Force and torque sensing for surgical instruments

Abstract

An apparatus, system, and method for improving force and torque sensing and feedback to the surgeon performing a telerobotic surgery are provided. Groups of axially oriented strain gauges are positioned on a distal end of an instrument shaft proximate a moveable wrist of a robotic surgical instrument to sense forces and torques at the distal tip of the instrument. Advantageously, errors due to changes in the configuration of the tip or steady state temperature variations are eliminated. Other advantageous configurations and methods are disclosed.

Description

technical field [0001] [0001] The present invention relates generally to surgical robotic systems, and more particularly to systems and methods for sensing force applied to surgical instruments. Background technique [0002] [0002] In robot-assisted surgery, the surgeon typically operates from a location that may be remote from the patient (e.g., across from the operating room, in a different room from the patient, or in a completely different building than the patient's) The master controller thereby controls the motion or movement of the surgical instrument at the surgical site. The main controller usually consists of one or more hand input devices, such as handheld wrist gimbals, joysticks, exoskeleton gloves, hand drills, or similar devices, which are coupled to the surgical unit through a controller with servo motors. Instruments for the position and orientation of articulating instruments at the surgical site. The servo motor is typically part of an electromechanical...

AI Technical Summary

Problems solved by technology

However, this design disadvantageously places the force sensor at the end (or outside) of the wrist joint, thus requiring wires or wires or optical fibers to be routed through the bendable wrist joint and also requiring the yaw and grasp axes to be on different axes of rotation superior

[0004] [0004] Another problem typically expected in performing surgical procedures is fitting and positioning the end effector or the electrical wires necessary for the mechanical action of the end effector in as little space as possible for relatively small instruments.

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