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1. 发明授权

US08281670B2 Modular force sensor 有权
标题翻译：模块式力传感器
公开(公告)号：US08281670B2
公开(公告)日：2012-10-09
申请号：US12793014
申请日：2010-06-03
申请人： David Q. Larkin , Stephen J. Blumenkranz , Rajesh Kumar
发明人： David Q. Larkin , Stephen J. Blumenkranz , Rajesh Kumar
IPC分类号： G01D7/00
CPC分类号： A61B34/30 , A61B34/37 , A61B34/71 , A61B2034/305 , A61B2090/064
摘要： 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.
摘要翻译：提供了一种模块式力传感器装置，方法和系统，以改善对外科医生执行远程外科手术的力和转矩检测和反馈。在一个实施例中，模块化力传感器包括包括多个应变计的管部分，用于可操作地联接到外科器械的轴的近侧管部分，其可操作地联接到机器人手术系统的操纵臂，以及用于向近侧联接到联接到端部的腕关节的远端管部分。

2. 发明申请

US20100313679A1 MODULAR FORCE SENSOR 有权
标题翻译：模块式传感器
公开(公告)号：US20100313679A1
公开(公告)日：2010-12-16
申请号：US12793014
申请日：2010-06-03
申请人： David Q. Larkin , Stephen J. Blumenkranz , Rajesh Kumar
发明人： David Q. Larkin , Stephen J. Blumenkranz , Rajesh Kumar
IPC分类号： G01L1/22
CPC分类号： A61B34/30 , A61B34/37 , A61B34/71 , A61B2034/305 , A61B2090/064
摘要： 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.
摘要翻译：提供了一种模块式力传感器装置，方法和系统，以改善对外科医生执行远程外科手术的力和转矩检测和反馈。在一个实施例中，模块化力传感器包括包括多个应变计的管部分，用于可操作地联接到外科器械的轴的近侧管部分，其可操作地联接到机器人手术系统的操纵臂，以及用于向近侧联接到联接到端部的腕关节的远端管部分。

3. 发明申请

US20070151391A1 MODULAR FORCE SENSOR 有权
标题翻译：模块式传感器
公开(公告)号：US20070151391A1
公开(公告)日：2007-07-05
申请号：US11553303
申请日：2006-10-26
申请人： David Q. Larkin , Stephen J. Blumenkranz , Rajesh Kumar
发明人： David Q. Larkin , Stephen J. Blumenkranz , Rajesh Kumar
IPC分类号： B25J17/02
CPC分类号： A61B34/30 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/76 , A61B2034/2061 , A61B2034/305 , A61B2090/065 , Y10T74/20335
摘要： 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.
摘要翻译：提供了一种模块式力传感器装置，方法和系统，以改善对外科医生执行远程外科手术的力和转矩检测和反馈。在一个实施例中，模块化力传感器包括包括多个应变计的管部分，用于可操作地联接到外科器械的轴的近侧管部分，其可操作地联接到机器人手术系统的操纵臂，以及用于向近侧联接到联接到端部的腕关节的远端管部分。

4. 发明授权

US07752920B2 Modular force sensor 有权
标题翻译：模块式力传感器
公开(公告)号：US07752920B2
公开(公告)日：2010-07-13
申请号：US11553303
申请日：2006-10-26
申请人： Stephen J. Blumenkranz , David Q. Larkin , Rajesh Kumar
发明人： Stephen J. Blumenkranz , David Q. Larkin , Rajesh Kumar
IPC分类号： G01D7/00
CPC分类号： A61B34/30 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/76 , A61B2034/2061 , A61B2034/305 , A61B2090/065 , Y10T74/20335
摘要： 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.
摘要翻译：提供了一种模块式力传感器装置，方法和系统，以改善对外科医生执行远程外科手术的力和转矩检测和反馈。在一个实施例中，模块化力传感器包括包括多个应变计的管部分，用于可操作地联接到外科器械的轴的近侧管部分，其可操作地联接到机器人手术系统的操纵臂，以及用于向近侧联接到联接到端部的腕关节的远端管部分。

5. 发明申请

US20070151390A1 Force and Torque Sensing For Surgical Instruments 有权
标题翻译：力和转矩检测手术器械
公开(公告)号：US20070151390A1
公开(公告)日：2007-07-05
申请号：US11537241
申请日：2006-09-29
申请人： Stephen J. Blumenkranz , David Q. Larkin
发明人： Stephen J. Blumenkranz , David Q. Larkin
IPC分类号： B25J17/02
CPC分类号： A61B19/2203 , A61B1/00059 , A61B17/29 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/76 , A61B90/06 , A61B90/37 , A61B2017/2927 , A61B2034/2061 , A61B2034/305 , A61B2090/064 , A61B2090/065 , A61B2090/066 , A61B2562/0266 , B25J15/0009 , G01L1/246 , G01L5/22 , Y10T74/20335
摘要： An apparatus, system, and method for improving force and torque sensing and feedback to the surgeon performing a telerobotic surgery are provided. Groups of axially oriented strain gauges are positioned on a distal end of an instrument shaft proximate a moveable wrist of a robotic surgical instrument to sense forces and torques at the distal tip of the instrument. Advantageously, errors due to changes in the configuration of the tip or steady state temperature variations are eliminated. Other advantageous configurations and methods are disclosed.
摘要翻译：提供了一种用于改善力和转矩检测和反馈给执行远程外科手术的外科医生的装置，系统和方法。一组轴向取向的应变计定位在仪器轴的远端，靠近机器人手术器械的可移动腕部，以感测仪器远端的力和扭矩。有利地，消除了由于尖端或稳态温度变化的配置变化引起的误差。公开了其它有利的配置和方法。

