such as the optical voltage coefficient, must be taken into account. The result is that the change in direction for a given fiber segment is directly proportional to the difference in length changes in the cores within the segment.
[0072] Figure 3 illustrates that the fold in the fiber θ is proportional to the tension ε in the non-central cores where s is the segment length, r is the radius and k is a constant. In order to eliminate the voltage and temperature from the measurement, a differential measurement between the cores is used.

[0073] The above equation describes the angular change for a given fiber segment and how it relates to a change in tension. The movement to the next segment in the fiber, the angular change of the previous segment must be added to the next change in the angle to the next segment to calculate the current direction of the fiber. In two dimensions, all of the previous angles can be accumulated to find the bend angle at any particular location along the fiber. Figure 4 illustrates that the bending angle at any point or location along the fiber can be determined by adding all the angles leading to the point, for example, 05 = Δθi + Δ02 + Δ03 + Δ04 + Δ05. If there is an error, this error becomes greater the larger the fiber, growing as the square root of the number of segments.
[0074] To avoid this accumulated angle measurement error, the inventors conceived the direct measurement of the change in the length of a segment instead of the measurement voltage. Mathematically, the sum of the angles then becomes the sum of the length changes along the fiber as illustrated in equation (2) where L corresponds to the fiber length.

[0075] Thus, the angle at any Z position along the fiber then becomes linearly proportional to the difference between the total changes in the length of the nuclei to that position as illustrated in equation (3).

[0076] Therefore, if the change in total length along the fiber can be precisely tracked continuously, instead of the sum of each individual local change in tension, the angular error can be prevented from growing. Later, it will be illustrated how it is possible to track the change in the length of a core to an accuracy better than 10 nm, and to maintain that precision across the entire length of the fiber. This precision level results in 0.3 degree of angular accuracy with a separation of 70 microns between the cores and, theoretically, about 0.5% of fiber length position accuracy.
[0077] Unfortunately, the cumulative relationship defined in (3) does not remain in three dimensions, but most dimensional formats can be precisely represented as a succession of two-dimensional curves, and in the presence of small angular changes (<10 degrees) , three-dimensional angles also have this simple cumulative relationship. Consequently, this approach is useful for determining error distributions in three dimensions.
[0078] The insight provided by this geometric exercise is that the change in total length as a function of the distance along the multi-core fiber is used instead of the local tension. In other words, relatively large errors in the measured local voltage values can be tolerated as long as all the measured voltage corresponding to the change in total length up to that point remains accurate. Nanotension accuracy is achieved without requiring extremely large signal-to-noise ratios, as the distances over which nanotensions are calculated are relatively large (for example, many centimeters such as 10 to 1000 cm.). As explained later in the description, tracking the change in length can also be used to determine the rotation along the length of the fiber allowing higher than expected accuracy in measuring the rotation of the fiber, or angle of rotation around the geometric axis fiber, too. Fiber Optic Phase Tracking
[0079] Like a sensor, an optical fiber can provide spatially continuous measurements along its entire length. Continuous measurements are important as optical phase changes are used to provide very high resolution displacement measurements. Subsequently, it is explained how the intrinsic scattering in the fiber can be used to achieve this measurement, but it is conceptually easier to start the explanation with Fiber Bragg Grid (FBGs). A Bragg Fiber Grade is a periodic modulation of the fiber's refractive index. Each period has about half a wavelength of light in the fiber. The vacuum wavelength of light is about 1550 nm, and its wavelength in the fiber is about 1000 nm. The graduation period is therefore about 500 nm. Typically, a Bragg grade is used as a sensor for measuring its reflected spectrum. The Bragg graduation condition is calculated using the equation below

