US 12,419,713 B2
Surgical instrument with sensor aligned cable guide
Ashwinram Suresh, San Jose, CA (US); Grant M. Kadokura, San Diego, CA (US); and Andrew C. Waterbury, Santa Clara, CA (US)
Assigned to Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Appl. No. 17/293,020
Filed by Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
PCT Filed Nov. 15, 2019, PCT No. PCT/US2019/061880
§ 371(c)(1), (2) Date May 11, 2021,
PCT Pub. No. WO2020/102774, PCT Pub. Date May 22, 2020.
Claims priority of provisional application 62/767,880, filed on Nov. 15, 2018.
Prior Publication US 2021/0401523 A1, Dec. 30, 2021
Int. Cl. A61B 34/00 (2016.01); A61B 17/00 (2006.01); A61B 34/30 (2016.01); A61B 34/35 (2016.01); A61B 90/00 (2016.01)
CPC A61B 34/71 (2016.02) [A61B 17/00 (2013.01); A61B 34/35 (2016.02); A61B 90/06 (2016.02); A61B 2017/00477 (2013.01); A61B 2034/302 (2016.02); A61B 2034/305 (2016.02); A61B 2090/064 (2016.02)] 24 Claims
OG exemplary drawing
 
1. A surgical instrument comprising:
a force sensor comprising a beam and one or more strain gauges on the beam,
the beam comprising a proximal end, a distal end, and an exterior surface, and
a center axis of the beam being defined by the proximal end and the distal end of the beam;
a proximal anchor coupled to the proximal end of the beam;
a distal anchor coupled to the distal end of the beam;
an end effector component distal of the distal anchor and coupled to the distal end of the beam; and
a cable coupled to impart movement of the end effector component,
wherein the cable extends through the proximal anchor and the distal anchor and is thereby constrained to extend radially outwardly from the one or more strain gauges and parallel to the center axis of the beam.