Back to results
US 2022/0039887 A1Published application
Arm with a combined shape and force sensor
AssigneeIntuitive Surgical Operations, Inc.
InventorsDavid Q. Larkin, Vincent Duindam
Life of this patent
Estimating the term…
Abstract
A bend sensor is used to determine force applied to a robotic arm. The force may be an external force applied to the arm, an internal actuation force, or both. In some aspects, a stiffening element is used to restore the arm to a minimum kinematic energy state. In other aspects, the stiffening element is eliminated, and the arm is fully actuated.
Claims21
1-19. (canceled)
A robotic surgical system comprising:
- a surgical instrument, wherein the surgical instrument includes:
- an elongate, hollow shaft having a proximal end, a distal end, and a flexible section;
- a sensor apparatus configured to generate sensor data about the flexible section;
- and
- a force transmission mechanism coupled to the proximal end of the shaft;
- and
- a processor communicatively coupled to at least the sensor apparatus, wherein the processor is configured to receive the sensor data about the flexible section from the sensor apparatus and to use the sensor data with information regarding mechanical and material property data for the surgical instrument to determine at least one of an internal actuation force applied by the force transmission mechanism or external force information for the surgical instrument.
4 more elements
Dependencies are inferred from the claim text.