Wrist mechanism for surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity

• US 5,797,900 A
• Filed: 05/16/1997
• Issued: 08/25/1998
• Est. Priority Date: 05/20/1996
• Status: Expired due to Term

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Incorporated (Intuitive Surgical Holdings, LLC)
• Inventors: Madhani, Akhil J., Salisbury, J. Kenneth
• Primary Examiner(s): Buiz, Michael
• Assistant Examiner(s): Woo, Julian W.
• Application Number:
  US08/857,655
• Time in Patent Office: 466 Days
• Field of Search: 606/1, 606/130, 74/490.04, 74/490.05, 74/490.06
• US Class Current: 606/1
• CPC Class Codes: A61B 2017/2927 the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2017/2929 with a head rotatable about the longitudinal axis of the shaft
• CPC Class Codes: A61B 2017/2939 Details of linkages or pivot points
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2034/715 Cable tensioning mechanisms for removing slack
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/35 for telesurgery
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 34/77 Manipulators with motion or force scaling
• CPC Class Codes: B25J 3/04 involving servo mechanisms servo-actuated heads B25J15/02
• CPC Class Codes: Y10T 74/20329 Joint between elements
• CPC Class Codes: Y10T 74/20335 Wrist

Abstract

An articulated surgical instrument for enhancing the performance of minimally invasive surgical procedures. The instrument has a high degree of dexterity, low friction, low inertia and good force reflection. A unique cable and pulley drive system operates to reduce friction and enhance force reflection. A unique wrist mechanism operates to enhance surgical dexterity compared to standard laparoscopic instruments. The system is optimized to reduce the number of actuators required and thus produce a fully functional articulated surgical instrument of minimum size.

Claims

1. An articulated surgical instrument for minimally invasive surgery comprising an elongate support member, a wrist member, first and second capstans, first and second work members;

first, second, third and fourth intermediate idler pulleys; and

first, second, third and fourth cables wherein;

the elongate support member has a proximal end and a distal end and a support axis running longitudinally along the elongate support member from the proximal end to the distal end;

the wrist member has a proximal end and a distal end and a wrist axis running longitudinally along the wrist member from the proximal end to the distal end;

the proximal end of the wrist member is attached to the distal end of the support member by a wrist joint such that the wrist member can pivot about a joint axis perpendicular to the support axis and perpendicular to the wrist axis;

the first and second capstans are rotatably mounted to the distal portion of the wrist member by respective first and second capstan joints such that the axis of rotation of each of the first and second capstan joints is perpendicular to the wrist axis and perpendicular to the joint axis;

the first and second opposed work members are coupled to the respective first and second capstans;

the first, second, third and fourth intermediate idler pulleys are rotatably mounted to the wrist member about the wrist joint;

each intermediate idler pulley is engaged by one of the first, second, third and fourth cables; and

each capstan is drivingly engaged by two of the first, second, third and fourth cables;

whereby selective actuation of the cables operates to pivot the wrist member about the joint axis and pivot the work members independently of each other about the capstan joints.

2. The articulated surgical instrument of claim 1 wherein the first cable is coupled to a first actuator, the second cable is coupled to a second actuator, the third cable is coupled to a third actuator and the fourth cable is coupled to a fourth actuator.

3. The articulated surgical instrument of claim 2 wherein the first and second actuators drive respective first and second cables in unison in opposition to the third and fourth cables driven in unison by respective third and fourth actuators in order to rotate the wrist member about the joint axis.

4. The articulated surgical instrument of claim 2 wherein the first actuator drives the first cable in opposition to the second cable driven by the second actuator to rotate the first capstan.

5. The articulated surgical instrument of claim 4 wherein the third actuator drives the third cable in opposition to the fourth cable driven by the fourth actuator to rotate the second capstan.

6. The articulated surgical instrument of claim 5 wherein the first and second actuators drive the respective first and second cables in unison in opposition to the third and fourth cables driven in unison by respective third and fourth actuators in order to rotate the wrist member about the joint axis.

7. The articulated surgical instrument of claim 2 wherein the first, second, third and fourth actuators drive respective first, second, third and fourth cables in unison in order to move the elongate support member along the support axis.

8. The articulated surgical instrument of claim 6 wherein the first, second, third and fourth actuators drive respective first, second, third and fourth cables in unison in order to move the elongate support member along the support axis.

9. The articulated surgical instrument of claim 1 further comprising fifth, sixth, seventh and eighth intermediate idler pulleys wherein each intermediate idler pulley is engaged by one of the first, second third and fourth cables.

10. The articulated surgical instrument of claim 6 wherein the first and second capstans have different diameters.

11. A method of operating an articulated surgical instrument for minimally invasive surgery comprising the steps of:

providing an articulated surgical instrument which has an elongate support member having a proximal end and a distal end, a wrist member having a distal end and a proximal end which is connected by a wrist joint to the distal end of the elongate support member for pivotal motion about a wrist axis, first and second capstans each mounted on the distal end of the wrist member for rotation about an axis perpendicular to the wrist axis, first and second work members coupled to the first and second capstans; and

first, second, third and fourth intermediate idler pulleys mounted about the wrist joint;

providing a cable drive system comprising first, second, third and fourth actuators coupled to respective first, second, third and fourth cables;

engaging the first, second third and fourth intermediate idler pulleys with respective first, second, third and fourth cables;

drivingly engaging the first capstan with the first and second cables and the second capstan with the third and fourth cables.

