Dual multi-axis force and torque sensors in a robot-assisted surgical system

DE102026100676A1Undetermined Publication Date: 2026-07-16ATI IND AUTOMATION INC
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Patent Information

Application Number
DE102026100676
Authority / Receiving Office
DE · DE
Patent Type
Applications
Current Assignee / Owner
Priority Date
2026-01-06
Filing Date
2026-01-08
Publication Date
2026-07-16

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Abstract

A robotic system for minimally invasive surgery comprises a robotic arm with a robotic force / torque sensor and an attached surgical instrument. The surgical instrument is inserted into a patient's body cavity via a trocar, which incorporates a trocar force / torque sensor. Outputs from the trocar force / torque sensor are subtracted from outputs from the robotic force / torque sensor (or vice versa) to eliminate the effects of forces or torques between the trocar and the patient's skin, leaving only the forces or torques exerted on the surgical instrument. To perform this subtraction, the reference frames of the two force / torque sensors are first aligned. The position of, for example, the tip of the surgical instrument can be measured or estimated, and the corrected forces or torques can be similarly shifted onto the reference frame of the surgical instrument tip.
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Citation Information

Patent Citations

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