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1. (WO2016181164) TORQUE SENSING IN A SURGICAL ROBOTIC WRIST

Pub. No.:    WO/2016/181164    International Application No.:    PCT/GB2016/051389
Publication Date: Fri Nov 18 00:59:59 CET 2016 International Filing Date: Sat May 14 01:59:59 CEST 2016
IPC: A61B 34/30
A61B 34/35
B25J 17/02
B25J 9/16
Applicants: CAMBRIDGE MEDICAL ROBOTICS LTD
Inventors: HARES, Luke David Ronald
MARSHALL, Keith
Title: TORQUE SENSING IN A SURGICAL ROBOTIC WRIST
Abstract:
A surgical robotic component comprising an articulated terminal portion, the terminal portion comprising: a distal segment having an attachment connected thereto, an intermediate segment, and a basal segment whereby the terminal portion is attached to the remainder of the surgical robotic component. The terminal portion further comprises a first articulation between the distal segment and the intermediate segment, the first articulation permitting relative rotation of the distal segment and the intermediate segment about a first axis, and a second articulation between the intermediate segment and the basal segment, the second articulation permitting relative rotation of the intermediate segment and the basal segment about a second axis. The intermediate segment comprises: a third articulation permitting relative rotation of the distal segment and the basal segment about third and fourth axes, a first torque sensor for sensing torque about the third axis, and a second torque sensor for sensing torque about the fourth axis.