Force sensing for surgical instruments
AssigneeIntuitive Surgical Operations, Inc.
InventorsStephen J. Blumenkranz, David Q. Larkin
Life of this patent
Estimating the term…
Abstract
An apparatus, system, and method for improving force and torque sensing and feedback to the surgeon performing a telerobotic surgery are provided. In one embodiment, a surgical instrument, a robotic surgical system, a cannula, a cannula seal, and a method for improved sensing of z-axis forces on a robotic surgical instrument are disclosed.
Claims16
A cannula, comprising:
- a proximal portion including an opening and a distal end, the opening of the proximal portion being configured to receive an instrument shaft, and the proximal portion being configured to operably couple to a manipulator arm;
- a tubular member extending from the distal end of the proximal portion, the tubular member including an inner surface and an opening, the opening of the tubular member being configured to receive the instrument shaft;
- and
- an annular rib extending radially inward from the inner surface of the tubular member.
A method comprising:
- sensing an axial force applied to a lengthwise axis of a shaft of a robotic surgical instrument,
- wherein the shaft is received proximally to distally within a cannula,
- wherein the sensing of the axial force is done by a force sensor positioned proximal to the cannula, and
- wherein the shaft comprises an antifriction outer surface;
- and
- reducing signal noise in the sensing of the axial force by sliding the antifriction outer surface of the shaft on an antifriction surface within the cannula.
A force sensing method comprising:
- sliding a robotic surgical instrument shaft through a cannula, wherein an outer surface of the instrument shaft includes an antifriction surface, wherein an inner surface of the cannula includes an antifriction surface, and wherein sliding the instrument shaft through the cannula includes sliding the antifriction surface of the outer surface of the instrument shaft against the antifriction surface of the inner surface of the cannula;
- and
- during the sliding of the surgical instrument shaft through the cannula, sensing a force applied in a lengthwise direction to the shaft.
A method of reducing signal noise in a force sensor positioned at a proximal end of a robotic surgical instrument shaft and positioned to sense a force applied lengthwise along the surgical instrument shaft, the method comprising:
- sliding an outer surface of the instrument shaft against a radial rib of an inner surface of a cannula.
Dependencies are inferred from the claim text.