Force and torque sensing for surgical instruments
US8945095B2 · kind B2 · utility
1,119Cited by
26References
41Claims
0Family size
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Key dates
| Filing date | Sep 29, 2006 |
| Grant date | Feb 3, 2015 |
| Priority date | — |
| Expiry date | Jul 25, 2031 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10T74/20335
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
An apparatus, system, and method for improving force and torque sensing and feedback to the surgeon performing a telerobotic surgery are provided. Groups of axially oriented strain gauges are positioned on a distal end of an instrument shaft proximate a moveable wrist of a robotic surgical instrument to sense forces and torques at the distal tip of the instrument. Advantageously, errors due to changes in the configuration of the tip or steady state temperature variations are eliminated. Other advantageous configurations and methods are disclosed.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.