Instrument-mounted tension sensing mechanism for robotically-driven medical instruments
US9788910B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Jun 21, 2016 |
| Grant date | Oct 17, 2017 |
| Priority date | — |
| Expiry date | Jun 21, 2036 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01L5/04
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A tension mechanism for a robotically-controlled medical device measures the tension applied to an actuation tendon to provide feedback to a robotic controller. In one embodiment, the device comprises an elongated instrument, an elongated member, and a base. The elongated member is coupled to the distal end of the elongated instrument, configured to actuate the distal end of the elongated instrument in response to tension in the elongated member. The base is located at the proximal end of the elongated instrument, and comprises a first redirect surface that redirects the elongated member. The first redirect surface is coupled to a lever element that is configured to exert a reactive force on a sensor in response to tension in the elongated member.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.