Instrument-mounted tension sensing mechanism for robotically-driven medical instruments
First Claim
1. A medical device for performing minimally-invasive surgery comprising:
- an elongated instrument;
a first elongated member coupled to the distal end of the elongated instrument, configured to actuate the distal end of the elongated instrument in response to tension in the first elongated member;
a base located at the proximal end of the elongated instrument, the base comprising;
a first redirect surface that redirects the first elongated member, the first redirect surface comprising a first rotatable body; and
a first lever element that is coupled to the first redirect surface and configured to exert a reactive force on a first sensor in response to tension in the first elongated member, the first lever element coupled to the first redirect surface at a pivot point at a first location of the first lever element, the first lever element in contact with the first sensor at a second location of the first lever element, the pivot point of the first lever element offset from a rotation axis of the first rotatable body, wherein an axis of rotation of the first rotatable body is located between the pivot point and the first sensor.
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Accused Products
Abstract
A tension mechanism for a robotically-controlled medical device measures the tension applied to an actuation tendon to provide feedback to a robotic controller. In one embodiment, the device comprises an elongated instrument, an elongated member, and a base. The elongated member is coupled to the distal end of the elongated instrument, configured to actuate the distal end of the elongated instrument in response to tension in the elongated member. The base is located at the proximal end of the elongated instrument, and comprises a first redirect surface that redirects the elongated member. The first redirect surface is coupled to a lever element that is configured to exert a reactive force on a sensor in response to tension in the elongated member.
342 Citations
29 Claims
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1. A medical device for performing minimally-invasive surgery comprising:
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an elongated instrument; a first elongated member coupled to the distal end of the elongated instrument, configured to actuate the distal end of the elongated instrument in response to tension in the first elongated member; a base located at the proximal end of the elongated instrument, the base comprising; a first redirect surface that redirects the first elongated member, the first redirect surface comprising a first rotatable body; and a first lever element that is coupled to the first redirect surface and configured to exert a reactive force on a first sensor in response to tension in the first elongated member, the first lever element coupled to the first redirect surface at a pivot point at a first location of the first lever element, the first lever element in contact with the first sensor at a second location of the first lever element, the pivot point of the first lever element offset from a rotation axis of the first rotatable body, wherein an axis of rotation of the first rotatable body is located between the pivot point and the first sensor. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29)
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Specification