WRIST ARTICULATION BY LINKED TENSION MEMBERS
First Claim
1. A surgical tool comprising:
- a first link having a distal end, a proximal end, and a first link axis defined there between;
a second link pivotally coupled with the distal end of the first link so as to orient the second link about a first axis and a second axis, the first and second axes being nonparallel to the first link axis, the first axis being nonparallel to the second axis;
four attachment features disposed on the second link; and
four tension members extending distally from the first link to the attachment features so that opposed axial movement of the tension members angularly orients the second link relative to the first link about the first and second axes, interface surfaces between the tension members and the attachment features varying positions of the tension members relative to the second link in correlation with angular orientations of the second link relative to the first link so as to inhibit changes in tension of the tension members.
1 Assignment
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Accused Products
Abstract
Surgical tools having a two degree-of-freedom wrist, wrist articulation by linked tension members, mechanisms for transmitting torque through an angle, and minimally invasive surgical tools incorporating these features are disclosed. An elongate intermediate wrist member is pivotally coupled with a distal end of an instrument shaft so as to rotate about a first axis transverse to the shaft, and an end effector body is pivotally coupled with the intermediate member so as to rotate about a second axis that is transverse to the first axis. Linked tension members interact with attachment features to articulate the wrist. A torque-transmitting mechanism includes a coupling member, coupling pins, a drive shaft, and a driven shaft. The drive shaft is coupled with the driven shaft so as to control the relative orientations of the drive shaft, the coupling member, and the driven shaft.
161 Citations
21 Claims
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1. A surgical tool comprising:
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a first link having a distal end, a proximal end, and a first link axis defined there between; a second link pivotally coupled with the distal end of the first link so as to orient the second link about a first axis and a second axis, the first and second axes being nonparallel to the first link axis, the first axis being nonparallel to the second axis; four attachment features disposed on the second link; and four tension members extending distally from the first link to the attachment features so that opposed axial movement of the tension members angularly orients the second link relative to the first link about the first and second axes, interface surfaces between the tension members and the attachment features varying positions of the tension members relative to the second link in correlation with angular orientations of the second link relative to the first link so as to inhibit changes in tension of the tension members. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A surgical tool comprising:
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a first link having a distal end, a proximal end, and a first link axis defined there between; a plurality of control cables extending distally from a control cable actuation assembly disposed adjacent the proximal end of the first link; a second link pivotally coupled with the distal end of the first link so as to orient the second link about a first axis and a second axis, the first and second axes being nonparallel to the first link axis, the first axis being nonparallel to the second axis; and a plurality of interface assemblies, each interface assembly coupling one of the control cables with the second link so that axial movement of the control cables angularly orients the second link relative to the first link about the first and second axes, one of the interface assemblies comprising a curved portion and an attachment lug having an attachment lug hole sized to slidingly receive the curved portion, wherein the attachment lug rotates about the curved portion when the second link rotates around the first axis and slides against and along the curved portion when the second link rotates around the second axis. - View Dependent Claims (18)
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19. A method for manufacturing a surgical tool, the method comprising:
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pivotally coupling a second link to a first link to rotate about a first axis oriented non-parallel to an elongate direction of the first link and to rotate about a second axis oriented non-parallel to both the elongate direction of the first link and the first axis, four attachment features being disposed on the second link, each of the attachment features being offset from the first and second axes when viewed along the elongate direction of the first link, one of the attachment features being disposed in each quadrant defined by the first and second axes when viewed along the elongate direction of the first link; coupling a tension member with each of the attachment features, each of the tension members extending distally from within a bore of the first link to one of the attachment features of the second link so that axial movement of the tension members angularly orients the second link relative to the first link about the axes, interface surfaces between the tension members and the attachment features varying a position of the tension members relative to the second link in correlation with the angular orientation of the second link relative to the first link so as to inhibit changes in tension of the tension members; and coupling each of the tension members with an actuation mechanism operable to control the angular orientation of the second link relative to the first link in two dimensions by actuating the tension members. - View Dependent Claims (20)
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21. A surgical instrument comprising:
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a first link; a second link comprising an attachment feature, wherein the attachment feature comprises a curved portion; a joint that couples the first and the second links, wherein the joint rotates around a first axis and around a second axis, and wherein the first and second axes are non-parallel to and offset from one another; and an tension member comprising an attachment lug, wherein the attachment lug is coupled to the attachment feature, wherein the attachment lug rotates around the curved portion when the tension member rotates the joint around the first axis, and wherein the attachment lug slides against and along the curved portion when the tension member rotates the joint around the second axis.
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Specification