US 12,262,964 B2
Robotic surgical instrument including linear encoders for measuring cable displacement
Meir Rosenberg, Newton, MA (US); and William J. Peine, Ashland, MA (US)
Assigned to Covidien LP, Mansfield, MA (US)
Appl. No. 17/794,302
Filed by Covidien LP, Mansfield, MA (US)
PCT Filed Feb. 4, 2021, PCT No. PCT/US2021/016497
§ 371(c)(1), (2) Date Jul. 21, 2022,
PCT Pub. No. WO2021/173315, PCT Pub. Date Sep. 2, 2021.
Claims priority of provisional application 62/981,735, filed on Feb. 26, 2020.
Prior Publication US 2023/0084237 A1, Mar. 16, 2023
Int. Cl. A61B 34/30 (2016.01); A61B 17/29 (2006.01); A61B 34/00 (2016.01); A61B 34/20 (2016.01); A61B 90/00 (2016.01)
CPC A61B 34/30 (2016.02) [A61B 17/29 (2013.01); A61B 34/71 (2016.02); A61B 2034/2059 (2016.02); A61B 2034/305 (2016.02); A61B 2090/061 (2016.02)] 13 Claims
OG exemplary drawing
 
1. An electromechanical robotic surgical instrument, comprising:
a flexible shaft defining a lumen therethrough;
an end effector pivotally supported by the flexible shaft;
at least one cable translatably disposed within the lumen of the flexible shaft, wherein a distal end of each cable is operatively connected to the end effector to affect a movement of the end effector in response to translation of the at least one cable, wherein the at least one cable includes metrical markings along an outer surface thereof, which metrical markings are located adjacent to the end effector, wherein each metrical marking has a length; and
at least one linear encoder supported by the flexible shaft and being in operative registration with the metrical markings of a respective one of the at least one cable, wherein the at least one linear encoder is configured to measure changes in the length of each metrical marking as a respective underlying cable stretches during use.