[0080] In this equation, ÀB represents the wavelength, n is the fiber refractive index, and A corresponds to the graduation period. The refractive index is considered to remain constant, so the reflected wavelength depends only on the classification period. As the fiber is tensioned, the graduation period is distorted, creating a change in the reflected wavelength. Thus, for a change in wavelength, it is possible to derive the amount of tension that was applied to the fiber. The period of a Bragg graduation is highly uniform, and it is convenient to model this periodicity as a sinusoidal modulation. When represented as a sinusoid, distortions in the graduation period can be described as phase changes. To illustrate this concept, consider the example in figure 5 that illustrates that a fiber containing Bragg grid is tensioned, a phase difference measured from a reference state begins to accumulate.
[0081] The representation of a tensioned Bragg graduation illustrated in figure 5 illustrates local changes in the refractive index as alternating white and dashed segments. Considering an ideal Bragg graduation, all periods are identical, and the phase of the modulation pattern increases linearly by moving along the graduation. In other words, the rate of phase change with distance is inversely proportional to the graduation period. If a small part of the graduation is stretched, then the rate of change of the phase decreases in the stretched part.
[0082] In figure 5, the upper pattern presents an undistorted graduation with a perfectly linear phase as a function of the position. The lower altered pattern has a gradation distortion due to the stress. The bottom graph illustrates the difference in phase between the two graduations at each location. The distortion in the graduation results in a phase change in the reflected signal of the graduation in relation to the original undistorted phase. A 90 degree phase shift is illustrated. After the tensioned segment, the rate of change returns to the non-tensioned state. However, the phase in that region is now deviated from the original phase by an amount equal to the total phase change in the tensioned segment. This phase shift is directly proportional to the change in the actual length of the optical fiber.
[0083] This illustration illustrates only fifteen graduation periods. Since a period is 500 nm, this adds up to 7.5 μm in length. Stretching the fiber to induce a 90 degree phase shift displaces the rest of the unstressed graduations by a quarter of a period, or 125 nm. An Optical Frequency Domain Reflectometry (OFDR) measurement can have a spatial resolution of the order of 50 microns. In other words, each OFDR data point, or index, is separated by 50 µm. Thus, a 125 nm distortion results in only a small fraction of an OFDR index change in the actual position of the graduation. While the 125 nm change in position is not detectable per se, the 90 degree phase change is relatively easily measured with an OFDR system.
[0084] OFDR can therefore be used to measure distortions within the Bragg grid, and, instead of just measuring the rate of phase change (ie wavelength), the absolute phase can be measured, and from the phase, the distance changes in each segment along the fiber core. This is important for accurate shape measurements in a situation in which the graduation stage is seen to have changed, while the graduation position does not illustrate any discernible change. Conventional fiber optic measurement technologies treat phase and position change as separate effects.
[0085] One way to visualize the relationship between the phase change and the position is to imagine that the phase of the optical signal is represented by the second hand of a watch, and that the location along the fiber in the index is represented by the hand the time on a clock. Figure 6 illustrates a clock without a minute hand. Such a watch makes it difficult to determine the time for a one-minute resolution. But this watch is still useful for timing both short duration events with the second hand and long duration events with the hour hand. The lack of a minute hand is not useful for measuring intermediate intermediate duration events (for example, 1 hour and 12 minutes and 32 seconds) for the accuracy of one second. This difficulty in connecting two scales has made conventional optical measurement systems treat phenomena separately.
[0086] This analogy with the clock helps to clarify why a continuous measurement is necessary along the entire length of the fiber. By monitoring the position of the second hand continuously, the number of complete revolutions can be measured, which allows simultaneous monitoring of long durations with high precision. Connecting the clock analog to the previous discussion of the Bragg grids, each 360 degrees, or 2π, of phase change is equal to a 500 nm change in location. By continuous phase tracking along the optical fiber, both local stresses and the total length changes of the optical fiber can be measured with very high accuracy.
[0087] A challenge in phase tracking continuously is that the measurement resolution must be sufficient so that the phase does not change from one segment to the next for more than 2π. Figure 7 illustrates how this lack of resolution can be problematic since it does not there is a way to distinguish, for example, between a change of π / 3 and a change of π / 3 + 2π. Therefore, two different phase changes appear to have the same value in the unit circle. In other words, an index error would be incurred on an account of 2π total revolutions. In this example, the measurement of the overall change in optical fiber length would be deficient by 500 nm.
[0088] Therefore, it is important that a format perception system has sufficient resolution to guarantee the ability to track the phase along the entire length of a format perception fiber to guarantee the accuracy of a perception system. format. Rayleigh Scatter Based Measurements
[0089] As explained above, the typical use of an FBG to perceive involves measurement changes in the reflected spectrum of individual Bragg grids spaced at some interval descending by a fiber. The stress is derived for each fiber section from the measurement for each Bragg grade. For format perception using FBGs, each voltage measurement indicates how much a given segment is bent and in which direction. This information is added for all measured segments to provide the total fiber position and / or shape. However, using this method, an error in each segment accumulates along the fiber. The larger the fiber, the greater the measurement error. This error using multiple Bragg grids limits the speed of operation and the range of applications.
[0090] If there is a continuous graduation along the fiber, then the phase can be traced at each point along the fiber as described above. Tracking the phase along the entire length of the core prevents error build-up. Instead of the accumulation of error as the square root of the number of fiber segments, the total length error remains constant at a fraction of the optical wavelength in the material. As mentioned earlier, a wavelength of light can be about 1550 nm in a vacuum and about 1000 nm in the fiber, which is effectively 500 nm in reflection. A signal-to-noise ratio of 50 provides an accuracy of 10 nm due to the round-trip (reflection) nature of the measurement. The accuracy of the resulting tension through a meter of fiber will be 10 nanotension.
[0091] Rayleigh scattering can be visualized as a Bragg gradation with random phases and amplitudes or a Bragg grading consisting entirely of defects. This Rayleigh scattering pattern, while random, is fixed within a fiber core when that core is manufactured. The voltage applied to an optical fiber causes changes or distortions in the Rayleigh scattering pattern. These induced distortions of the Rayleigh scattering pattern can be used as a high resolution stress measurement for shape perception by comparing a fiber reference scan when the fiber is in a known format with a new fiber scan when it was bent or tensioned.
[0092] Figure 8 illustrates illustrative results of such a comparison. This figure illustrates the phase difference of the Rayleigh scattering signal between a reference scan and a measurement scan at the beginning of a section of fiber that enters a region that is under tension. The data is represented as a function of the fiber index, which represents the distance along the fiber. Once the voltage region is entered, the phase difference begins to accumulate. Since π and -π have the same value in the unit circle, the signal is "wrapped" at each multiple of 2π as the phase difference grows along the length of the fiber. This can be seen around the 3550 index where the values to the left of it are approaching π, and then, suddenly, the values are at -π. As illustrated, each wrap represents about 500 nm of change in length in the fiber. Since an index is about 50 microns in length, it takes about one hundred phase envelopes to cumulate a total delay change index between measurements and the reference.
[0093] The data in figure 9 are from the same data set as in figure 8, but from a lower area of the fiber around about 35 phase envelopes, or approximately one third of an index. The noise in the phase difference data has increased and is caused by the increasing change between the measurement and reference spread patterns. This reduces the consistency between the reference and measurement data used to determine the phase difference. If the apparent location of an individual scattering fiber segment changes by more than one index, then the consistency between the reference and measurement is lost, and no voltage measurement can be obtained by comparing the scattered signals.
[0094] Therefore, the reference data must be combined with the measurement data by the change compensation due to the tension along the fiber. In the case of an index being about 50 microns, across a segment of one meter, this adds up to just 50 parts per million, which is not a big strain. In fact, the weight of the fiber itself can induce stresses of this order. In addition, a change in temperature of just a few degrees Celsius can induce a similar change. Therefore, this change in the index must be compensated for in the calculation of core distortion.
[0095] A change as a result of the tension in a physical expansion of the individual segments that results in an increased flight time of the scattered light. The change between the reference and the measurement is referred to as delay. The delay can be compensated for by consulting a model of how a change in delay for any point in the perception core affects the signal reflected from that point. If a field (light) is oscillating at a frequency, v, and is delayed by T, then the optical phase as a function of the delay is provided by:

