×

Instrument articulation

  • US 10,456,206 B2
  • Filed: 01/08/2015
  • Issued: 10/29/2019
  • Est. Priority Date: 01/14/2014
  • Status: Active Grant
First Claim
Patent Images

1. A robotic instrument comprising an arm extending between a robot arm connection and an attachment for an end effector, the arm comprising:

  • a first arm part;

    a second arm part distal of the first arm part; and

    an articulation whereby the first and second arm parts are coupled together, the articulation comprising;

    an intermediate coupling having a housing and an articulation mechanism borne by the housing, the housing being attached to the first arm part by a joint permitting the housing and the first arm part to rotate relative to each other about at least two mutually offset axes, and the articulation mechanism comprising;

    a first coupler having rotational freedom relative to the housing, a second coupler having rotational freedom relative to the housing and a connector extending between the first and second couplers so that rotation of the first coupler relative to the housing can cause rotation of the second coupler relative to the housing; and

    a control rod connected to the first coupler and extending proximally of the first coupler along the first arm part;

    the second arm part being connected to the second coupler.

View all claims
  • 2 Assignments
Timeline View
Assignment View
    ×
    ×