Microsurgical tool for robotic applications
First Claim
1. A microsurgical tool, comprising:
- an elongated body having a distal end;
a platform moveably coupled to the distal end of the elongated body; and
a linkage coupling the distal end of the elongated body to the platform to allow the platform to move relative thereto, wherein the linkage comprises;
a first arm directly operatively coupled to the distal end of the elongated body at a first proximal hinge and to the platform at a first distal hinge, the first arm having a first redirect surface,a first force transfer element disposed around the first redirect surface before terminating at the first arm such that pulling the first force transfer element pivots the first arm about the first proximal hinge with a first amplified range of motion,a second arm directly operatively coupled to the distal end of the elongated body at a second proximal hinge and to the platform at a second distal hinge, the second arm having a second redirect surface, anda second force transfer element disposed around the second redirect surface before terminating at the second arm such that pulling the second force transfer element pivots the second arm about the second proximal hinge with a second amplified range of motion.
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Accused Products
Abstract
The disclosed technology includes improved microsurgical tools providing multiple degrees of freedom at the wrist level, including roll, pitch, and grasp DOFs, a tight articulation bending radius, low radial offset, and improved stiffness. Some implementations include an end effector platform moveable along a fixed trajectory on a fictional axle so as not to interfere with a central-axis aligned working channel; a crossed-arm mechanical linkage for articulating an end-effector platform throughout a pitch DOF with an amplified pitch angle; and a partial pulley system to articulate the arms while maximizing pulley radius to shaft diameter, and permitting a constant transmission efficiency to the arms throughout the range of articulation. In some implementations, a tool shaft outer diameter may be smaller than 3 mm; a pitch DOF range may be ±90°, a roll DOF range may be ±180°, and a grasp DOF range may be 30°.
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Citations
20 Claims
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1. A microsurgical tool, comprising:
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an elongated body having a distal end; a platform moveably coupled to the distal end of the elongated body; and a linkage coupling the distal end of the elongated body to the platform to allow the platform to move relative thereto, wherein the linkage comprises; a first arm directly operatively coupled to the distal end of the elongated body at a first proximal hinge and to the platform at a first distal hinge, the first arm having a first redirect surface, a first force transfer element disposed around the first redirect surface before terminating at the first arm such that pulling the first force transfer element pivots the first arm about the first proximal hinge with a first amplified range of motion, a second arm directly operatively coupled to the distal end of the elongated body at a second proximal hinge and to the platform at a second distal hinge, the second arm having a second redirect surface, and a second force transfer element disposed around the second redirect surface before terminating at the second arm such that pulling the second force transfer element pivots the second arm about the second proximal hinge with a second amplified range of motion. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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20. A microsurgical tool, comprising:
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an elongated body having a distal end; a platform moveably coupled to the distal end of the elongated body; and a linkage coupling the distal end of the elongated body to the platform to allow the platform to move relative thereto, wherein the linkage comprises; a first arm directly operatively coupled to the distal end of the elongated body at a first proximal hinge and to the platform at a first distal hinge, the first arm having a first redirect surface, a first pull wire disposed around the first redirect surface before terminating at the first arm such that pulling the first pull wire pivots the first arm about the first proximal hinge with a first amplified range of motion, a second arm directly operatively coupled to the distal end of the elongated body at a second proximal hinge and to the platform at a second distal hinge, the second arm having a second redirect surface, and a second pull wire disposed around the second redirect surface before terminating at the second arm such that pulling the second pull wire pivots the second arm about the second proximal hinge with a second amplified range of motion.
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Specification