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US 12,514,656 B2Granted
Surgical robotic systems
AssigneeCovidien LP
InventorsMichael A. Zemlok, Alexander Nothhelfer, Richard S. Lech, Ranjan K. Mishra, Ulrich Hagn
Life of this patent
Estimating the term…
Abstract
A surgical robotic system includes a plurality of magneto sensors for measuring a torque, axial force, angle, position, or speed of various driven members in the surgical robotic system.
Claims14
Amended) A surgical robotic system, comprising:
- an elongated rail having a proximal end portion, a distal end portion, and a track defined between the proximal and distal end portions;
- and
- an instrument drive unit configured for slidable engagement with the track of the rail, the instrument drive unit including:
- a motor;
- a drive shaft drivingly coupled to the motor and configured to move in response to an activation of the motor, wherein the drive shaft is magnetized;
- a magneto sensor including a coil disposed about the drive shaft and spaced radially from the drive shaft, wherein the drive shaft is rotatable relative to the magneto sensor, and wherein the magneto sensor is configured to determine a force experienced by the drive shaft;
- and
- an insulator disposed around the drive shaft and between an outer surface of the drive shaft and the magneto sensor.
5 more elements
An instrument drive unit for driving an operation of a surgical instrument, the instrument drive unit comprising:
- a motor,
- a drive shaft drivingly coupled to the motor and configured to move in response to an activation of the motor, wherein the drive shaft is magnetized;
- a magneto sensor including a coil disposed about the drive shaft and spaced radially from the drive shaft, wherein the drive shaft is rotatable relative to the magneto sensor, and wherein the magneto sensor is configured to determine a force experienced by the drive shaft;
- and
- an insulator disposed around the drive shaft and between an outer surface of the drive shaft and the magneto sensor.
2 more elements
Dependencies are inferred from the claim text.