MODULAR FORCE SENSOR

Abstract

A modular force sensor apparatus, method, and system are provided to improve force and torque sensing and feedback to the surgeon performing a telerobotic surgery. In one embodiment, a modular force sensor includes a tube portion including a plurality of strain gauges, a proximal tube portion for operably coupling to a shaft of a surgical instrument that may be operably coupled to a manipulator arm of a robotic surgical system, and a distal tube portion for proximally coupling to a wrist joint coupled to an end portion.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1A is a perspective view of a robotic surgical system and method in accordance with an embodiment of the present invention.

FIG. 1B is a perspective view of a robotic surgical arm cart system of the robotic surgical system in FIG. 1A in accordance with an embodiment of the present invention.

FIG. 1C is a front perspective view of a master console of the robotic surgical system in FIG. 1A in accordance with an embodiment of the present invention.

FIG. 2 is a perspective view of a surgical instrument including a modular force sensor apparatus operably coupled proximal (or inboard) to a wrist joint in accordance with an embodiment of the present invention.

FIG. 3A is a perspective view of a modular force sensor apparatus in accordance with an embodiment of the present invention.

FIG. 3B illustrates the modular force sensor of FIG. 3A operably coupled to a shaft and end portion of a surgical instrument in accordance with an embodiment of the present invention.

FIG. 3C illustrates the modular force sensor of FIG. 3A with a protective cover over a portion of the modular force sensor in accordance with an embodiment of the present invention.

FIG. 4A is a perspective view of an inner tube of a modular force sensor apparatus in accordance with another embodiment of the present invention.

FIG. 4B is a partial cross-sectional view of an outer tube/cover over the inner tube of FIG. 4A of the modular force sensor apparatus in accordance with an embodiment of the present invention.

FIG. 4C shows intervening material between the inner and outer tubes of FIG. 4B of the modular force sensor apparatus and wires or fiber optic cables operably coupled to the modular force sensor apparatus in accordance with an embodiment of the present invention.

FIG. 4D shows a partial cross-sectional view of the modular force sensor apparatus operably coupled proximal to (or inboard of) a wrist joint of a surgical instrument in accordance with an embodiment of the present invention.

Claims

1. A modular force sensor apparatus, comprising: a tube portion including a plurality of strain gauges;a cover over the plurality of strain gauges;a proximal tube portion for operably coupling to a shaft of a surgical instrument that may be operably coupled to a manipulator arm of a robotic surgical system; anda distal tube portion for proximally coupling to a wrist joint coupled to an end portion.

2. The apparatus of claim 1, wherein the tube portion is depressed and the proximal tube portion is raised.

3. The apparatus of claim 1, wherein the tube portion comprises a material different from the material of the shaft of the surgical instrument.

4. The apparatus of claim 1, wherein the plurality of strain gauges includes eight strain gauges in two groups of four, with each of the strain gauges in a group being spaced apart by 90 degrees around the shaft.

5. The apparatus of claim 1, wherein the plurality of strain gauges includes six strain gauges in two groups of three, with each of the strain gauges in a group being spaced apart by 120 degrees around the shaft.

6. The apparatus of claim 1, wherein the plurality of strain gauges includes four strain gauges spaced apart by 90 degrees around the shaft.

7. The apparatus of claim 1, wherein the plurality of strain gauges includes three strain gauges spaced apart by 120 degrees around the shaft.

8. The apparatus of claim 1, wherein each strain gauge is aligned with one other strain gauge along an axis parallel to a lengthwise axis of the depressed tube portion.

9. The apparatus of claim 1, wherein the primary strain sensing direction of each of the strain gauges is oriented parallel to the shaft lengthwise axis.

10. The apparatus of claim 1, wherein the plurality of strain gauges is selected from the group consisting of fiber optic, foil, surface acoustic wave, and semiconductor type strain gauges.

11. The apparatus of claim 1, wherein a strain gauge is selected from the group consisting of a Fabry-Perot strain gauge and a fiber Bragg grating strain gauge.

12. The apparatus of claim 1, wherein the cover is comprised of material selected from the group consisting of fiberglass, a resin, and electrical shielding.

13. The apparatus of claim 1, wherein the proximal tube portion includes a plurality of grooves along the lengthwise axis of the tube portion.

14. The apparatus of claim 1, wherein the wrist joint shares a common pivot axis for yaw and grip axes.

15. The apparatus of claim 1, wherein the end portion is selected from the group consisting of jaws, scissors, graspers, needle holders, micro-dissectors, staple appliers, tackers, suction irrigation tools, clip appliers, cutting blades, cautery probes, irrigators, catheters, and suction orifices.

16. A modular force sensor apparatus, comprising: an inner tube including a tube portion having a plurality of strain gauges, and a proximal tube portion for operably coupling to a shaft of a surgical instrument that may be operably coupled to a manipulator arm of a robotic surgical system; andan outer tube covering the inner tube, wherein the outer tube is fixedly coupled to the proximal tube portion, and operably coupled to a distal tube portion of the inner tube for sensing lateral loads substantially without interfering axial loads from the outer tube.

17. The apparatus of claim 16, wherein the outer tube is operably coupled to the distal tube portion via an elastomer.

18. The apparatus of claim 16, wherein the outer tube is operably coupled to the distal tube portion via an annular ring of comprised of a low-friction material.

19. The apparatus of claim 16, wherein the outer tube is operably coupled to the distal tube portion via a low-friction coating.

20. The apparatus of claim 16, wherein the tube portion is comprised of a material different from the material of the shaft of the surgical instrument.

21. The apparatus of claim 16, wherein the plurality of strain gauges includes eight strain gauges in two groups of four, with each of the strain gauges in a group being spaced apart by 90 degrees around the shaft.

22. The apparatus of claim 16, wherein the plurality of strain gauges includes six strain gauges in two groups of three, with each of the strain gauges in a group being spaced apart by 120 degrees around the shaft.

23. The apparatus of claim 16, wherein the plurality of strain gauges includes four strain gauges spaced apart by 90 degrees around the shaft.

24. The apparatus of claim 16, wherein the plurality of strain gauges includes three strain gauges spaced apart by 120 degrees around the shaft.

25. The apparatus of claim 16, wherein the plurality of strain gauges is selected from the group consisting of fiber optic, foil, surface acoustic wave, and semiconductor type strain gauges.

26. The apparatus of claim 16, wherein a strain gauge is selected from the group consisting of a Fabry-Perot strain gauge and a fiber Bragg grating strain gauge.

27. The apparatus of claim 16, wherein the outer tube is comprised of a material selected from the group consisting of fiberglass, a resin, and electrical shielding.

28. The apparatus of claim 16, wherein the end portion is selected from the group consisting of jaws, scissors, graspers, needle holders, micro-dissectors, staple appliers, tackers, suction irrigation tools, clip appliers, cutting blades, cautery probes, irrigators, catheters, and suction orifices.

29. The apparatus of claim 16, wherein the proximal tube portion includes a plurality of grooves along the lengthwise axis of the tube portion.