Force and torque sensing for surgical instruments
AssigneeIntuitive Surgical Operations, Inc.
InventorsStephen J. Blumenkranz, David Q. Larkin
Life of this patent
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Abstract
An apparatus, system, and method for improving force and torque sensing and feedback to the surgeon performing a telerobotic surgery are provided. Groups of axially oriented strain gauges are positioned on a distal end of an instrument shaft proximate a moveable wrist of a robotic surgical instrument to sense forces and torques at the distal tip of the instrument. Advantageously, errors due to changes in the configuration of the tip or steady state temperature variations are eliminated. Other advantageous configurations and methods are disclosed.
Claims41
A surgical instrument, comprising:
- a housing portion configured to operably interface with a manipulator arm of a robotic surgical system;
- a shaft including:
- a proximal end coupled to the housing portion, a distal end, a distal end portion extending proximally from the distal end, and a lengthwise axis defined from the proximal end to the distal end;
- a plurality of strain gauges mounted on the distal end portion of the shaft adjacent to the distal end of the shaft;
- a wrist joint operably coupled to the distal end of the shaft, wherein the plurality of strain gauges do not extend to any movable element in the wrist joint;
- and
- an instrument tip operably coupled to the wrist joint, wherein articulation of the wrist joint moves the instrument tip in at least one degree of freedom, and wherein the plurality of strain gauges are configured to measure at least one force acting on the instrument tip.
A robotic surgical system, comprising:
- a manipulator assembly including a manipulator arm;
- and
- a surgical instrument operably coupled to the manipulator arm, the surgical instrument including:
- a housing portion for operably interfacing with the manipulator arm;
- a shaft including:
- a proximal end coupled to the housing portion, a distal end, a tubular distal end portion extending proximally from the distal end, and a lengthwise axis defined from the proximal end to the distal end;
- a plurality of strain gauges mounted on the distal end portion of the shaft adjacent to the distal end of the shaft;
- a wrist joint operably coupled to the distal end of the shaft, wherein the plurality of strain gauges do not extend to any movable element in the wrist joint, and wherein articulation of the wrist joint moves the instrument tip in at least one degree of freedom;
- and
- an instrument tip operably coupled to the wrist joint, wherein the plurality of strain gauges are configured to measure at least one force acting on the instrument tip.
Dependencies are inferred from the claim text.