FORCE TRANSMISSION MECHANISM FOR TELEOPERATED SURGICAL SYSTEM
First Claim
1. A force transmission mechanism for a teleoperated surgical instrument, comprising:
- a gear configured to be driven by a drive input mechanism;
a push/pull drive element configured to transmit force to actuate an end effector of the surgical instrument; and
a ball element operatively coupling the gear and the push/pull drive element,wherein driven motion of the gear is transmitted to the push/pull drive element to actuate the end effector.
1 Assignment
0 Petitions
Accused Products
Abstract
A force transmission mechanism for a teleoperated surgical instrument may include a gear, a push/pull drive element, and a connection element. The push/pull drive element may be configured to transmit force to actuate an end effector of the surgical instrument and to rotate with a shaft of the surgical instrument when the shaft is rotated by the force transmission mechanism. The connection element may operatively couple the gear and the push/pull drive element. The connection element may be configured to convert rotational movement of the gear to a substantially linear movement of the push/pull drive element. The connection element may be configured to rotate with the push/pull drive element and relative to the gear.
19 Citations
27 Claims
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1. A force transmission mechanism for a teleoperated surgical instrument, comprising:
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a gear configured to be driven by a drive input mechanism; a push/pull drive element configured to transmit force to actuate an end effector of the surgical instrument; and a ball element operatively coupling the gear and the push/pull drive element, wherein driven motion of the gear is transmitted to the push/pull drive element to actuate the end effector. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A force transmission mechanism for a teleoperated surgical instrument, comprising:
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a gear; a push/pull drive element configured to transmit force to actuate an end effector of the surgical instrument and to rotate with a shaft of the surgical instrument when the shaft is rotated by the force transmission mechanism; and a connection element operatively coupling the gear and the push/pull drive element, wherein the connection element is configured to convert rotational movement of the gear to a substantially linear movement of the push/pull drive element, and wherein the connection element is configured to rotate with the push/pull drive element and relative to the gear. - View Dependent Claims (18, 19, 20, 21, 22, 23)
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24. A surgical instrument for a teleoperated surgical system, comprising:
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a shaft; an end effector disposed at a distal portion of the shaft; and a force transmission mechanism disposed at a proximal portion of the shaft, comprising; a gear configured to be driven by a drive input mechanism; a push/pull drive element extending along the shaft to the end effector, wherein the push/pull drive element is configured to transmit force to actuate the end effector; and a connection element operatively coupling the gear and the push/pull drive element to convert rotational movement of the gear to a substantially linear movement of the push/pull drive element to actuate the end effector; wherein the connection element is configured to rotate with the push/pull drive element and relative to the gear. - View Dependent Claims (25, 26, 27)
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Specification