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Coupling for a robotic surgical instrument

A technology of robotic surgery and surgical instruments, applied in surgical manipulators, surgical robots, surgery, etc., can solve the problem of surgical robots without force feedback

Inactive Publication Date: 2019-10-11
IP2IPO INNOVATIONS LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The adoption of surgical robots has been increasing over the past few years, but until now there has been a known issue that current surgical robots do not have force feedback

Method used

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  • Coupling for a robotic surgical instrument
  • Coupling for a robotic surgical instrument
  • Coupling for a robotic surgical instrument

Examples

Experimental program
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Embodiment Construction

[0029] figure 1 A wrist-worn surgical robot 10 is shown mounted on a six degrees of freedom (DoF) tandem manipulator 12 for full-body positioning. Surgical robot 10 is configured to mount wrist-worn instruments and can be manufactured and assembled quickly. Surgical robot 10 is also designed to allow rapid integration of new instruments through the use of a modular design. In addition, surgical robot 10 integrates force sensing into its actuation, as described below, in order to enable force feedback in a cost-effective manner by avoiding the placement of force sensors on surgical instrument tips. This placement has been a major obstacle to sensing integration in prior art surgical robots.

[0030] figure 2 An overview of the surgical robot 10 is shown with an end effector (in this embodiment, a wrist grasper) 16 attached. figure 2 The surgical robot 10 shown in is used for figure 1 Modular attachments for the six DoF tandem manipulator 12 shown in . The tandem manipul...

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PUM

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Abstract

The present invention provides a load sensing device for a surgical robot comprising a load sensing means and a hook mounted to the load sensing means, wherein the coupling is slideable longitudinallyand engageable with a tendon for actuating a surgical instrument such that longitudinal movement of the hook imparts a load on the tendon and the load sensing means measures such load.

Description

technical field [0001] The invention relates to a coupling for a robotic surgical instrument. Background technique [0002] One of the most important features to have in robotic surgery is fast and reliable instrument exchange, which in fact allows the surgeon to use more instruments designed specifically for each subtask of surgery. Therefore, having a fast and reliable system to do this becomes very important to reduce "dead time" in the surgical workflow. [0003] Besides that, another feature is very important: force feedback. The adoption of surgical robots has been increasing over the past few years, but until now, there has been a known issue that current surgical robots do not have force feedback. This is mainly due to the fact that most of the work in this area has focused on providing instruments with force sensors mounted at the tips. [0004] The present invention proposes a solution to both of the above problems by implementing a linear coupling with embedded...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/30A61B34/00B25J13/08A61B17/00A61B90/00
CPCA61B2017/00477A61B2090/064A61B34/71A61B34/30A61B34/76A61B90/06
Inventor 卡洛·阿尔贝托·塞内奇商建忠杨广忠
Owner IP2IPO INNOVATIONS LTD