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US 2009/0157092 A1Published application
Ribbed force sensor
AssigneeIntuitive Surgical Operations, Inc.
InventorsStephen J. Blumenkranz, Christopher J. Hasser
Life of this patent
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Abstract
In one embodiment, a force sensor apparatus is provided including a tube portion having a plurality of radial ribs and a strain gauge positioned over each of the plurality of radial ribs, a proximal end of the tube portion that operably couples to a shaft of a surgical instrument that operably couples to a manipulator arm of a robotic surgical system, and a distal end of the tube portion that proximally couples to a wrist joint coupled to an end effector.
Claims36
A force sensor apparatus, comprising:
- a tube portion including a plurality of radial ribs and a strain gauge positioned over each of the plurality of radial ribs;
- a proximal end of the tube portion that operably couples to a shaft of a surgical instrument that operably couples to a manipulator arm of a robotic surgical system;
- and
- a distal end of the tube portion that proximally couples to a wrist joint coupled to an end effector.
1 more element
A surgical instrument, comprising:
- a housing portion that interfaces with a manipulator arm of a robotic surgical system;
- a shaft with a distal tube portion including a plurality of radial ribs and a strain gauge positioned over each of the plurality of radial ribs;
- a wrist joint operably coupled to a distal end of the shaft;
- and
- an end effector operably coupled to the wrist joint.
2 more elements
Dependencies are inferred from the claim text.