公开(公告)号：US20230363849A1

公开(公告)日：2023-11-16

申请号：US18026040

申请日：2021-09-10

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Lizmarie COMENENCIA ORTIZ ,  David I. MOREIRA RIDSDALE ,  Alan W. PETERSEN ,  Harsukhdeep S. RATIA ,  Sharathchandra SOMAYAJI ,  Ashwinram SURESH ,  Zhou YE

IPC: A61B90/00 ,  A61B34/30

CPC classification number: A61B90/06 ,  A61B34/30 ,  A61B2090/064

Abstract: A medical device includes a mechanical structure and a force sensor unit. The force sensor unit comprises a mounting bracket, a first rod, a second rod, a first magnet, a second magnet, a first coil coupled to the mounting bracket, and a second coil coupled to the mounting bracket. The first rod and the second rod each have a center axis defined between a proximal and distal portion of the respective first and second rods. The center axis of the second rod is noncoaxial with the center axis of the first rod. The first magnet is coupled to the first rod and translates within the first coil along the center axis of the first rod. Similarly, the second magnet is coupled to the second rod and translates within the second coil along the center axis of the second rod.

公开(公告)号：US20220401171A1

公开(公告)日：2022-12-22

申请号：US17840859

申请日：2022-06-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Lizmarie COMENENCIA ORTIZ ,  Jason MIAO ,  David I. MOREIRA RIDSDALE ,  Harsukhdeep S. RATIA ,  Sharathchandra SOMAYAJI ,  Zhou YE

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

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.