Wireless force sensor on a distal portion of a surgical instrument and method

• US 9,943,375 B2
• Filed: 12/16/2013
• Issued: 04/17/2018
• 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., Lockyer, Brett J.
• Primary Examiner(s): Roane, Aaron
• Application Number:
  US14/107,692
• Publication Number:
  US 20140100588A1
• Time in Patent Office: 1,583 Days
• Field of Search: 606 1, 606205
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/2929 with a head rotatable about the longitudinal axis of the shaft
• 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 2562/08 Sensors provided with means for identification, e.g. barcodes or memory chips
• 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: A61B 90/10 for stereotaxic surgery, e.g. frame-based stereotaxis
• CPC Class Codes: A61B 90/98 using electromagnetic means, e.g. transponders

Abstract

A surgical instrument includes a distal portion. A force sensor is operatively mounted on the distal portion. The force sensor includes a wireless package, which wirelessly provides (1) identification information of the surgical instrument and (2) strain data related to the distal portion. A surgical end effector includes a jaw and the distal portion is on a non-contact portion of the jaw. The wireless package includes a surface acoustic wave strain sensor with identification information. The wireless package also includes a small folded antenna electrically coupled to the surface acoustic wave strain sensor with identification information. The identification information includes an identification of a type of surgical instrument and unique identification of the specific surgical instrument in the type of surgical instrument.

Claims

1. An apparatus comprising:

a surgical instrument comprising;

a distal end including a jaw portion, the jaw portion having an external surface including a contact surface and a non-contact surface, the contact surface extending between a first lengthwise edge and a second lengthwise edge, the non-contact surface extending around the jaw portion from the first lengthwise edge to the second lengthwise edge, the non-contact surface having a recess extending from the non-contact surface into the jaw portion and

a force sensor mounted in the recess of the non-contact surface, the force sensor comprising;

a wireless package comprising a surface acoustic wave strain sensor and a folded antenna, the folded antenna being electrically coupled to the surface acoustic wave strain sensor, the surface acoustic wave strain sensor including identification information of said surgical instrument.

2. The apparatus of claim 1, wherein said surgical instrument further comprises:

a wrist joint; and

a surgical end effector mounted distal to said wrist joint of said surgical instrument, wherein said jaw portion is on the surgical end effector.

3. The apparatus of claim 1, wherein the jaw portion comprises an electrically non-conductive material.

4. The apparatus of claim 1, wherein said surface acoustic wave strain sensor comprises a chirped surface acoustic wave strain sensor.

5. The apparatus of claim 1, wherein said identification information includes an identification of a type of said surgical instrument.

6. The apparatus of claim 5, wherein said identification information further includes identification information unique to said surgical instrument.

7. The apparatus of claim 1, wherein said identification information includes identification information unique to said surgical instrument.

8. The apparatus of claim 1, further comprising:

a radio-frequency shield pocket mounted on said jaw portion of said surgical instrument.

9. The apparatus of claim 1, further comprising:

an interrogator antenna configured to transmit wireless interrogation signals to said wireless package, and to receive, from said wireless package, a signal having (1) said identification information of said surgical instrument and (2) strain data from said jaw portion; and

a wireless interrogator, coupled to said interrogator antenna, to receive signals from said interrogator antenna including a signal having (1) identification information of said surgical instrument and (2) strain data from jaw portion, and to provide signals to said interrogator antenna.

10. The apparatus of claim 9, wherein said interrogator antenna is located external to a patient undergoing surgery.

11. The apparatus of claim 9, further comprising another surgical instrument having said interrogator antenna mounted thereon so that when a patient is undergoing surgery, said interrogator antenna is internal to said patient.

12. The apparatus of claim 9, further comprising:

a computer connected to said wireless interrogator to receive a signal including (1) identification information of said surgical instrument and (2) strain data from said jaw portion, and to convert said strain data into a force signal wherein said force signal is used to provide feedback to a surgeon operating said surgical instrument.