Abstract: Certain aspects relate to systems and techniques for optical strain sensing in medical instruments. In one aspect, a medical instrument includes an elongated shaft, and at least one pull wire extending from a proximal end of the elongated shaft to the distal end of the elongated shaft. The at least one pull wire is configured to cause actuation of the medical instrument in at least one degree of freedom. The at least one pull wire includes an optical fiber configured to provide an indication of strain along the at least one pull wire.

Abstract: Certain aspects relate to medical instrument systems having illuminators. Such a system can include a medical instrument and a robotic arm. The medical instrument can include an elongate shaft having a distal end, an optical fiber extending along the elongate shaft, and a wavelength conversion medium disposed at the distal end of the elongate shaft. The wavelength conversion medium can be configured to receive light having a first wavelength profile from the optical fiber and emit light having a second wavelength profile different from the first wavelength profile. The robotic arm can be configured to manipulate the medical instrument. The robotic arm can be articulable to position the medical instrument with respect to a patient. The robotic arm can be configured to actuate the elongate shaft to move the wavelength conversion medium within the patient.

Abstract: Certain aspects relate to systems and techniques for optical strain sensing in medical instruments. In one aspect, a medical instrument includes an elongated shaft, and at least one pull wire extending from a proximal end of the elongated shaft to the distal end of the elongated shaft. The at least pull wire is configured to cause actuation of the medical instrument in at least one degree of freedom. The at least one pull wire includes an optical fiber configured to provide an indication of strain along the pull wire.