Instrument-mounted tension sensing mechanism for robotically-driven medical instruments
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United States of America Patent
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Oct 17, 2017
Grant Date -
Dec 29, 2016
app pub date -
Jun 21, 2016
filing date -
Jul 1, 2014
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Abstract
A tension mechanism for a robotically-controlled medical device measures the tension applied to an actuation tendon to provide feedback to a robotic controller. In one embodiment, the device comprises an elongated instrument, an elongated member, and a base. The elongated member is coupled to the distal end of the elongated instrument, configured to actuate the distal end of the elongated instrument in response to tension in the elongated member. The base is located at the proximal end of the elongated instrument, and comprises a first redirect surface that redirects the elongated member. The first redirect surface is coupled to a lever element that is configured to exert a reactive force on a sensor in response to tension in the elongated member.
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