6. 发明授权

US08945095B2 Force and torque sensing for surgical instruments 有权
标题翻译：外科手术器械的力和转矩检测
公开(公告)号：US08945095B2
公开(公告)日：2015-02-03
申请号：US11537241
申请日：2006-09-29
申请人： Stephen J. Blumenkranz , David Q. Larkin
发明人： Stephen J. Blumenkranz , David Q. Larkin
IPC分类号： A61B1/00 , A61B19/00 , B25J15/00 , A61B17/29
CPC分类号： A61B19/2203 , A61B1/00059 , A61B17/29 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/76 , A61B90/06 , A61B90/37 , A61B2017/2927 , A61B2034/2061 , A61B2034/305 , A61B2090/064 , A61B2090/065 , A61B2090/066 , A61B2562/0266 , B25J15/0009 , G01L1/246 , G01L5/22 , Y10T74/20335
摘要： An apparatus, system, and method for improving force and torque sensing and feedback to the surgeon performing a telerobotic surgery are provided. Groups of axially oriented strain gauges are positioned on a distal end of an instrument shaft proximate a moveable wrist of a robotic surgical instrument to sense forces and torques at the distal tip of the instrument. Advantageously, errors due to changes in the configuration of the tip or steady state temperature variations are eliminated. Other advantageous configurations and methods are disclosed.
摘要翻译：提供了一种用于改善力和转矩检测和反馈给执行远程外科手术的外科医生的装置，系统和方法。一组轴向取向的应变计定位在仪器轴的远端，靠近机器人手术器械的可移动腕部，以感测仪器远端的力和扭矩。有利地，消除了由于尖端或稳态温度变化的配置变化引起的误差。公开了其它有利的配置和方法。

7. 发明授权

US08375808B2 Force sensing for surgical instruments 有权
标题翻译：力传感器用于手术器械
公开(公告)号：US08375808B2
公开(公告)日：2013-02-19
申请号：US11864974
申请日：2007-09-29
申请人： Stephen J. Blumenkranz , David Q. Larkin
发明人： Stephen J. Blumenkranz , David Q. Larkin
IPC分类号： G01L1/22
CPC分类号： B25J15/0009 , A61B17/3462 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/76 , A61B2034/2061 , A61B2034/305 , A61B2090/064
摘要： An apparatus, system, and method for improving force and torpg,que sensing and feedback to the surgeon performing a telerobotic surgery are provided. In one embodiment, a surgical instrument, a robotic surgical system, a cannula, a cannula seal, and a method for improved sensing of z-axis forces on a robotic surgical instrument are disclosed.
摘要翻译：提供了一种用于改善力和torpg，对进行远程外科手术的外科医生进行检测和反馈的装置，系统和方法。在一个实施例中，公开了一种外科器械，机器人手术系统，插管，插管密封件和用于改进对机器人手术器械上的z轴力的感测的方法。

8. 发明授权

US08758352B2 Mechanical actuator interface system for robotic surgical tools 有权
标题翻译：用于机器人手术工具的机械致动器接口系统
公开(公告)号：US08758352B2
公开(公告)日：2014-06-24
申请号：US12407101
申请日：2009-03-19
申请人： Thomas G. Cooper , Chris A. Julian , Stephen J. Blumenkranz , Robert G. Younge
发明人： Thomas G. Cooper , Chris A. Julian , Stephen J. Blumenkranz , Robert G. Younge
IPC分类号： A61F5/00
CPC分类号： A61B34/30 , A61B17/00234 , A61B18/1445 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/76 , A61B46/13 , A61B90/361 , A61B90/90 , A61B90/98 , A61B2017/00477 , A61B2017/00482 , A61B2034/305 , A61B2090/0803 , A61B2090/0818 , A61B2090/506 , G06Q30/02 , H01H36/0046 , H01H85/0056 , Y10S901/41 , Y10T74/20305 , Y10T74/20311
摘要： Robotic surgical tools, systems, and methods for preparing for and performing robotic surgery include a memory mounted on the tool. The memory can perform a number of functions when the tool is loaded on the tool manipulator: first, the memory can provide a signal verifying that the tool is compatible with that particular robotic system. Secondly, the tool memory may identify the tool-type to the robotic system so that the robotic system can reconfigure its programming. Thirdly, the memory of the tool may indicate tool-specific information, including measured calibration offsets indicating misalignment of the tool drive system, tool life data, or the like. This information may be stored in a read only memory (ROM), or in a nonvolatile memory which can be written to only a single time. The invention further provides improved engagement structures for coupling robotic surgical tools with manipulator structures.
摘要翻译：用于准备和执行机器人手术的机器人手术工具，系统和方法包括安装在该工具上的存储器。当工具装载在工具操纵器上时，存储器可以执行多种功能：首先，存储器可以提供一个信号，以验证该工具是否与该特定机器人系统兼容。其次，工具存储器可以识别机器人系统的工具类型，使得机器人系统可以重新配置其编程。第三，工具的记忆可以指示工具特定的信息，包括指示工具驱动系统的未对准的测量校准偏移，工具寿命数据等。该信息可以存储在只读存储器（ROM）中，或存储在只能单次写入的非易失性存储器中。本发明还提供了用于将机器人外科手术工具与机械手结构相结合的改进的接合结构。

