The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Sep. 23, 2025
Filed:
Nov. 15, 2019
Intuitive Surgical Operations, Inc., Sunnyvale, CA (US);
Ashwinram Suresh, San Jose, CA (US);
Grant M. Kadokura, San Diego, CA (US);
Andrew C. Waterbury, Santa Clara, CA (US);
Intuitive Surgical Operations, Inc., Sunnyvale, CA (US);
Abstract
Control cables in a surgical instrument are kept parallel to the instrument's longitudinal axis to prevent transverse forces from the cables being sensed by a transverse force sensor in the instrument. A surgical instrument includes an elongated hollow shaft having a longitudinal center axis. Multiple cables extend within the shaft. A force sensor includes a beam disposed within the shaft and one or more strain gauges disposed on the beam. A proximal anchor is disposed within the shaft and in contact with a proximal end of the beam. A distal anchor is at the distal end of the shaft and in contact with a distal end of the beam. A cable guide is disposed within the shaft to constrain portions of the multiple cables disposed alongside the beam to movement parallel to the center axis, and so prevent force from the moving cables causing transverse force on the beam.