[0096] If the optical phase, Φ, is represented as a function of the frequency, v, a straight line is obtained that forms an intersection with the origin. In practice, the passage through a material such as glass distorts this curve from a perfect line, which must be kept in mind when comparing the measured value with the values predicted by that model. But for immediate purposes, this model is sufficient. Figure 10 illustrates this phase for two different delays. In one example, the non-limiting measurement system using the principle described above, a typical laser scan should cover a range of 192.5 to 194.5 THz. These frequencies represent a scan from 1542 nm (194.5 THz) to 1558 nm (192.5 THz), which was a test scan range for a non-limiting test format sensor application. Through this range of interest, the phase for a given delay sweeps across a range of ΔΦ. For the two illustrated delays, n and x2, the difference in this scan range, ΔΦ2-ΔΦ1 is less than the change in the central frequency phase (193.5 THz), labeled dΦ. The factor between the change in the phase of the central frequency and the change in the phase of the scanning range will be the ratio of the central frequency to the frequency scanning range. In this illustrative case, the ratio is 96.7.
[0097] In the illustrative test application, the scanning range, Δv, determines the spatial resolution, δx, of the measurement. In other words, it determines the length of an index in the time domain. These are related by an inverted relationship:

[0098] For the illustrative frequency range described above, the length of an index is 0.5 ps, or 50 microns on the glass. At the center frequency, a 2 π phase change is induced by a delay change of only 0.00516 ps or 516 nm in the glass. A 2π phase change, then, represents only a fractional index change of the time domain data. In order to change the delay by an index in the time domain, the delay must change enough to induce a phase shift at the center frequency of 96.7 x 2π.
[0099] These examples illustrate that a linear phase change represents a change in the location of events in the time domain, or delay. As noted above, a change in an index will completely distort the measurements of the phase change along the length of the fiber. In order to properly compare the phases, then, these changes must be compensated as they occur, and the reference data must be aligned with the measurement data going down the entire length of the core. To correct this degradation of coherence, a temporal change in the reference data is necessary. This can be accomplished by multiplying reference data for a given segment, rn, by a linear phase. Here n represents the index in the time domain, or the increase in distance along the fiber. The slope of this phase correction, y, is found by performing a linear fit on the previous delay values. The phase shift in that correction term, Φ, is selected so that the average value of that phase is equal to zero.

[00100] Figure 11 illustrates the phase difference corrected through a fiber section where a third of an index change has occurred. The phase difference at that location maintains the same signal-to-noise ratio as the part closest to the fiber. By applying a temporal change based on the delay at a particular distance, coherence was recovered by reducing the phase noise. Illustrative Shape Perception Fiber
[00101] The tracking of distortions in the Rayleigh scattering of the optical fiber provides continuous high-resolution measurements of the voltage. The geometry of the multi-core shape perception fiber is used to explain how this multi-core structure allows measurements of both the bend and the bend direction along the fiber length.
[00102] The optical fiber contains multiple cores in a configuration that allows the perception of both an external twist and tension regardless of the bending direction. An illustrative non-limiting embodiment of such a fiber is illustrated in figure 1 and described below. The fiber contains four cores. A core is positioned along the central geometric axis of the fiber. The other three outer cores are placed concentric with respect to that core at 120 degree intervals in a 70 µm separation. The outer cores are rotated with respect to the central core creating a propeller with a period of 66 turns per meter. An illustration of this helically wrapped multi-core shape perception fiber is shown in figure 12. A representation of a non-limiting test multi-core optical fiber used in this discussion is shown in figure 13.
[00103] Another non-limiting example of a format perception fiber contains more than three external cores to facilitate the manufacture of the fiber or to acquire additional data to improve the performance of the system.
[00104] In a cross section of a spiral fiber, the position of each outer core appears to revolve around a central core that progresses downward through the length of the fiber as illustrated in figure 14. Twist Fiber Correction
[00105] In order to translate the stress signals from the outer cores into fold and fold direction, the rotation position of an outer core must be determined with a high degree of accuracy. Considering a constant rate of rotation of the propeller (see figure 12), the position of the outer cores can be determined based on the distance along the fiber. In practice, the manufacture of the coiled fiber introduces some variation in the desired rate of rotation. The variation in the rate of rotation along the length of the fiber causes an angular distance from the expected linear variation from the nominal rate of rotation, and that angular distance is referred to as "oscillation" and symbolized as an oscillation signal W (z).
[00106] An illustrative test fiber manufactured with a geometric multiple helical cores has a very high degree of accuracy in terms of average rotation rate, 66 turns per meter. However, over short distances (for example, 30 cm) the rate of rotation varies significantly, and can cause the angular position to vary by as much as 12 degrees from a purely linear phase change with distance. This error in the rotation rate is measured by placing the fiber in a configuration that will cause a continuous fold in a single plane, as is the case with a spiral fiber on a flat surface. When the fiber is placed in such a spiral, a helical core will alternate between tension and compression as it travels through the outside of a fold and the inside of a fold. If the phase distortion is represented X distance, a sinusoidal signal is formed with a period that matches the rate of rotation of the fiber. Variations in the fabrication of the multi-core fiber can be detected as small changes in the phase from the expected constant rotation rate of the fiber.
[00107] An example of these variations in the rotation rate is illustrated in figure 15. The solid curve is phase data (bend signal) taken from a flat spiral, and the dotted line is a perfect sinusoid generated at the same frequency and phase as the propeller. Note that at the beginning of the data segment the curves are in phase with the zero crossings aligned. Through the middle of the segment, the solid curve advances slightly ahead of the dotted curve, but by the end of the data segment, a significant deviation is observed. If the DC component of the phase signal is removed, and a phase change is calculated, the difference between these two signals is significant and somewhat periodic.
[00108] Figure 16 illustrates an illustrative Oscillation signal, W (z), with a periodic variation of a rotation rate manufactured along the length of a shape perception fiber. Phase variation is illustrated as a function of length in the fiber index. The illustrative data set represents about three meters of fiber. On the order of a third of a meter, a periodicity in the nature of the fiber's rotation rate is detected. Through the fiber length, a consistent average rotation rate of the fiber is produced, but these small fluctuations must be measured in order to correctly interpret the phase data produced by the multi-core twisted fiber. This measurement in the change in the rotation rate or "oscillation" can be reproduced and is important for calculating the shape according to the practical manufacture of the fiber. Perception of Twist in Multiple Core Fibers
[00109] The torsional forces applied to the fiber also have the potential to induce a rotational change in the outer cores. In order to properly map the stress signals from the cores to the correct bend directions, both the oscillation and twist applied must be measured along the entire length of the shape perception fiber. The spiral geometry of the multi-core fiber allows direct measurement of the twist along the length of the fiber in addition to the bend-induced tension as will be described below.
[00110] If a multi-core fiber is spun while being pulled, the central core is essentially undisturbed, while the outer cores follow a helical path downwardly through the fiber as illustrated in the center of figure 17. If such a structure is then subjected to tension of torsion, the length of the central core remains constant. However, if the direction of the torsion stress matches the propeller withdrawal, the propeller period increases and the outer cores will be stretched evenly as shown at the top of figure 17. Conversely, if the torsion direction is contrary to the propeller withdrawal , the outer cores are "unrolled" and compressed along their length as illustrated at the bottom of figure 17.
[00111] To derive the sensitivity of the configuration of multiple cores to torsion, the change in length that an external core will undergo due to torsion is estimated. A fiber segment is modeled like a cylinder. The length L of the cylinder corresponds to the segment size, while the distance from the central core to an external core represents the radius r of the cylinder. The surface of a cylinder can be represented as a rectangle by slicing the cylinder longitudinally and then flattening the surface. The length of the surface is equal to the length of segment L while the width of the surface corresponds to the circumference of the cylinder 2πr. When the fiber is twisted, the end point of the fiber moves around the cylinder, while the start point remains fixed. Projected on the flattened surface, the twisted core forms a diagonal line that is longer than the length L of the rectangle. This change in the length of the outer core is related to the twist in the fiber.
[00112] Figure 18 illustrates an external core that undergoes torsion and can be modeled as a flattened cylinder as it travels along the surface. From the flattened surface above, the following can be illustrated:

