Ribbed force sensor
First Claim
Patent Images
1. A force sensor apparatus for a surgical instrument comprising:
- a tube portion including an outer surface and a lengthwise axis;
a plurality of radial ribs, the plurality of radial ribs being inside the tube portion, each radial rib of the plurality of radial ribs extending lengthwise in the direction of the lengthwise axis, and each radial rib of the plurality of radial ribs extending radially along a radius of the tube portion to the tube portion; and
a plurality of strain gauges, each strain gauge of the plurality of strain gauges being at the outer surface, each strain gauge of the plurality of strain gauge being positioned and aligned lengthwise with a corresponding radial rib of the plurality of radial ribs.
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Abstract
In one embodiment, a force sensor apparatus is provided including a tube portion having a plurality of radial ribs and a strain gauge positioned over each of the plurality of radial ribs, a proximal end of the tube portion that operably couples to a shaft of a surgical instrument that operably couples to a manipulator arm of a robotic surgical system, and a distal end of the tube portion that proximally couples to a wrist joint coupled to an end effector.
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Citations
20 Claims
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1. A force sensor apparatus for a surgical instrument comprising:
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a tube portion including an outer surface and a lengthwise axis; a plurality of radial ribs, the plurality of radial ribs being inside the tube portion, each radial rib of the plurality of radial ribs extending lengthwise in the direction of the lengthwise axis, and each radial rib of the plurality of radial ribs extending radially along a radius of the tube portion to the tube portion; and a plurality of strain gauges, each strain gauge of the plurality of strain gauges being at the outer surface, each strain gauge of the plurality of strain gauge being positioned and aligned lengthwise with a corresponding radial rib of the plurality of radial ribs. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A force sensor apparatus for a surgical instrument, comprising:
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a first tube portion including an outer surface and a lengthwise axis; a second tube portion, the second tube portion being positioned inside the first tube portion; a plurality of ribs, the plurality of ribs being inside the first tube portion and outside the second tube portion, each of the plurality of ribs extending radially along a radius of the first tube portion and extending from the second tube portion to the first tube portion, and each rib of the plurality of ribs extending lengthwise in the direction of the lengthwise axis; and a plurality of strain gauges, each strain gauge in the plurality of strain gauges being at the outer surface of the first tube portion, each strain gauge in the plurality of strain gauges being positioned and aligned lengthwise with a corresponding rib of the plurality of ribs. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification