Robotic surgery system, method, and apparatus

Patent metadata

Field	Value
Publication number	US-11981030-B2
Application number	US-202117412927-A
Country	US
Kind code	B2
Filing date	Aug 26, 2021
Priority date	Jul 17, 2015
Publication date	May 14, 2024
Grant date	May 14, 2024

Abstract

A force transmission system as part of a surgical system which may be configured to be a minimally invasive and/or computer assisted surgical system. Operation of the system may be controlled by transmission of a force from a first section to a second section of the system. The first section and the second section may be separated by a partition or a barrier. The first section may be a non-sterile section and the second section may be a sterile section of the surgical system.

First claim

What is claimed is:

1. A load sensor for measuring a load comprising:
a compliant body, the compliant body deforming at a first rate in proportion to a magnitude of first range of loads, and a second rate in proportion to a magnitude of a second range of loads, the compliant body having a compliant body first face and a compliant body second face, the compliant body first face being disposed opposite to the compliant body second face;
an insert extending through the compliant body, the insert having an insert first face spaced from the compliant body first face by a first gap, the insert having an adjustable spacer, the adjustable spacer having an adjustable insert face spaced from the compliant body second face by a second gap;
a projection attached to the compliant body, the projection displacing based on the deforming of the compliant body, the compliant body, the insert, and the projection forming a mechanical component; and
an electrical component, the electrical component including at least one sensor monitoring a displacement of the projection, the displacement associated with the load.

2. The load sensor as in claim 1 wherein the electrical component comprises a physically separate component from the mechanical component.

3. The load sensor as in claim 1 wherein the insert comprises a threaded insert.

4. The load sensor as in claim 1 wherein the projection comprises a bend dividing the projection into a pre-bend portion and a post-bend portion, the pre-bend portion attaching to the compliant body, the post-bend portion having a face, the face being substantially perpendicular to the compliant body first face.

5. The load sensor as in claim 1 further comprising:
at least one stop projection extending from a first portion of the compliant body toward a second portion of the compliant body, the at least one stop projection leaving a third gap between the first portion and the second portion when the magnitude of the load falls substantially within a first range, the at least one stop projection contacting the second portion when the magnitude of the load falls substantially within a second range.

6. The load sensor as in claim 5 wherein the at least one stop projection has a magnet attached thereto.

7. The load sensor as in claim 6 wherein the electrical component comprises at least one Hall effect sensor, the Hall effect sensor producing a Hall voltage based on the position of the magnet.

8. The load sensor as in claim 5 wherein the first range comprises a range of 0 and 50 pounds.

9. The load sensor as in claim 5 wherein the electrical component comprises a physically separate component from the mechanical component.

10. The load sensor as in claim 5 wherein the insert comprises a threaded insert.

11. The load sensor as in claim 5 wherein the projection comprises a bend dividing the projection into a pre-bend portion and a post-bend portion, the pre-bend portion attaching to the compliant body, the post-bend portion having a face, the face being substantially perpendicular to the compliant body first face.

12. The load sensor as in claim 1 wherein the projection comprises a fiducial reference marking, the electrical component having an optical sensor, the optical sensor monitoring the fiducial reference marking.

13. The load sensor as in claim 1 wherein the electrical component comprises a potentiometer, the potentiometer having a wiper, the wiper displacing based on the displacement of the projection.

14. The load sensor as in claim 1 wherein the compliant body comprises aluminum.

15. The load sensor as in claim 1 wherein the compliant body comprises an S beam.

Assignees

• Deka Products Lp

Inventors

• Langenfeld Christopher C
• Slate Michael J
• Bhat Prashant
• Van Der Merwe Dirk A
• Cannan David D B
• Violette Keith D

Classifications

• B25J13/085

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

• A61B34/70

  Manipulators specially adapted for use in surgery · CPC title

• B25J9/1638 Primary

  compensation for arm bending/inertia, pay load weight/inertia · CPC title

• A61B34/30 Primary

  Surgical robots · CPC title

• A61B34/73

  Manipulators for magnetic surgery · CPC title