[00113] In the above equation, ôd is the change in the length of the outer core due to the change in rotation dΦ. of the fiber from its spiral state. The radial distance between a central core and an outer core is represented by r, and 2π / L is the rotation rate of the helical fiber in rotation per unit length.
[00114] The minimum detectable distance is considered in this example to be a radian length of an optical wave. For the illustrative test system, the operating wavelength is 1550 nm, and the glass index is about 1.47, resulting in a minimum detectable distance of approximately 10 nm. If the radius is 70 microns and the helix period is 15 mm, then equation (8) indicates that the shape sensor fiber has a 0.3 degree torsional sensitivity. If the perception fiber starts its shape by immediate rotation by 90 degrees, so that the error due to torsion is maximized, then the resulting position error will be 0.5% of the fiber length. In most applications, 90 degree bends do not occur at the beginning of the fiber, and therefore the error will be less than 0.5%. Twist Calculation on a Four-Core Fiber
[00115] The sensitivity of torsion measurement is based on the sensitivity of a single core, but the perception of torsion along the length of the fiber depends on all four cores. If the difference in the change in length between the mean of the outer cores and the central core is known, then the torsion (in terms of the absolute number of degrees) present in the fiber can be calculated.
[00116] The external torsion along the fiber can be calculated using illustrative non-limiting procedures highlighted in the flowchart illustrated in figure 19. The phase signals for all four AD cores are determined, and the signals for the outer BD cores are determined measured. The calculation of the extrinsic torsion is performed by comparing the average of the external core phase signals with the central core. If the fiber undergoes a torsional force, all outer cores undergo a similar elongation or compression determined by the orientation of the force in the direction of rotation of the propeller. The central core does not undergo a change in length as a result of an applied torsional force. However, the central core is susceptible to changes in voltage and temperature and serves as a way of directly measuring common voltage modes. In this way, if the central core phase signal is subtracted or removed from the mean of the three outer cores, a measurement of phase change as a result of the twist is obtained. This phase change can be scaled for an extrinsic torsion measurement, or in other words, the fiber rotation. Within the region of a twist applied across the fiber length less than a total rotation, a second order term should preferably be considered. Additionally, the twist is distributed in a linear fashion between the joining points so that several regions of twist can be observed along the length of the fiber.
[00117] Figure 20 illustrates an illustrative data set for a generic format that illustrates the algorithm of figure 19 in greater detail. The graph illustrates the phase distortion as a result of local change in the length of the central core (black) and an outer core (gray) of a shape perception fiber for an overall fold. The two phase curves illustrated in figure 20 represent the local changes in length undergone by two of the cores in the multi-core shape perception fiber. The curves for two of the outer cores are not illustrated in an effort to keep the graphics clear, but the values of these other two cores are used in determining the final shape of the fiber.
[00118] The central core phase signal does not suffer from periodic oscillations. The oscillations are a result of a transition from the outer core between the compression and tension modes as the propeller propagates through a certain fold. The central core accumulates the phase along the length of the shape perception fiber, although it is not susceptible to the tension induced by bending or torsion. The central core phase signal describes the common mode voltage experienced by all the cores in the fiber. The external nuclei are measured (gray) and represented against the central nucleus (black) in figure 21.
[00119] Since the outer cores are 120 degrees out of phase, the bend-induced variation in the phase signals is on average equal to zero. In figure 21, a slight deviation between the two-phase curves is observed. Subtraction of the central core phase, a direct measurement of the voltage in common mode, leaves the phase accumulated as a result of torsional forces. With proper scaling, this signal can be scaled for a fiber cylinder measurement designated as a "twist" signal T (z) produced from figure 21, which is illustrated in figure 22. From the twist signal, T (z), the change in the rotation position of the outer cores as a result of the twist along the length of the shape perception fiber can be determined. This allows a bend signal to be mapped to the correct bend direction.
[00120] The desire to compensate for the torsion in the shape calculation is illustrated by the data set shown in figure 23. The tip of the shape perception fiber was translated into a single plane through a five-point grid forming a frame of 250 nm with a point in its center with shape processing considering the torsion (filled). The correction for the external torsion was not used in the processing of the data set represented as unfilled points. In the representation, it is impossible to distinguish the original shape drawn with the fiber tip if the torsion calculation is not used. Even for small fiber tip translations, significant twist is accumulated along the length of the fiber. Thus, if this twist is not accommodated in the shape sensor, then significant levels of accuracy cannot be achieved. Calculation of Bending Induced Stress
[00121] Along with the information describing the amount of twist applied to the shape perception fiber, a multi-core fiber also allows the extraction of bend information in an orthonormal coordinate system. The phase signals for four optical cores of the shape perception fiber can be interpreted to provide two orthogonal differential voltage measurements as described below. These stress values can then be used to trace a vector along the length of the fiber, ultimately providing a measure of the position and / or shape of the fiber.
[00122] With the common mode voltage removed, the three corrected outer core phase signals are used to extract a measurement of the fold along the shape perception fiber. Due to the symmetry, two of the outer cores can be used to reconstruct the voltage signals along the length of the fiber. First, the derivation of the phase signal for two of the outer cores is performed. This derivation is preferably calculated so that the error in the entire derivation cannot grow, which translates into a loss of system accuracy. For double precision operations, this is not a concern. But, if operations are carried out with limited numerical precision, then rounding must be applied so that the value of everything does not accumulate error (convergent rounding).
[00123] Considering for this explanation that the voltage can be projected in a linear way. Thus, the phase response of a given core is a combination of two orthogonal stresses projected against its radial separation. tiffin.

