US 11,690,691 B2
System and apparatus for crush prevention for medical robot applications
Terris Yakimovich, Munich (DE); and Ruben Baerenweiler, Markdorf (DE)
Assigned to Covidien LP, Mansfield, MA (US)
Appl. No. 16/486,204
Filed by Covidien LP, Mansfield, MA (US)
PCT Filed Feb. 14, 2018, PCT No. PCT/US2018/018088
§ 371(c)(1), (2) Date Aug. 15, 2019,
PCT Pub. No. WO2018/152141, PCT Pub. Date Aug. 23, 2018.
Claims priority of provisional application 62/459,318, filed on Feb. 15, 2017.
Prior Publication US 2020/0000536 A1, Jan. 2, 2020
Int. Cl. A61B 90/00 (2016.01); B25J 13/08 (2006.01); A61B 34/37 (2016.01); B25J 18/04 (2006.01); B25J 19/02 (2006.01)
CPC A61B 34/37 (2016.02) [B25J 13/085 (2013.01); B25J 18/04 (2013.01); B25J 19/02 (2013.01); A61B 2090/065 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A surgical robotic arm comprising:
a first link including a housing having an exterior surface;
a second link, wherein at least one of the first link or the second link is movable relative to each other; and
a sensor assembly coupled to the exterior surface of the housing of the first link, the sensor assembly including:
a base housing coupled to the exterior surface of the housing of the first link;
at least one force sensing resistor assembly disposed within the base housing and configured to measure force; and
an interface member disposed over the force sensing resistor assembly, the interface member configured to engage the at least one force sensing resistor assembly due to the interface member contacting an obstruction.