US 12,029,516 B2
Robotic manipulator comprising isolation mechanism for force/torque sensor
Victor Soto, Coral Gables, FL (US); David Gene Bowling, Los Ranchos De Albuquerque, NM (US); Ezra Johnson, Reeds Spring, MO (US); and Nicholas Joseph LaBarbera, Tamarac, FL (US)
Assigned to MAKO Surgical Corp., Weston, FL (US)
Filed by MAKO Surgical Corp., Weston, FL (US)
Filed on Feb. 9, 2022, as Appl. No. 17/668,063.
Claims priority of provisional application 63/148,381, filed on Feb. 11, 2021.
Prior Publication US 2022/0273378 A1, Sep. 1, 2022
Int. Cl. A61B 34/37 (2016.01); A61B 90/00 (2016.01)
CPC A61B 34/37 (2016.02) [A61B 2090/066 (2016.02); A61B 2560/0266 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A robotic manipulator comprising:
an arm comprising at least one joint configured to be driven by a transmission comprising an output;
an isolation mechanism coupled to the output of the transmission; and
a force/torque sensor comprising a body including a stationary part and a movable part coupled to and being movable relative to the stationary part, and one or more sensing elements configured to sense forces and torques applied to the movable part, wherein the force/torque sensor is coupled to the isolation mechanism; and
wherein the isolation mechanism is configured to deform in response to forces induced by the transmission to mechanically isolate the force/torque sensor from forces induced by the transmission.