US 12,239,393 B2
Hard stop that produces a reactive moment upon engagement for cantilever-based force sensing
Zhou Ye, Santa Clara, CA (US); Harsukhdeep Ratia, Foster City, CA (US); Ashwinram Suresh, San Jose, CA (US); and Craig Tsuji, San Jose, CA (US)
Assigned to Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed by Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed on May 17, 2021, as Appl. No. 17/322,276.
Claims priority of provisional application 63/026,320, filed on May 18, 2020.
Prior Publication US 2021/0353373 A1, Nov. 18, 2021
Int. Cl. A61B 34/30 (2016.01); A61B 34/00 (2016.01); A61B 90/00 (2016.01); B25J 19/06 (2006.01); A61B 17/29 (2006.01)
CPC A61B 34/30 (2016.02) [A61B 34/70 (2016.02); A61B 90/03 (2016.02); A61B 17/29 (2013.01); A61B 2034/305 (2016.02); A61B 2090/034 (2016.02); A61B 2090/064 (2016.02); A61B 2562/0261 (2013.01); B25J 19/06 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A medical device comprising:
a shaft comprising a distal end portion;
a beam comprising a proximal end portion and a distal end portion, the proximal end portion of the beam being coupled to the distal end portion of the shaft;
a link coupled to the distal end portion of the beam;
a strain sensor on the beam; and
a hard stop structure comprising a proximal end portion and a distal end portion, the proximal end portion of the hard stop structure being coupled to the distal end portion of the shaft, and the distal end portion of the hard stop structure being coupled to the link;
the hard stop structure comprising a first interlocking component and a second interlocking component, the first interlocking component having a first stop surface and a second stop surface, the second interlocking component having a third stop surface and a fourth stop surface, the first stop surface being nonparallel to the second stop surface, the third stop surface being nonparallel to the fourth stop surface;
wherein the first interlocking component and the second interlocking component are positioned to limit a range of motion of the distal end portion of the beam with reference to the proximal end portion of the beam in a first direction by the first stop surface contacting the third stop surface.