Compact height torque sensing articulation axis assembly
AssigneeAuris Health, Inc.
InventorsTravis Covington, Colin Wilson
Life of this patent
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Abstract
A compact height torque sensing articulation axis assembly is disclosed herein having a torque sensor, an assembly mounting flange, a motor, a motor gearbox, a gearbox output shaft, an encoder, and a cable. The assembly may sense tension on robotic catheter pullwires in an articulating catheter and/or torque on a robotic output axis using the torque sensor. Disclosed embodiments may advantageously be used to achieve small, lightweight robotic catheter systems.
Claims21
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
- an instrument driver operatively connected to the control system, the instrument driver including:
- a motor configured to provide rotary output to actuate movement of an elongate member;
- a gearbox configured to modify the rotary output of the motor;
- and
- a reactive torque sensor coaxial with and radially surrounding at least one of the motor and the gearbox,
- wherein the control system is configured to actuate the motor in response to the information to drive an output shaft in communication with the elongate member;
- and
- wherein the reactive torque sensor is configured to determine an output shaft torque imparted by the output shaft.
An instrument driver for an elongate member of a robotic surgical system, comprising one or more drive assemblies, each assembly comprising:
- a gearbox configured to actuate movement of the elongate member by driving an output shaft in communication with the elongate member;
- a rotary output motor configured to drive the gearbox;
- and
- a reactive torque sensor radially surrounding the gearbox and configured to determine an output shaft torque imparted by the output shaft to the elongate member.
-34. (canceled)
Dependencies are inferred from the claim text.