12. The method of manipulating an articulated surgical instrument as defined in claim 11 wherein the method comprises the further step of:

selectively operating the first, second, third and fourth actuators to drive the respective first, second, third and fourth cables to pivot the wrist member about the wrist axis and independently rotate the first and second capstans and first and second work members.

13. The method of manipulating an articulated surgical instrument as defined in claim 12 wherein the method comprises the further steps of:

inserting the distal end of the elongate support member through an aperture to a surgical worksite inside a patient;

pivoting the wrist member and independently rotating the first and second work members so as to manipulate human tissues at the surgical worksite.

14. The method of manipulating an articulated surgical instrument as defined in claim 11 wherein the method comprises the further steps of:

operating the first actuator to drive the first cable; and

operating the second actuator to drive the second cable in opposition to the first cable in order to rotate the first capstan.

15. The method of manipulating an articulated surgical instrument as defined in claim 14 wherein the method comprises the further steps of:

operating the third actuator to drive the third cable; and

operating the fourth actuator to drive the fourth cable in opposition to the first cable in order to rotate the second capstan.

16. The method of manipulating an articulated surgical instrument as defined in claim 15 wherein the method comprises the further steps of:

operating the first and second actuators to drive respective first and second cables in unison;

operating the third and fourth actuators to drive the respective third and fourth cables in unison in opposition to the first and second cables in order to rotate the wrist member about the wrist axis.

17. The method of manipulating an articulated surgical instrument as defined in claim 15 wherein the method comprises the additional steps of:

operating the first, second, third and fourth actuators to drive respective first, second, third and fourth cables in unison in order to move the elongate support member along a longitudinal axis of the elongate support member.

18. The method of manipulating an articulated surgical instrument as defined in claim 16 wherein the method comprises the further steps of:

operating the first, second, third and fourth actuators to drive respective first, second, third and fourth cables in unison in order to move the elongate support member along a longitudinal axis of the elongate support member.

19. The method of manipulating an articulated surgical instrument as defined in claim 13 wherein:

the step of providing an articulated surgical instrument further comprises providing fifth, sixth, seventh and eighth intermediate idler pulleys; and

the method comprises the additional steps of engaging the fifth, sixth, seventh and eighth intermediate idler pulleys with the first, second, third and fourth cables respectively.

20. An articulated surgical instrument for minimally invasive surgery comprising an elongate support member, a wrist member, first and second capstans, first and second work members;

first, second, third and fourth intermediate idler pulleys; and

cable drive means wherein;

the elongate support member has a proximal end and a distal end and a support axis running longitudinally along the elongate support member from the proximal end to the distal end;

the wrist member has a proximal end and a distal end and a wrist axis running longitudinally along the wrist member from the proximal end to the distal end;

the proximal end of the wrist member is attached to the distal end of the support member by a wrist joint such that the wrist member can pivot about a joint axis perpendicular to the support axis and perpendicular to the wrist axis;

the first and second capstans are rotatably mounted to the distal portion of the wrist member by respective first and second capstan joints such that the axis of rotation of each of the first and second capstan joints is perpendicular to the wrist axis and perpendicular to the joint axis;

the first and second opposed work members are mounted to the first and second capstans respectively;

the first, second, third and fourth intermediate idler pulleys are rotatably mounted to the wrist member about the wrist joint; and

the cable drive means comprises a plurality of cables for selectively pivoting the wrist member about the joint axis and pivoting the work members independently of each other about the capstan joints.

21. The articulated surgical instrument of claim 20 wherein the cable drive means further comprises a plurality of actuator means for driving the plurality of cables.

22. The articulated surgical instrument of claim 21 wherein the cable drive means drives a first plurality of cables in opposition to a second plurality of cables in order to rotate the wrist member about the joint axis.

23. The articulated surgical instrument of claim 21 wherein the cable drive means drives one cable in opposition to another cable to rotate the first capstan.

24. The articulated surgical instrument of claim 23 wherein the cable drive means drives one cable in opposition to another cable to rotate the second capstan.

25. The articulated surgical instrument of claim 24 wherein the cable drive means additionally drives a first plurality of cables in opposition to a second plurality of cables in order to rotate the wrist member about the joint axis.

26. The articulated surgical instrument of claim 25 wherein the cable drive means drives the first plurality of cables and the second plurality of cables in unison in order to move the elongate support member along the support axis.

27. The articulated surgical instrument of claim 22 wherein the cable drive means drives the first plurality of cables and the second plurality of cables in unison in order to move the elongate support member along the support axis.

28. The articulated surgical instrument of claim 20 further comprising fifth, sixth, seventh and eighth intermediate idler pulleys mounted about the wrist joint.