公开(公告)号：US20170179857A1

公开(公告)日：2017-06-22

申请号：US15118264

申请日：2015-02-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Hsien-Hsin Liao ,  Niels Smaby ,  Gregory W. Dachs II ,  Pushkar Hingwe ,  Amir Chaghajerdi

IPC: H02P6/10 ,  H02P6/04 ,  A61B17/00 ,  A61B34/35 ,  A61B90/00 ,  H02P6/08 ,  H02P6/14

CPC classification number: H02P6/10 ,  A61B17/00 ,  A61B34/35 ,  A61B90/03 ,  A61B2017/00464 ,  A61B2090/031 ,  A61B2090/066 ,  A61B2560/0223 ,  H02P6/08 ,  H02P6/14 ,  H02P23/0031 ,  H02P23/04

Abstract: A method for torque compensation of a motor associated with a medical instrument includes determining a torque profile for a motor, the torque profile defining torque output as a function of rotor angle and during operation of the motor, compensating for deviations in the torque profile by adjusting an input signal to the motor, the compensating being based on the torque profile and rotor position.

公开(公告)号：US20160235488A1

公开(公告)日：2016-08-18

申请号：US15141691

申请日：2016-04-28

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Stephen J. Blumenkranz ,  Gregory W. Dachs II ,  Ian E. McDowall ,  Christopher J. Hasser

IPC: A61B34/20 ,  G01B11/16 ,  G02B6/12 ,  A61B18/00 ,  G02B6/32

CPC classification number: A61B34/20 ,  A61B18/00 ,  A61B34/30 ,  A61B2017/00477 ,  A61B2034/2061 ,  A61B2034/305 ,  A61B2090/064 ,  A61B2562/0266 ,  G01B11/16 ,  G01L1/242 ,  G02B6/12019 ,  G02B6/264 ,  G02B6/32 ,  Y10T74/20335

Abstract: In one embodiment, a surgical instrument includes a housing linkable with a manipulator arm of a robotic surgical system, a shaft operably coupled to the housing, a force transducer on a distal end of the shaft, and a plurality of fiber optic strain gauges on the force transducer. In one example, the plurality of strain gauges are operably coupled to a fiber optic splitter or an arrayed waveguide grating (AWG) multiplexer. A fiber optic connector is operably coupled to the fiber optic splitter or the AWG multiplexer. A wrist joint is operably coupled to a distal end of the force transducer, and an end effector is operably coupled to the wrist joint. In another embodiment, a robotic surgical manipulator includes a base link operably coupled to a distal end of a manipulator positioning system, and a distal link movably coupled to the base link, wherein the distal link includes an instrument interface and a fiber optic connector optically linkable to a surgical instrument. A method of passing data between an instrument and a manipulator via optical connectors is also provided.