Force sensing for surgical instruments

• US 8,613,230 B2
• Filed: 01/07/2013
• Issued: 12/24/2013
• Est. Priority Date: 12/30/2005
• 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., Larkin, David Q.
• Primary Examiner(s): Caputo, Lisa
• Assistant Examiner(s): DAVIS-HOLLINGTON, OCTAVIA L
• Application Number:
  US13/735,335
• Publication Number:
  US 20130165869A1
• Time in Patent Office: 351 Days
• Field of Search: 738/620.44
• US Class Current: 73/862.044
• CPC Class Codes: A61B 17/3462 with means for changing the diameter or the orientation of the entrance port of the cannula, e.g. for use with different-sized instruments, reduction ports, adapter seals expandable cannulas A61B17/3417
• CPC Class Codes: A61B 2034/2061 using shape-sensors, e.g. fiber shape sensors with Bragg gratings
• 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 34/35 for telesurgery
• 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: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: B25J 15/0009 comprising multi-articulated fingers, e.g. resembling a human hand

Abstract

An apparatus, system, and method for improving force and torque sensing and feedback to the surgeon performing a telerobotic surgery are provided. In one embodiment, a surgical instrument, a robotic surgical system, a cannula, a cannula seal, and a method for improved sensing of z-axis forces on a robotic surgical instrument are disclosed.

Claims

1. A cannula, comprising:

a proximal portion including an opening and a distal end, the opening of the proximal portion being configured to receive an instrument shaft, and the proximal portion being configured to operably couple to a manipulator arm;

a tubular member extending from the distal end of the proximal portion, the tubular member including an inner surface and an opening, the opening of the tubular member being configured to receive the instrument shaft; and

an annular rib extending radially inward from the inner surface of the tubular member.

2. The cannula of claim 1, wherein the annular rib is positioned within the tubular member to prevent contact between a force sensor on the instrument shaft and a distal end of the cannula.

3. The method of claim 2:

wherein the rib is aligned radially on the inner surface of the cannula.

4. The cannula of claim 1, wherein the annular rib includes an anti-friction surface.

5. The cannula of claim 4, wherein the anti-friction surface comprises an acetal, a polyetheretherketone, a polyethylene terephthalate, a polytetrafluoroethylene, a Parylene, a polyamide, or a polyethylene.

6. A method comprising:

sensing an axial force applied to a lengthwise axis of a shaft of a robotic surgical instrument,

wherein the shaft is received proximally to distally within a cannula,

wherein the sensing of the axial force is done by a force sensor positioned proximal to the cannula, and

wherein the shaft comprises an antifriction outer surface; and

reducing signal noise in the sensing of the axial force by sliding the antifriction outer surface of the shaft on an antifriction surface within the cannula.

7. The method of claim 6, wherein the antifriction surface within the cannula comprises an annular rib positioned to coincide with a position where the cannula passes through body tissue.

8. The method of claim 6, wherein the antifriction surface within the cannula comprises an annular seal having an anti-friction surface within a proximal portion of the cannula.

9. The method of claim 6, wherein the force sensor is mounted at an interface of the instrument housing with a manipulator arm.

10. The method of claim 6, wherein sliding the antifriction outer surface of the shaft on the antifriction surface within the cannula comprises sliding the outer surface of the shaft on an annular rib.

11. The method of claim 6, wherein sliding the antifriction outer surface of the shaft on the antifriction surface within the cannula comprises sliding the outer surface of the shaft on an anti-friction surface of a seal of the cannula.

12. A force sensing method comprising:

sliding a robotic surgical instrument shaft through a cannula, wherein an outer surface of the instrument shaft includes an antifriction surface, wherein an inner surface of the cannula includes an antifriction surface, and wherein sliding the instrument shaft through the cannula includes sliding the antifriction surface of the outer surface of the instrument shaft against the antifriction surface of the inner surface of the cannula; and

during the sliding of the surgical instrument shaft through the cannula, sensing a force applied in a lengthwise direction to the shaft.

13. The method of claim 12:

wherein the inner surface of the cannula includes a raised rib; and

wherein the sliding of the instrument shaft through the cannula includes sliding the outer surface of the shaft against the rib.

14. The method of claim 13:

wherein the rib includes the antifriction surface of the inner surface of the cannula.

15. The method of claim 12:

wherein the antifriction surface of the inner surface of the cannula is a surface of a seal of the cannula.

16. A method of reducing signal noise in a force sensor positioned at a proximal end of a robotic surgical instrument shaft and positioned to sense a force applied lengthwise along the surgical instrument shaft, the method comprising:

sliding an outer surface of the instrument shaft against a radial rib of an inner surface of a cannula.