[00124] In the above equation, bx and by are signs of orthogonal tension used to calculate the bend. The phase, Φn, represents the phase response of a nucleus, z is the axial distance along the fiber, k is the rate of rotation of the helix, and delta Δ represents the radial position of the nucleus (120 degrees of separation).
[00125] The phase response of two of the outer cores is:

[00126] Solving bx and by:

[00127] In equations 12 and 13 above, k, the rate of rotation, is considered constant along the length of the fiber. The above derivation remains valid if the correction terms are added to the rotation rate. Specifically, the measured oscillation W (z) and the torsion signals T (z) are included to compensate for the variation in rotation of the outer cores along the length of the fiber. The expressions (12) and (13) above then become the following:
Calculation of the Format from Orthogonal Differential Voltage Signals
[00128] Equations (14) and (15) produce two differential orthogonal stress signals. Figure 24 shows the orthogonal tension curves for a fiber located in several folds that all occur in the same plane. These two different orthogonal stress signals are processed to achieve the final integration along the length of the shape perception fiber to produce three Cartesian signals representing the position and / or shape of the fiber.
[00129] Figure 25 illustrates a flowchart describing illustrative non-limiting steps for calculating the shape from voltage. The orthonormal voltage signals A and B are determined according to equations 14 and 15.
[00130] The data acquired in the data acquisition network are preferably stored in discrete sets in computer memory. To do this, a change in representation from the continuous representation in equation 15 to a discrete representation based on the index is necessary at this point. Additionally, the bend at each point in the set can be converted into an angular rotation since the segment length (Δz) is fixed and finite using equation (1). The parameter, a, is determined by the distance from the cores from the center of the fiber and the optical stress coefficient, which is a proportionality constant that relates the stress to the change in the length of the optical path.

[00131] These measurements of rotation θ due to the local fold in the fiber can be used to form a rotation matrix in three dimensions. If the beginning is imagined with the fiber aligned with the geometric axis z, the two bending components rotate the vector representing the first segment of the fiber by these two small rotations. Mathematically, this is done using matrix multiplication. For small rotations, the simplified rotation matrix shown in equation (18) below can be used.

[00132] The above rotation matrix is valid if θx << 1. If the resolution of the system is in the order of micrometers, this is a condition that is not difficult to maintain. After the rotation, the fiber segment will have a new end point and a new direction. All additional folds are measured from this new direction. Therefore, the direction (or vector) at any position on the fiber depends on all directions between that location on the fiber and the initial location. The direction vector at any point in the fiber can be solved in an interactive process by tracking the rotating coordinate system along the length of the fiber as noted in the following expression:

[00133] In other words, each segment along the fiber introduces a small rotation proportional to the size and direction of the fold along that segment. The interactive calculation can be written with mathematical annotation below:

[00134] Here again, for small rotations and almost flat rotations, the angles are effectively added, and by maintaining an accurate measurement of the entire tension (the change in length) over the entire length of the shape sensor fiber, a better accuracy is achieved than possible using voltage only. The matrix calculated above contains information about the local orientation of the cores, which allows the appropriate rotations to be applied. If the primary interest is in determining the position along the fiber, then only the local vector that describes the direction of the fiber at that location is needed. This pointing vector can be found by a simple point product operation.

[00135] If each of these vectors is placed end to end, as illustrated in figure 26, an accurate measurement of the shape results. Thus, the position and / or direction at any point along the fiber length can be found by adding all the previous vectors, scaled for the system resolution:

