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US 2014/0276594 A1Published application
Catheter tension sensing
AssigneeHansen Medical, Inc.
InventorsNeal A. Tanner, Matthew J. Roelle, Gregory J. Stahler, Robert G. Younge, Travis Covington
Life of this patent
Estimating the term…
Abstract
This disclosure covers various concepts to use for obtaining measurement of tension in catheter pullwires to improve controllability of a robotic surgical system.
Claims20
A robotic surgical system, comprising:
- a control system configured to be connected to an input device and to receive information for positioning or orienting a catheter from the input device;
- and
- at least one instrument driver operatively connected to the control system, the instrument driver including at least one rotary output motor configured to actuate movement of an elongate member, wherein the control system is configured to actuate the at least one output motor in response to the information to drive an output shaft in communication with the elongate member;
- wherein the at least one instrument driver is configured to determine an output shaft torque imparted by the output shaft to the elongate member.
1 more element
An instrument driver for an elongate member of a robotic surgical system, comprising:
- at least one rotary output motor configured to actuate movement of the elongate member by driving an output shaft in communication with the elongate member;
- and
- at least one sensor configured to determine an output shaft torque imparted by the output shaft to the elongate member.
A method of measuring an output torque, comprising:
- providing a rotary output shaft configured to actuate an elongate member;
- providing at least one output motor configured to actuate movement of the elongate member by driving the output shaft;
- and
- determining an output torque of the output shaft based at least upon a sensor input.
1 more element
Dependencies are inferred from the claim text.