A system comprises a teleoperated manipulator, a manually operated surgical instrument coupled to the teleoperated manipulator, a teleoperated surgical instrument coupled to the teleoperated manipulator, and a shape sensor comprising a first portion and a second portion. The first portion of the shape sensor is coupled to a proximal end of a cannula, and the second portion of the shape sensor is coupled to the manually operated surgical instrument. The shape sensor is configured to provide a sensor input to a controller, and the sensor input comprises information representing an insertion depth of the manually operated surgical instrument into the cannula.

An optical sensor includes an optical fiber inscribed with a repeated refraction pattern such that light scattered from a location on the optical fiber is scattered at multiple frequencies in a range of frequencies. The inscribed patterns overlap at every measurement point along at least a portion of the length of the sensor. An optical sensing system including control circuitry coupled to the optical fiber detects measurement scatter data from the optical fiber over the range of frequencies, determines a change in the detected measurement scatter data over the range of frequencies, and extracts a parameter describing a state of the optical fiber from the determined change in the detected measurement scatter data. The sensor may be made by inscribing a first light refracting pattern on the optical fiber at every measurement point along at least a portion of the length of the sensor and inscribing a second light refracting pattern on the optical fiber that overlaps the first inscribed light refracting pattern at every measurement point along at least that portion of the length of the sensor.

A system and method are used for an optical fiber having a core multiple, closely spaced optical gratings written along the core that create a repeated pattern in the core. A memory stores predetermined reference reflection data and measurement reflection data determined for a length of the core detected from interferometric patterns corresponding to scatter reflections received from the core. Data processing circuitry reduces or removes from the measurement reflection data information that corresponds to reflections due to the repeated pattern in the core to produce filtered measurement data. One or more portions of the filtered measurement data is/are correlated with one or more portions of the reference reflection data to produce multiple correlation values. The greatest of the multiple correlation values is determined, and a location along the fiber corresponding to the greatest correlation value is identified.

A method is provided for determining temperature changes of an optical fibre having Fiber Bragg Grating (FBG) patterns provided in at least one portion (Portion 1) of the optical fibre. The optical fibre is connected between a first detector arrangement and a second detector arrangement. Light is emitted into the optical fibre in a first direction from the first detector arrangement, which receives reflections from the FBG patterns of the emitted light. The reflections are processed for determining a current temperature change related to the optical fibre. On the basis of predetermined criteria, light is emitted into the optical fibre in an opposite second, direction from the second detector arrangement. The second detector arrangement receives reflections from the FBG patterns of the light emitted in the second direction and the reflections are processed for determining a current temperature change related to the optical fibre.

A fiber optic sensor to determine a property in an environment with a temperature exceeding 150 degrees Celsius includes a light source to emit broadband light, an etendue of the light source being less than 1000 square micro meter-steradians (μm.sup.2 sr), and an optical fiber to carry incident light based on the broadband light and a reflection resulting from the incident light. A photodetector detects a resultant light based on the reflection and outputs an electrical signal, and a processor processes the electrical signal from the photodetector to determine the property.

The present application discloses a fiber distributed acoustic sensing system, including a forward pump source, a wavelength division multiplexer, an active phase-shifted grating array, a backward pump source, and a data demodulation and processing device. The active phase-shifted grating array includes several active phase-shifted gratings engraved on a same fiber, each active phase-shifted grating having a same excitation light wavelength. The active phase-shifted grating array is configured to receive a forward pump pulse and a backward pump light pulse incident from the backward pump source, so that a forward excitation light and a backward excitation light are generated in each active phase-shifted grating, and two adjacent active phase-shifted gratings are enabled to generate excitation light self interference within a same pulse duration. The data demodulation and processing device is configured to perform interference detection on a fiber phase between two adjacent active phase-shifted gratings to detect an acoustic signal acted on the fiber. According to the system in the present application, the passive reflected light interference is replaced with active excitation light interference, thus the excitation light signal has great strength and high stability, and environmental adaptability is high.

A system for detecting an intrusion of at least one of a monitoring fiber and a detector comprises a sensor having a closure monitor and an intrusion monitor, the closure monitor including a signal generator and at least one detector attached to the monitoring fiber. The signal generator transmits signal light such that the monitoring fiber receives the transmitted signal light and reflects a portion of the signal light via the at least one detector to the closure monitor and transmits a non-reflected portion of the signal light. The intrusion monitor receives the transmitted non-reflected portion of the signal light, and monitors the non-reflected portion of the signal light to detect transient changes in the non-reflected portion of the signal light indicative of at least one of a vibration, a motion and a handling of at least one of the monitoring fiber and the at least one detector.

An apparatus, system and method for determining a position of an instrument (100) includes a sheath (104) configured to fit within an instrument channel of a medical scope. An optical fiber (112) is disposed within the sheath and a plurality of sensors (106) is integrated in optical fiber. The sensors are configured to measure deflections and bending in the optical fiber. A fixing mechanism (140) is sized to fit within the instrument channel in a first state and fixes the sheath within the instrument channel in a second state such that the fixing mechanism anchors the sheath and the optical fiber so that the deflections and bending in the optical fiber are employed with a pre-procedural volumetric image to determine a position of the instrument.

An extended length of optical fiber having an offset core with an inscribed Bragg grating is used a distributed sensor in combination with an optical frequency domain reflectometer (OFDR) to enable measurement small-scale (e.g., sub-millimeter) contortions and forces as applied to the fiber. The offset core may be disposed in a spiral configuration around the central axis of the optical fiber to improve the spatial resolution of the measurement. A reference surface exhibit a predetermined texture (in the form of a series of corrugations, for example, that may be periodic or aperiodic, as long as known a priori) is disposed adjacent to a longitudinal portion of the sensor fiber. The application of a force to the combination of the plate and the fiber creates a local strain in the grating formed along the offset core of the fiber that results in a shift in the Bragg wavelength of the grating. Using ODFR measurement techniques, an analysis of the Bragg wavelength shift allows for a high resolution force measurement to be obtained.

The exemplary embodiments provide an optical fiber sensor and a vector measuring device which measure a motion of a subject using a double Bragg grating formed in a core with a helical structure and measure a chiral motion inflection point vector.