	US 12,188,838 B2
	Compact, differential, coaxial inductive force sensor
Alan W. Petersen, Cupertino, CA (US)
Assigned to Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Appl. No. 17/642,892
Filed by Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
PCT Filed Sep. 14, 2020, PCT No. PCT/US2020/050696 § 371(c)(1), (2) Date Mar. 14, 2022, PCT Pub. No. WO2021/055276, PCT Pub. Date Mar. 25, 2021.
Claims priority of provisional application 62/901,729, filed on Sep. 17, 2019.
Prior Publication US 2023/0003596 A1, Jan. 5, 2023
Int. Cl. G01L 5/164 (2020.01); A61B 34/35 (2016.01); A61B 90/00 (2016.01); G01L 1/12 (2006.01); G01L 5/00 (2006.01); G01L 5/169 (2020.01)

CPC G01L 5/164 (2013.01) [A61B 34/35 (2016.02); G01L 1/127 (2013.01); G01L 5/0038 (2013.01); G01L 5/169 (2020.01); A61B 2090/064 (2016.02); A61B 2090/065 (2016.02)]

20 Claims

1. An apparatus, comprising:

a medical instrument comprising a mechanical structure and a force sensor unit coupled to the mechanical structure;

wherein the force sensor unit comprises a rod defining a center axis, a magnet coupled to the rod, a first coil coupled to the mechanical structure at a first axial position along the center axis, and a second coil coupled to the mechanical structure at a second axial position different than the first axial position along the center axis and coaxial with the first coil;

and

wherein the magnet translates within the first coil and the second coil along the center axis of the rod.