US 11,903,668 B2
Torque sensing in a surgical robotic wrist
Luke David Ronald Hares, Cambridge (GB); and Keith Marshall, Cambridge (GB)
Assigned to CMR SURGICAL LIMITED, Cambridge (GB)
Filed by CMR SURGICAL LIMITED, Cambridge (GB)
Filed on Jun. 11, 2021, as Appl. No. 17/345,218.
Application 17/345,218 is a continuation of application No. 16/228,852, filed on Dec. 21, 2018, granted, now 11,291,516.
Application 16/228,852 is a continuation of application No. 15/153,934, filed on May 13, 2016, granted, now 10,206,752, issued on Feb. 19, 2019.
Claims priority of application No. 1508260 (GB), filed on May 14, 2015.
Prior Publication US 2021/0298858 A1, Sep. 30, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/00 (2016.01); B25J 9/16 (2006.01); B25J 17/02 (2006.01); A61B 34/30 (2016.01); A61B 34/35 (2016.01); B25J 13/08 (2006.01); A61B 90/00 (2016.01)
CPC A61B 34/76 (2016.02) [A61B 34/30 (2016.02); A61B 34/35 (2016.02); B25J 9/1689 (2013.01); B25J 13/085 (2013.01); B25J 17/0275 (2013.01); A61B 2034/305 (2016.02); A61B 2090/066 (2016.02)] 18 Claims
OG exemplary drawing
 
1. A surgical robotic component comprising an articulated terminal portion, the terminal portion comprising:
a distal segment having an attachment for an instrument to be connected thereto, wherein the attachment is fixed relative to the distal segment such that it maintains a fixed relative orientation between the distal segment and the instrument;
an intermediate segment;
a basal segment;
a first articulation between the distal segment and the intermediate segment, the first articulation permitting relative rotation of the distal segment and the intermediate segment about a first axis; and
a second articulation between the intermediate segment and the basal segment, the second articulation permitting relative rotation of the intermediate segment and the basal segment about a second axis,
wherein:
the intermediate segment comprises a third articulation permitting relative rotation of the distal segment and the basal segment about third and fourth axes; and
the first, second and third articulations are arranged such that in at least one configuration of the third articulation:
the first and second axes are collinear;
the third and fourth axes are transverse to the first axis;
the third and fourth axes are transverse to each other;
the third and fourth axes intersect each other; and
the surgical robotic component is configured to determine torque about the third and fourth axes.