[00136] A non-limiting example of a format perception system is described together with figure 27. Other implementations and / or components can be used. Furthermore, not every illustrated component is necessarily essential. The System Controller and data processor (A) initiates two consecutive scans of an adjustable laser (B) over a defined wavelength range and adjustment rate. The light emitted from the adjustable laser is directed to two optical networks through an optical coupler (C). The first of these two optical networks is a Laser Monitor Network (E) while the second is designated with an Interrogator Network (D). Within the Laser Monitor Network (E), the light is divided through an optical coupler (F) and sent to a gas cell reference (for example, Hydrogen Cyanide) (G) used to measure the length of Band C wave. The gas cell spectrum is acquired by a photodiode detector (L) connected to a Data Acquisition Network (U).
[00137] The remaining part of the light divided in the optical coupler (F) is directed to an interferometer built from an optical coupler (H) fixed to two Faraday Rotating Mirrors (I, J). The first Faraday Rotating Mirror (FRMs) (I) serves as the reference arm of the interferometer, while the second Faraday Rotating Mirror (J) is distanced by a fiber optic delay reel (K). This interferometer produces a monitor signal that is used to correct the non-linearity of the laser adjustment and is acquired by the Data Acquisition Network (U) through a photodiode detector (M).
[00138] The light directed to the Interrogator Network (D) by the optical coupler (C) enters the polarization controller (N) which turns the laser light to an orthogonal state between the two successive laser scans. This light is then divided through a series of optical couplers (O) homogeneously between four acquisition interferometers (P, Q, R. S). Within the acquisition interferometer for the central core, the light is divided between a reference path and a measurement path by an optical coupler (AA). The "probe" laser light from the AA coupler passes through an optical circulator (T) and enters a central core of a shape perception fiber (W) through a central core wire from a multi-core fanout ( V) for the shape sensor fiber (W). The shape sensor fiber (W) contains a central concentric optical core with three helically wound outer optical cores. The fiber cross section (X) shows that the outer cores (Z) are equally spaced, concentric and separated by a radial distance determined from the central core (Y). The posterior Rayleigh scattering resulting from the central optical core (Y) as a result of a laser scan passes through the optical circulator (T) and interferes with the reference path light of the acquisition interferometer when recombined in the optical coupler (BB).
[00139] The interference pattern passes through an optical polarization beam splitter (DD) separating the interference signal into two main polarization states (Si, 'i). Each of the two polarization states is acquired by the Data Acquisition Network (U) using two photodiode detectors (EE, FF). A polarization rotator (DC) can be adjusted to balance the signals in the photodiode detectors. The external optical cores of the shape perception fiber are measured in a similar way using corresponding acquisition interferometers (Q, R, S). The System Controller and Data Processor (A) interprets the signals from four individual optical cores and produces a measurement of both position and orientation along the length of the shape perception fiber (W). The data is then exported from the System Controller (A) for display and / or use (GG). Birefringence Corrections
[00140] When an optical fiber is bent, the circular symmetry of the core is broken and a preferred "vertical" or "horizontal" plane is created by distinguishing between the directions in the plane of the fold and perpendicular to the plane of the fold. The light that travels down the fiber then undergoes different refractive indices depending on its polarization state. This change in the index as a function of the polarization state is referred to as birefringence. This presents a significant problem for format measurement since the measured phase change depends on the incident polarization state, and that incident state cannot be controlled on the standard fiber.
[00141] This problem can be solved by measuring the optical core response in two orthogonal polarization states. If the response of these two states is properly measured, the variation in the response measured as a function of the polarization can be eliminated or at least substantially reduced. The flowchart in figure 28 highlights a non-limiting illustrative process for correcting birefringence such as an intrinsic birefringence, fold-induced birefringence, etc., both in measured and reference values. The non-limiting example below refers to bend-induced birefringence, but is more generally applicable to any birefringence.
[00142] The first step in the process is to measure the nucleus response in two orthogonal polarization states called "s" and "p". A response s and a response p are measured at each state of polarization resulting in four sets. For the sake of simplicity, responses to the first polarization state are called a and b, and responses to the second polarization state are called c and d, where a and c are responses at detector s and b and d are responses at detector p.
[00143] The second step is to calculate the following two matrix products:

[00144] A filtered low-pass version of each of these signals is calculated and written as {x} and {y}. The expected value annotation is used here to indicate a low-pass filtering operation. The relatively slow-varying function phases are used to align the higher frequency scattered signals in the phase so that they can be added:

[00145] This process is then repeated to produce a final scalar value:

[00146] Now, a slowly varying vector can be created and represents the vector nature of the descending variation by the fiber without broadband Rayleigh scattering components, as these are all embedded in u:

[00147] The correction resulting from the effects of birefringence is then calculated using:

[00148] where Φn is the correction due to the effects of birefringence and n is the index within the set. Here the vector is illustrated compared to the first element (index 0) in the set, but it can be just as easily compared to any element selected arbitrarily in the vector set.
[00149] Birefringence correction compensates for birefringence as a result of core asymmetry during manufacture and for bend radii above 100 mm. As the shape perception fiber is placed in tight folds when the radii are less than 100 mm, a second order birefringence effect becomes significant.
[00150] Assuming that significant levels of tension manifest only in the direction parallel to the central core of the multi-core shape perception fiber, the diagram in figure 29 is considered. As the fiber is bent, the tension is measured in the region between 0 <X <r while the compression stress is measured in the region -r <X <0. The expansion of the outer fold region exerts a lateral force by increasing the internal pressure of the fiber. As the internal pressure of the fiber increases, a second-order stress term becomes significant, εx. As illustrated in the second paragraph, this pressure stress term is a maximum along the central geometric axis of the fiber and falls towards the outer edges of the fiber as the square of the distance. In tight folds, this pressure tension term can modify the reaction rate of the fiber resulting in a measurable birefringence. Additionally, the external peripheral helical nuclei undergo a sinusoidal response to this pressure-induced tension while the central nucleus responds to the maximum.
[00151] Figure 30 illustrates two phase representations produced from a 40 mm diameter fiber circuit. Oscillations in these signals are a result of the set of multiple cores being outside the center of the fiber. In tighter folds, the signs of tension are high enough to validate a response to this subtle deviation from concentricity. The representation illustrates that the mean of the external helical cores accumulates significantly less phase in the fold region when compared to the central core. This phase deficiency serves as evidence for fold-induced birefringence. Remember that the extrinsic torsion calculation is performed by finding the absolute phase difference between the central nucleus and the average of the three outer nuclei. The graph in figure 30 illustrates that a false twist signal will be measured in the region of the fold.
[00152] The measured phase response of an external core indicates its position in relation to the pressure-induced voltage profile, εx. Therefore, the frame of an outer core voltage response provides a measurement of both location and magnitude with respect to the pressure field. This response can be scaled and used as a correction of the external nuclei to combine the level of εx perceived by the central nucleus, thus correcting the false torsion.

