09895813 is referenced by 7 patents and cites 53 patents.

An apparatus, system, and method for improving force and torque sensing and feedback to the surgeon performing a telerobotic surgery are provided. In one embodiment, a robotic surgical manipulator system, a robotic surgical system, and a method for improved sensing of forces on a robotic surgical instrument and/or manipulator arm are disclosed.

Title
Force and torque sensing in a surgical robot setup arm
Application Number
12/60004
Publication Number
9895813 (B2)
Application Date
March 31, 2008
Publication Date
February 20, 2018
Inventor
Gary S Guthart
Los Altos
CA, US
Christopher J Hasser
Los Altos
CA, US
Hanifa Dostmohamed
West St. Paul
CA
Gregory William Dachs II
Sunnyvale
CA, US
Simon Peter DiMaio
Sunnyvale
CA, US
Guiseppe M Prisco
Mountain View
CA, US
Stephen J Blumenkranz
Redwood City
CA, US
Assignee
Intuitive Surgical Operations
CA, US
IPC
A61B 46/10
A61B 90/50
A61B 90/00
A61B 17/00
A61B 34/37
A61B 34/30
A61B 34/00
B25J 13/08
View Original Source