Force sensor temperature compensation

• US 10,390,896 B2
• Filed: 11/30/2017
• Issued: 08/27/2019
• Est. Priority Date: 12/18/2007
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Blumenkranz, Stephen J.
• Primary Examiner(s): Nganga, Boniface N
• Application Number:
  US15/827,864
• Publication Number:
  US 20180085176A1
• Time in Patent Office: 635 Days
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2090/064 for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: G01L 1/00 Measuring force or stress, in general measuring force due to impact G01L5/00

Abstract

A force sensor apparatus is provided including a tube portion having a plurality of radial ribs and at least one fiber optic strain gauge positioned over each rib of the plurality of radial ribs. A proximal end of the tube portion is operably couplable to a shaft of a surgical instrument that is operably couplable to a manipulator arm of a robotic surgical system, and a distal end of the tube portion is proximally couplable to a wrist joint coupled to an end effector. A thermal shunt shell is over an outer surface of the tube portion.

Claims

1. A force sensor apparatus, for use with a surgical instrument including a shaft and a wrist joint coupled to an end effector, the surgical instrument being operably couplable to a manipulator arm of a robotic surgical system, comprising:

a plurality of strain gauges;

a tube portion including a proximal end, a distal end, a plurality of radial ribs that run along and radiate from a centerline axis of the tube, wherein a different strain gauge, from among the plurality of strain gauges, is positioned over each rib of the plurality of radial ribs to reduce temperature differences between opposing strain gauges by providing a direct thermal pathway between opposing strain gauges;

the proximal end of the tube portion operably couplable to the shaft of the surgical instrument;

the distal end of the tube portion operably couplable to the wrist joint of the surgical instrument; and

a thermal shunt shell over an outer surface of the tube portion.

2. The apparatus of claim 1, wherein the thermal shunt shell is from a group consisting of an aluminum alloy, a copper alloy, and a silver alloy.

3. The apparatus of claim 1 further comprising one of a fluid-filled gap and an evacuated gap between an inner surface of the thermal shunt shell and an outer surface of the tube portion.

4. The apparatus of claim 1, further comprising a compliant elastomer ring between an inner surface of the thermal shunt shell and an outer surface of the tube portion.

5. The apparatus of claim 1, further comprising an annular ring comprised of a material that thermally connects the thermal shunt shell to the tube portion at a point midway between a pair of axially-separated strain gauges, from among the plurality of strain gauges.

6. The apparatus of claim 1, wherein ends of the thermal shunt shell are thermally isolated from the tube portion.

7. The apparatus of claim 1, further comprising at least one of an insulating material and a light reflective surface or coating over the thermal shunt shell.

8. The apparatus of claim 1, wherein the distal end of the tube portion includes one or more end features to insure secure mounting and angular alignment with at least one of the shaft, wrist joint and end effector.

9. The apparatus of claim 1, wherein the plurality of radial ribs are disposed to provide passage for one or more of actuation cables, wires, tubes, and/or rods between the shaft and the wrist joint.

10. The apparatus of claim 1, wherein each of the ribs is separated by 90 degrees measured about the centerline axis of tube.

11. The apparatus of claim 1, wherein the ribs include four ribs in diametrically opposite pairs at skewed supplementary angles about the centerline axis of a tube.

12. The apparatus of claim 1, wherein the ribs include three separated by 120 degrees about the centerline axis centerline.

13. The apparatus of claim 1, wherein the ribs include four ribs paired at skewed angles about the centerline of a tube.

14. The apparatus of claim 1, wherein the ribs comprise a high thermal diffusivity material selected from a group consisting of an aluminum alloy, a copper alloy and a silver alloy.