[00153] Φn is the phase response in an outer core, N is the number of outer cores, and k serves as a scaling factor. Figure 31 illustrates the voltage response of an external core for a 400 mm diameter fiber circuit, with the common mode voltage subtracted. From this voltage response signal, a correction for bend-induced birefringence can be approximated as seen in the graph illustrated in figure 32.
[00154] The application of this correction has a significant impact on the torsion measured in the bend region as illustrated in figure 33. Comparing the torsion signal with and without the second order correction reveals that an error of 25 degrees is accumulated in the bend region without the second order birefringence correction in this example. Application of Birefringence Corrections and Impact on Precision
[00155] The following describes the effects of polarization on the accuracy of a format perception system. To achieve variable input bias between measurements, a circuit bias controller is added between the shape perception fiber and the shape perception system as illustrated in figure 34.
[00156] To illustrate the impact of the corrections described above on the accuracy of the system, consider the signal in the plane to a relatively simple format as illustrated in figure 35, where 1.4 meters of format perception fiber are directed through a single 180 degree turn with a 50 mm bend radius. Figure 36 illustrates off-plan measurements for three successive measurements. Between each measurement, the polarization varies using the polarization controller in figure 34.
[00157] If birefringence is not considered, a significant loss in accuracy is observed. A large response is observed in the out-of-plane signal as the polarization state varies. The fiber picks up an angular error only in the fold region as a result of measuring the system for an erroneous twist signal. Thus, when leaving this fold, there is a significant error in the direction of the fiber. Predicting the polarization response of the fiber is a difficult problem, and not every core responds to the same point at a given fold. Figure 37 illustrates this point by illustrating the birefringence corrections for the cores. However, the same two measurements for the central core have a significant variation in their phase responses as seen in figure 38. Two successive measurements respond differently to the input bias providing evidence for birefringence in the shape perception fiber.
[00158] The activation of a correction for birefringence improves the accuracy of the system as seen in figure 39. The variation between format measurements as the input polarization state varies is minimized which greatly increases the accuracy of the system. However, a significant error in the accuracy of the system is still observed. If second-order correction based on bend-induced birefringence is also carried out, there is a further improvement of the system as illustrated in figure 40. The accuracy of the out-of-phase signal is drastically improved.
[00159] Although several modalities have been illustrated and described in detail, the claims are not limited to any particular modality or example. Nothing presented in the description above should be read as implying that any particular element, stage, range or function is essential so that it should be included in the scope of the claims. The scope of the patented matter is defined only by the claims. The extent of legal protection is defined by the terms recited in the permitted claims and their equivalences. All structural and functional equivalences to the elements of the preferred embodiment described above which are known to those skilled in the art are expressly incorporated herein by reference and are to be encompassed by the present claims. Furthermore, it is not necessary for a device or method to solve any and all problems that seek solutions by the present invention, to be encompassed by the present claims. No claim shall invoke paragraph 6 of 35 U.S.C. § 112 unless the terms "means to" or "step to" are used. In addition, no modality, feature, component or step in this report should be dedicated to the public unless the modality, feature, component or step is recited in the claims.