9. 发明授权

US08628518B2 Wireless force sensor on a distal portion of a surgical instrument and method 有权
标题翻译：无线力传感器在外科器械的远端部分和方法
公开(公告)号：US08628518B2
公开(公告)日：2014-01-14
申请号：US12634489
申请日：2009-12-09
申请人： Stephen J. Blumenkranz , Brett J. Lockyer
发明人： Stephen J. Blumenkranz , Brett J. Lockyer
IPC分类号： A61B17/00
CPC分类号： A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/76 , A61B90/10 , A61B90/98 , A61B2017/00477 , A61B2017/2929 , A61B2034/305 , A61B2090/064 , A61B2562/08
摘要： A surgical instrument includes a distal portion. A force sensor is operatively mounted on the distal portion. The force sensor includes a wireless package, which wirelessly provides (1) identification information of the surgical instrument and (2) strain data related to the distal portion. A surgical end effector includes a jaw and the distal portion is on a non-contact portion of the jaw. The wireless package includes a surface acoustic wave strain sensor with identification information. The wireless package also includes a small folded antenna electrically coupled to the surface acoustic wave strain sensor with identification information. The identification information includes an identification of a type of surgical instrument and unique identification of the specific surgical instrument in the type of surgical instrument.
摘要翻译：手术器械包括远端部分。力传感器可操作地安装在远端部分上。力传感器包括无线封装，其无线地提供（1）外科器械的识别信息和（2）与远端部分有关的应变数据。手术末端执行器包括钳口，并且远端部分位于钳口的非接触部分上。无线封装包括具有识别信息的表面声波应变传感器。无线封装还包括电耦合到具有识别信息的表面声波应变传感器的小折叠天线。识别信息包括手术器械的类型的识别和手术器械类型中的特定手术器械的独特识别。

10. 发明授权

US08491574B2 Polarization and temperature insensitive surgical instrument force transducer 有权
标题翻译：极化和温度不敏感的手术器械力传感器
公开(公告)号：US08491574B2
公开(公告)日：2013-07-23
申请号：US12541848
申请日：2009-08-14
申请人： Stephen J. Blumenkranz
发明人： Stephen J. Blumenkranz
IPC分类号： A61B19/00
CPC分类号： A61B19/2203 , A61B34/30 , A61B34/37 , A61B34/71 , A61B2017/00477 , A61B2034/305 , A61B2090/064 , Y10T156/10
摘要： A force sensor apparatus, operatively mounted in a surgical instrument includes the force transducer. The force transducer includes a transducer body having a coefficient of thermal expansion, and at least one optic fiber, fixedly attached to the transducer body, including a Bragg grating; and having a coefficient of thermal expansion matched to the coefficient of thermal expansion of the transducer body to mitigate polarization and calibration drift effects on the force transducer. The transducer body comprises a metal transducer body, and the metal transducer body is selected from a group of metal bodies including an aluminum alloy transducer body, a stainless steel alloy transducer body, a maraging steel alloy transducer body, and a titanium alloy transducer body. The at least one optic fiber comprises an optic fiber having a negative thermo-optic coefficient, such as a phosphate glass optic fiber reducing the thermal sensitivity of the transducer.
摘要翻译：可操作地安装在手术器械中的力传感器装置包括力传感器。力传感器包括具有热膨胀系数的换能器主体，以及至少一个光纤，固定地附接到换能器主体，包括布拉格光栅; 并且具有与换能器体的热膨胀系数匹配的热膨胀系数，以减轻对力传感器的偏振和校准漂移效应。换能器主体包括金属换能器体，并且金属换能器主体从包括铝合金换能器主体，不锈钢合金换能器本体，马氏体时效钢合金换能器本体和钛合金换能器本体的一组金属体中选择。所述至少一个光纤包括具有负热光系数的光纤，例如降低传感器的热敏感性的磷酸盐玻璃光纤。

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