US 11,980,504 B2
Fiber Bragg grating end effector force sensor
John Ryan Steger, Sunnyvale, CA (US)
Assigned to Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Appl. No. 17/058,630
Filed by Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
PCT Filed May 24, 2019, PCT No. PCT/US2019/033986
§ 371(c)(1), (2) Date Nov. 24, 2020,
PCT Pub. No. WO2019/227032, PCT Pub. Date Nov. 28, 2019.
Claims priority of provisional application 62/676,653, filed on May 25, 2018.
Prior Publication US 2021/0205043 A1, Jul. 8, 2021
Int. Cl. A61B 90/00 (2016.01); A61B 34/35 (2016.01); G01L 1/24 (2006.01)
CPC A61B 90/06 (2016.02) [A61B 34/35 (2016.02); G01L 1/246 (2013.01); A61B 2090/064 (2016.02)] 16 Claims
OG exemplary drawing
 
1. A force sensing device for use with a surgical instrument including a shaft, a two degree-of-freedom wrist mounted to the shaft, and an end effector portion mounted to the wrist and including a working surface, the force sensing device comprising:
a housing defining an annular collar sized to snugly fit about the two degree-of-freedom wrist and defining a cap sized to snugly fit about the end effector portion;
an optical fiber including a first segment within the annular collar and including a second segment within the cap; and
a first fiber Bragg grating (FBG) formed in the second segment of the optical fiber.