Force sensor temperature compensation

• US 8,561,473 B2
• Filed: 03/30/2009
• Issued: 10/22/2013
• 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): Yao, Sam
• Assistant Examiner(s): Nganga, Boniface N
• Application Number:
  US12/414,534
• Publication Number:
  US 20090192522A1
• Time in Patent Office: 1,667 Days
• Field of Search: None
• US Class Current: 73/800
• 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

In one embodiment, 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. The strain gauges are comprised of a negative thermo-optic coefficient optical fiber material in one embodiment. 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. In another embodiment, adjacent fiber optic strain gauges with differing thermal responses are used to solve simultaneous equations in strain and temperature to derive strain while rejecting thermal effects. In yet another embodiment, a thermal shunt shell is over an outer surface of the tube portion. An advantageous surgical instrument having improved temperature compensation is also provided.

Claims

1. A force sensor apparatus, comprising:

a tube portion including an outer surface, a plurality of radial ribs, and at least one fiber optic strain gauge positioned on the outer surface over each rib of the plurality of radial ribs, wherein the strain gauges are comprised of a negative thermo-optic coefficient optical fiber material;

a proximal end of the tube portion being configured to operably couple to a shaft of a surgical instrument, the shaft being configured to operably couple to a manipulator arm of a robotic surgical system; and

a distal end of the tube portion being configured to operably couple to a proximal end of a wrist joint so that the force sensor apparatus is positioned between the shaft and the wrist joint, and the wrist being configured to operably couple to an end effector.

2. The apparatus of claim 1, wherein the negative thermo-optic coefficient optical fiber material is selected from the group consisting of a binary or ternary phosphate glass, a fluoride glass, an oxy-fluoride glass, a tellurite glass, and a polymer.

3. The apparatus of claim 1, wherein the plurality of radial ribs includes one selected from the group consisting of four ribs spaced apart by pairs of supplementary angles about a lengthwise axis of the shaft and three ribs spaced apart by about 120 degrees about a lengthwise axis of the shaft.

4. The apparatus of claim 1, wherein the plurality of radial ribs includes eight ribs in two groups of four exposed ribs, with each of the ribs in a group being spaced apart by pairs of supplementary angles about a lengthwise axis of the tube portion.

5. The apparatus of claim 1, wherein the plurality of radial ribs includes six ribs in two groups of three exposed ribs, with each of the ribs in a group being spaced apart by about 120 degrees about a lengthwise axis of the tube portion.

6. The apparatus of claim 1, further comprising at least one aperture on the tube portion that exposes at least one of the plurality of radial ribs.

7. A force sensor apparatus, comprising:

a tube portion including an outer surface, a plurality of radial ribs, and at least one pair of adjacent fiber optic strain gauges, each fiber optic strain gauge in the at least one pair being positioned on the outer surface over a rib of the plurality of radial ribs;

a proximal end of the tube portion being configured to operably couple to a shaft of a surgical instrument, the shaft being configured to operably couple to a manipulator arm of a robotic surgical system; and

a distal end of the tube portion being configured to operably couple to a proximal end of a wrist joint so that the force sensor apparatus is positioned between the shaft and the wrist joint, and the wrist being configured to operably couple to an end effector.

8. The apparatus of claim 7, wherein a first strain gauge of the at least one pair being configured to be unstrained, and the first strain gauge the at least one pair being configured as a local thermal correction reference for a second strain sensing gauge of the at least one pair.

9. The apparatus in claim 7, the at least one pair being in two separate adjacent fibers having different thermo-optic coefficients.

10. The apparatus of claim 7, the at least one pair being in two separate adjacent fibers with different core doping.

11. The apparatus of claim 7, the at least one pair being in butt fusion spliced fibers having different thermo-optic coefficients.

12. The apparatus of claim 7, the at least one pair being in adjacent cores of the same fiber, each core having a different thermo-optic coefficient.

13. The apparatus of claim 7, the at least one pair being coincident in orthogonal polarization directions of the same region of a sufficiently bi-refringent stress rod optical fiber.

14. The apparatus of claim 7, the at least one pair being coincident in orthogonal polarization directions of the same region of a sufficiently bi-refringent photonic crystal optical fiber.

15. The apparatus of claim 7, the at least one pair being coincident in the same fiber core region, and each strain gauge in the at least one pair having a different thermo-optic coefficient.