APPARATUS AND METHOD FOR CONTROLLING AN END-EFFECTOR ASSEMBLY

• US 20140230595A1
• Filed: 04/25/2014
• Published: 08/21/2014
• Est. Priority Date: 11/04/2011
• Status: Active Grant

• Current Assignee: Titan Medical Inc.
• Original Assignee: Titan Medical Inc.
• Inventors: BUTT, Eric, RANSDEN, Jeff, SHVARTSBERG, Alexander, RAYMAN, Reiza
• Granted Patent: US 10,471,607 B2
• Time in Patent Office: Days
• US Class Current: 74/490.02
• CPC Class Codes: A61B 2017/00309 Cut-outs or slits
• CPC Class Codes: A61B 2017/00314 Separate linked members
• CPC Class Codes: A61B 2017/00526 Methods of manufacturing
• CPC Class Codes: A61B 2017/2905 flexible
• CPC Class Codes: A61B 2017/2908 Multiple segments connected by articulations
• CPC Class Codes: A61B 2017/2927 the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: B25J 15/0206 comprising articulated grippers
• CPC Class Codes: B25J 15/0213 actuated by gears
• CPC Class Codes: B25J 18/00 Arms
• CPC Class Codes: Y10S 901/23 Electric motor
• CPC Class Codes: Y10T 74/20311 including power cable or connector
• CPC Class Codes: Y10T 74/20329 Joint between elements

Abstract

An apparatus for controlling an end-effector assembly is provided. The apparatus includes a elongated element configured to engage the end-effector assembly and a drive assembly. A first motion transfer mechanism is disposed at an end of the elongated element. The first motion transfer mechanism is configured to transfer a rotational motion of the elongated element to a motion of the end-effector assembly. A second motion transfer mechanism is disposed at the second end of the elongated element. The second motion transfer mechanism is configured to transfer a motion of the drive assembly to the rotational motion of the elongated element.

Claims

1-45. -45. (canceled)

46. A robotic instrument having first and second ends, the robotic instrument comprising:

an end-effector assembly disposed at the first end of the robotic instrument, the end-effector assembly comprising a first working member;

a drive assembly disposed at the second end of the robotic instrument; and

a first elongated element having a first end and a second end, the first end of the first elongated element engaged with the end-effector assembly and the second end of the first elongated element engaged with a drive assembly such that rotation of the first elongated element causes the first working member of the end-effector assembly to move.

47. The robotic instrument of claim 46, further comprising a second elongated element having first and second ends, the first end of the second elongated element is engaged with the end-effector assembly and the second end of the second elongated element is engaged with the drive assembly.

48. The robotic instrument of claim 47, wherein rotation of the second elongated element adjusts a roll of the end-effector assembly.

49. The robotic instrument of claim 47, wherein the end-effector assembly further comprises a second working member, and wherein rotation of the second elongated element causes the second working member of the end-effector assembly to move.

50. The robotic instrument of claim 46, wherein the first elongated element comprises a first tube.

51. The robotic instrument of claim 47, wherein the second elongated element comprises a second tube.

52. The robotic instrument of claim 51, wherein the first elongated element is nested within the second tube.

53. The robotic instrument of claim 46, wherein the first elongated element is connected to the end-effector assembly with a gear mechanism.

54. The robotic instrument of claim 49, wherein the second elongated element is connected to the end-effector assembly with a gear mechanism.

55. The robotic instrument of claim 46, wherein the first elongated element comprises a flexible portion.

56. The robotic instrument of claim 46, wherein the first elongated element comprises stainless steel.

57. The robotic instrument of claim 55, wherein the flexible portion of the first elongated element is laser cut to increase flexibility.

58. The robotic instrument of claim 47, wherein the second elongated element comprises a flexible portion.

59. The robotic instrument of claim 47, wherein the second elongated element comprises stainless steel.

60. The robotic instrument of claim 58, wherein the flexible portion of the second elongated element is laser cut to increase flexibility.

61. The robotic instrument of claim 49, further comprising a third elongated element having first and second ends, wherein the first end of the third elongated element is configured to engage the end-effector assembly and the second end of the third elongated element is configured to engage the drive assembly.

62. The robotic instrument of claim 61, wherein the third elongated element is configured to adjust a roll of the end-effector assembly.

63. The robotic instrument of claim 61, wherein the third elongated element comprises a third tube.

64. The robotic instrument of claim 63, wherein the first and second elongated elements are nested within the third tube.

65. The robotic instrument of claim 46, wherein the robotic instrument is configured to provide a coarse motion proximate to the end-effector assembly.

66. The robotic instrument of claim 65, further comprising a plurality of cables to control the coarse motion.

67. The robotic instrument of claim 46, further comprising a rigid outer cover.

68. The robotic instrument of claim 67, wherein the rigid outer cover is fixed.

69. The robotic instrument of claim 67, wherein the plurality of cables is disposed between the rigid outer cover and the first elongated element.

70. The robotic instrument of claim 50, further comprising an electrical wire extending through the first tube.

71. The robotic instrument of claim 46, wherein at least one elongated element is electrically conductive.

72. The robotic instrument of claim 51, further comprising a fixed outer cover.

73-90. -90. (canceled)