公开(公告)号：US12257014B2

公开(公告)日：2025-03-25

申请号：US17840859

申请日：2022-06-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Lizmarie Comenencia Ortiz ,  Jason Miao ,  David Moreira Ridsdale ,  Harsukhdeep S. Ratia ,  Sharathchandra Somayaji ,  Zhou Ye

IPC: A61B34/00 ,  A61B34/35 ,  G01L1/22 ,  G01L5/10

Abstract: A medical device comprises an end effector, a mechanical structure, a connector, and a force sensor unit. The connector extends from a drive component of the mechanical structure to the end effector. Motion of the drive component produces a tension force within the connector, which is associated with an end effector torque or force exerted by the end effector. The force sensor unit comprises a body, and the body is coupled in-line with the connector so that strain in the connector is imparted to the body. A strain sensor measures the strain on the body as an indication of strain in the connector, which is an indication of torque or force at the end effector. The connector may be continuous, and coupled to the body with a slack relief portion of the connector within the body. Alternatively, the connector may be discontinuous and coupled to opposite ends of the body.