Multi-force sensing surgical instrument and method of use for robotic surgical systems
US9549781B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | May 30, 2014 |
| Grant date | Jan 24, 2017 |
| Priority date | — |
| Expiry date | Jan 24, 2035 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61F9/007
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A multi-force sensing instrument includes a tool that has a tool shaft having a distal end and a proximal end, a strain sensor arranged at a first position along the tool shaft, at least one of a second strain sensor or a torque-force sensor arranged at a second position along the tool shaft, the second position being more towards the proximal end of the tool shaft than the first position, and a signal processor configured to communicate with the strain sensor and the at least one of the second strain sensor or the torque-force sensor to receive detection signals therefrom. The signal processor is configured to process the signals to determine a magnitude and position of a lateral component of a force applied to the tool shaft when the position of the applied force is between the first and second positions.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.