FORCE AND TORQUE SENSOR FOR SURGICAL INSTRUMENTS

PROBLEM TO BE SOLVED: To provide a force and torque sensor for surgical instruments.SOLUTION: An apparatus, system and method for improving force and torque sensing and feedback to a surgeon performing a telerobotic surgery are provided. Groups of axially oriented strain gauges are positioned on a d...

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Bibliographic Details
Main Authors LARKIN DAVID Q, BLUMENKRANZ STEPHEN J
Format Patent
LanguageEnglish
Japanese
Published 09.04.2015
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
DIAGNOSIS
HAND TOOLS
HUMAN NECESSITIES
HYGIENE
IDENTIFICATION
MANIPULATORS
MEDICAL OR VETERINARY SCIENCE
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
SURGERY
TRANSPORTING
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Summary:PROBLEM TO BE SOLVED: To provide a force and torque sensor for surgical instruments.SOLUTION: An apparatus, system and method for improving force and torque sensing and feedback to a surgeon performing a telerobotic surgery are provided. Groups of axially oriented strain gauges are positioned on a distal end of an instrument shaft proximate to a moveable wrist of a robotic surgical instrument to sense force and torque at a distal tip of the instrument. Advantageously, errors due to changes in a configuration of the tip or steady state temperature variations are eliminated. Other advantageous configurations and methods are also disclosed. 【課題】手術器具のための力およびトルクセンサーを提供すること。【解決手段】力およびトルクの感知、ならびに遠隔ロボット手術を行う外科医へのフィードバックを向上するための、装置、システムおよび方法が提供される。軸方向に配向したひずみゲージのグループは、ロボット手術器具の可動式手首の近位にある器具のシャフトの遠位端の上に位置し、器具の遠位先端部における力およびトルクを感知する。有利なことには、先端部の構成の変化または定常状態の温度の変動による誤差を排除する。他の有利な構成および方法も開示される。【選択図】図２
Bibliography:Application Number: JP20150003883