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Instrument device manipulator with tension sensing apparatus

  • US 10,219,874 B2
  • Filed: 11/14/2014
  • Issued: 03/05/2019
  • Est. Priority Date: 10/24/2013
  • Status: Active Grant
First Claim
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1. A medical device comprising:

  • a drive unit; and

    a strain gauge longitudinally-parallel with the drive unit,wherein the strain gauge is coupled to the drive unit,wherein the drive unit is configured to apply a force to a pull wire, and the strain gauge is oriented in a first direction transverse to a path of the pull wire, andwherein the strain gauge is configured to measure displacement of at least a portion of the drive unit along a second direction corresponding to the path of the pull wire, the measured displacement of the drive unit being in response to the force applied to the pull wire.

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