DRIVER-MOUNTED TORQUE SENSING MECHANISM

摘要

A robotically-controlled drive unit includes a torque sensing mechanism to measure the torque applied to a rotatable body that is configured to tension an actuation tendon to operate robotic surgical tools and catheters. The drive unit includes a motor unit that generates an output torque in response to a robotic control signal. A beam element generates a reactive torque in response to the output torque generated by the rotor, and a force sensor detects the reactive torque and communicates the magnitude of the reactive torque to a robotic controller. The drive unit may further include a mechanism to perform bi-directional torque sensing, examples of which include additional force sensors and compression springs.

主权项

1. A robotically-controlled drive unit configured to generate angular motion comprising:
an electric motor unit comprising a rotor that is configured to generate an output torque in response to a robotic control signal; a beam element configured to generate a reactive torque in response to the output torque generated by the rotor, the beam element coupled to the electric motor unit and oriented perpendicularly to the longitudinal axis of the rotor; and a force sensor configured to detect the reactive torque and communicate the magnitude of the reactive torque to a robotic controller.