Capacitor sensor including two plates having both conductive and non conductive regions

Patent metadata

Field	Value
Publication number	US-10647007-B2
Application number	US-201715706585-A
Country	US
Kind code	B2
Filing date	Sep 15, 2017
Priority date	Sep 16, 2016
Publication date	May 12, 2020
Grant date	May 12, 2020

Abstract

A capacitive sensor for characterizing force or torque includes a first plurality of non-patterned conductive regions and a first plurality of patterned conductive regions, and a second plurality of non-patterned conductive regions and a second plurality of patterned conductive regions. The first and second pluralities of non-patterned conductive regions are facing each other and the first and second pluralities of patterned conductive regions are facing each other.

First claim

The invention claimed is:

1. A capacitive sensor for characterizing at least one of force and torque, comprising:
a first plurality of non-patterned conductive regions and a first plurality of patterned conductive regions disposed on a first surface of a first plate; and
a second plurality of non-patterned conductive regions and a second plurality of patterned conductive regions disposed on a second surface of a second plate;
wherein the first and second pluralities of non-patterned conductive regions are facing each other and the first and second pluralities of patterned conductive regions are facing each other when the first surface of the first plate is facing the second surface of the second plate.

2. The capacitive sensor of claim 1 , wherein the capacitive sensor measures at least one of relative lateral translation and relative rotation between the first and second surfaces based at least partially on area of overlap between the first and second pluralities of patterned conductive regions.

3. The capacitive sensor of claim 1 , wherein the capacitive sensor measures relative axial displacement between the first and second surfaces based at least partially on gap distance between at least one of the first plurality of non-patterned conductive regions and at least one of the second plurality of non-patterned conductive regions.

4. The capacitive sensor of claim 1 , wherein the second surface is spaced apart from and generally axially aligned with the first surface.

5. The capacitive sensor of claim 1 , wherein at least one of the first plurality of patterned conductive regions comprises at least a first group of conductive strips and a second group of conductive strips.

6. The capacitive sensor of claim 5 , wherein the first group of conductive strips and the second group of conductive strips are arranged in an alternating pattern on the first surface.

7. The capacitive sensor of claim 5 , wherein at least one of the second plurality of patterned conductive regions comprises a third group of conductive strips, wherein one of the third group of conductive strips faces a portion of the first group of conductive strips and a portion of the second group of conductive strips.

8. The capacitive sensor of claim 1 , further comprising at least two reference conductive pads disposed on the first surface.

9. The capacitive sensor of claim 1 , further comprising at least one reference conductive pad disposed on at least one of the first and second plates.

10. The capacitive sensor of claim 1 , wherein the second plurality of non-patterned conductive regions and the second plurality of patterned conductive regions are conductively coupled as a common ground.

11. The capacitive sensor of claim 1 , wherein the first plurality of patterned conductive regions are arranged around a center point.

12. The capacitive sensor of claim 11 , wherein the first plurality of patterned conductive regions are arranged equally distributed from one another around the center point.

13. The capacitive sensor of claim 12 , wherein the first plurality of patterned conductive regions comprise three patterned conductive regions arranged approximately 120 degrees from one another.

14. The capacitive sensor of claim 1 , further comprising a base, wherein the first plurality of non-patterned conductive regions and the first plurality of patterned conductive regions are fixed relative to a first base portion of the base, and wherein the second plurality of non-patterned conductive regions and the second plurality of patterned conductive regions are fixed relative to a second base portion of the base.

15. The capacitive sensor of claim 14 , wherein at least part of the first base portion and at least part of the second base portion are rotationally displaceable relative to each other.

16. The capacitive sensor of claim 14 , wherein at least part of the first base portion and at least part of the second base portion are laterally displaceable relative to each other.

17. The capacitive sensor of claim 14 , wherein at least part of the first base portion and at least part of the second base portion are axially displaceable relative to each other.

18. The capacitive sensor of claim 14 , further comprising a cover configured to couple to the base such that the cover and the base enclose the first and second surfaces.

Assignees

• Verb Surgical Inc

Inventors

• Cordoba Jose Luis
• Garcia Kilroy Pablo E
• Liu Xin

Classifications

• B25J9/10

  characterised by positioning means for manipulator elements · CPC title

• A61B34/70

  Manipulators specially adapted for use in surgery · CPC title

• B25J13/085

  Force or torque sensors (B25J13/082, B25J13/084 take precedence) · CPC title

• G16H40/63

  for local operation · CPC title

• G01L3/14

  wherein the torque-transmitting element is other than a torsionally-flexible shaft · CPC title