Pablo E. GARCIA KILROY,Jose Luis CORDOBA,Berk GONENC,Xin LIU
申请号：
US15803665
公开号：
US20180116741A1
申请日:
2017.11.03
申请国别(地区):
US
年份:
2018
代理人:
摘要：
A tool driver for use in robotic surgery includes a base configured to couple to a distal end of a robotic arm, and a tool carriage slidingly engaged with the base and configured to receive a surgical tool. In one variation, the tool carriage may include a plurality of linear axis drives configured to actuate one or more articulated movements of the surgical tool. In another variation, the tool carriage may include a plurality of rotary axis drives configured to actuate one or more articulated movements of the surgical tool. Various sensors, such as a capacitive load cell for measuring axial load, a position sensor for measuring linear position of the guide based on the rotational positions of gears in a gear transmission, and/or a capacitive torque sensor based on differential capacitance, may be included in the tool driver.