权利要求:
Claims (18)
[0001]
1. Measurement method for a multi-core fiber (1), characterized by the fact that it comprises: for each core of at least two cores (2, 3, 4, 5) in the multi-core fiber (1), determine a total change in optical length to a point in the multi-core fiber (1), the total change in optical length including an accumulation of all changes in the optical length in that core (2, 3, 4, 5) to the point in the fiber multiple cores (1); and determining a location or direction pointed at the point on the multi-core fiber (10) based on the total changes in optical length.
[0002]
2. Method, according to claim 1, characterized by the fact that determining the total changes in optical length includes, for each core of at least two cores (2, 3, 4, 5): detecting a phase response of a light signal reflected in the core (2, 3, 4, 5), where the voltage in the multi-core fiber (1) causes a change in the phase response of the reflected light signal.
[0003]
3. Method, according to claim 2, characterized by the fact that it still comprises, for each nucleus of the at least two nuclei (2, 3, 4, 5), monitoring the phase response continuously along the optical length of the fiber multi-core (1).
[0004]
4. Method, according to claim 1, characterized by the fact that it still comprises: determining a torsion parameter associated with the multi-core fiber (1) at the point in the multi-core fiber (1) based on the total changes in the optical length for each of the at least two cores (2, 3, 4, 5) of the multi-core fiber (1).
[0005]
5. Method, according to claim 4, characterized by the fact that determining the location or direction of pointing in the point in the multi-core fiber (1) is based on the determined torsion parameter.
[0006]
6. Method according to claim 1, characterized by the fact that the multi-core fiber (1) is helically wound and is determined by a nominal rotation rate, the method further comprising: determining a variation in the nominal rotation rate at the point along the multi-core fiber (1); and correct the variation in the nominal rotation rate.
[0007]
7. Method, according to claim 1, characterized by the fact that determining the total change in optical length up to a point in the multi-core fiber (1) comprises: transmitting light with at least two polarization states that are nominally orthogonal to the along the multi-core fiber (1) and measure light reflections along the multi-core fiber to the point, and in which determining the location or direction of pointing at the point of the multi-core fiber (1) comprises: calculating independent polarization changes in the optical length in each core of the at least two cores (2, 3, 4, 5) in the multi-core fiber (1) to the point in the multi-core fiber (1).
[0008]
8. Method, according to claim 4, characterized by the fact that it further comprises: determining the changes in optical length induced by bending along the multi-core fiber (1); and compensate for changes in optical length induced by bending when determining the torsion parameter.
[0009]
9. Apparatus for carrying out measurements of a multi-core fiber (1), characterized by the fact that it comprises: an interrogator network (D) to interfere with the reflected light in at least two cores (2, 3, 4, 5 ) in the multi-core fiber (1) with light passing through the respective reference paths of the respective interferometers (P, Q, R, S) a data acquisition network (U) comprising detectors (EE, FF) at the outputs of interferometers (P, Q, R, S) to measure, for each core of at least two cores (2, 3, 4, 5) in the multi-core fiber (1), a sign indicating a total change in optical length to a point in the multi-core fiber (1), the total change in optical length including an accumulation of all changes in the optical length to the point in the multi-core fiber (1); and a system controller and data processor (A) to interpret the signals from at least two cores (2, 3, 4, 5) in the multi-core fiber to determine a location or direction pointed at the point in the multi-fiber cores (1) based on total changes in optical length.
[0010]
10. Apparatus according to claim 10, characterized by the fact that for each nucleus of at least two nuclei (2, 3, 4, 5), the signal is indicative of a phase response of the light reflected in the nucleus (2 , 3, 4, 5), the phase response being indicative of the total change in optical length, in which the voltage in the multi-core fiber (1) causes a change in the reflected light phase.
[0011]
11. Apparatus, according to claim 10, characterized by the fact that the data acquisition network (U) is configured for each core among the at least two cores (2, 3, 4, 5): monitor the response phase over the optical length of the multi-core fiber (1).
[0012]
12. Apparatus, according to claim 10, characterized by the fact that the data acquisition network (U) is configured for each core of the at least two cores (2, 3, 4, 5), detecting a scattering pattern Rayleigh reflected in reflected light, and in which the system controller and data processor (A) are configured for each core of the at least two cores (2, 3,, 4, 5), compare the reflected Rayleigh scattering pattern with a reflected Rayleigh scattering reference standard and determine the phase response based on the comparison.
[0013]
13. Apparatus, according to claim 9, characterized by the fact that it still comprises: a laser configured to transmit light with at least two states of polarization along the multi-core fiber (1); where the system controller and data processor (A) are configured to interpret signals in at least two polarization states in combination, in determining the location or direction pointed at the point in the multi-core fiber (1) based in total changes in optical length.
[0014]
14. Apparatus according to claim 13, characterized by the fact that the two states of polarization include a first state of polarization and a second state of polarization, the first and second state of polarization being at least nominally orthogonal, in which the The apparatus further comprises a polarization controller configured to transmit a first light signal in the first polarization state along the multi-core fiber (1) and transmit a second light signal in the second polarization state along the multi-core fiber (1). 1), and where the system controller and data processor (A) are configured to calculate an independent polarization change in optical length in each core of the at least two cores (2, 3, 4, 5) in the fiber multiple cores (1) to the point in the multi-core fiber (1) using reflections of the first and second light signals.
[0015]
15. Apparatus according to claim 9, characterized by the fact that the system controller and data processor (A) are configured to determine both the location and the direction pointed at the point.
[0016]
16. Apparatus according to claim 9, characterized by the fact that a torsion parameter associated with the multi-core fiber (1) at the point of the multi-core fiber (1) based on the total changes in the optical length of the fiber multiple cores (1); the at least two cores (2, 3, 4, 5) include three peripheral cores (3, 4, 5) spaced around a fourth core (2), the fourth core (2) alone being a multiple fiber center nuclei (1); the data acquisition network (U) is configured for each of the cores of the three peripheral cores (3, 4, 5) and the fourth core (2), to determine a signal indicative of a phase response of the reflected light signal in those cores (2, 3, 4, 5), tension in the multi-core fiber (1) causing a change in the phase response of the light signal reflected in each of the four cores (2, 3, 4, 5); and the system controller and data processor (A) are configured to average the phase responses for the three peripheral cores (3, 4, 5), combine the middle phase response with the phase response of the fourth cores (2) to remove a common mode voltage, and determine a twist parameter associated with the multi-core fiber (1) at the point of the multi-core fiber (1) for the combined phase response.
[0017]
17. Apparatus according to claim 9, characterized by the fact that the multi-core fiber (1) is defined by a nominal rotation rate and an oscillation signal, the oscillation signal corresponding to an angular distance from a position rotation of an outer core of at least two cores from a linear variation with distance along the fiber as expected from the rated rate of rotation, and the system controller and data processor (A) are further configured to determine the signal of oscillation for the multi-core fiber (1) by restricting the multi-core fiber (1) to a curved orientation in a plane and correcting the oscillation signal when determining the location at the point of the multi-core fiber based on changes total in optical length.
[0018]
18. Non-transitory storage medium storing program instructions characterized by the fact that when executed on a computerized measuring device it causes the computerized measuring device to carry out measurements of a multi-core fiber (1), by performing the following tasks: for each core of the at least two cores (2, 3, 4, 5) in the multi-core fiber (1) determine a total change in optical length up to a point in the multi-core fiber (1), the total change in optical length including an accumulation of all changes in optical length in that core to the point in the multi-core fiber (1); and determining a location or direction pointed at the point on the multi-core fiber (1) based on the total changes in optical length.

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法律状态:
2017-09-26| B25A| Requested transfer of rights approved|Owner name: INTUITIVE SURGICAL OPERATIONS, INC. (US) |

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2019-01-08| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|

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2019-07-16| B06T| Formal requirements before examination [chapter 6.20 patent gazette]|

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2019-11-05| B06A| Notification to applicant to reply to the report for non-patentability or inadequacy of the application [chapter 6.1 patent gazette]|

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2020-09-01| B09A| Decision: intention to grant|

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2020-12-08| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 10 (DEZ) ANOS CONTADOS A PARTIR DE 08/12/2020, OBSERVADAS AS CONDICOES LEGAIS. |

优先权:

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申请号 | 申请日 | 专利标题

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US24374609P| true| 2009-09-18|2009-09-18|

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US61/243,746|2009-09-18|

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US25557509P| true| 2009-10-28|2009-10-28|

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US61/255,575|2009-10-28|

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US35034310P| true| 2010-06-01|2010-06-01|

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US61/350,343|2010-06-01|

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US12/874,901|US8773650B2|2009-09-18|2010-09-02|Optical position and/or shape sensing|

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US12/874,901|2010-09-02|

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PCT/US2010/002517|WO2011034584A2|2009-09-18|2010-09-16|Optical position and/or shape sensing|

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