Surgical tool with mechanical advantage

• US 6,206,903 B1
• Filed: 10/08/1999
• Issued: 03/27/2001
• Est. Priority Date: 10/08/1999
• 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: Ramans, Andris D.
• Primary Examiner(s): Buiz, Michael
• Assistant Examiner(s): Bui, Vy Q.
• Application Number:
  US09/415,783
• Time in Patent Office: 536 Days
• Field of Search: 606/205, 606/206, 606/207, 606/208, 606/210, 606/211
• US Class Current: 606/205
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• 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 34/30 Surgical robots
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms

Abstract

A robotic surgical tool includes an end effector having a pair of fingers and incorporating a mechanical advantage. In specific embodiments, a pulley and cable mechanism is used to actuate the end effector by applying cable tension. The coupling between the pulleys and the fingers of the end effector takes advantage of changes in moment arms for force transfer to avoid or minimize force reduction between the applied cable tension and the resultant force at or near the distal tip of each finger. In some embodiments, the coupling of the pulleys and fingers results in a force gain, a moment gain, or both.

Claims

1. An end effector arrangement of a minimally invasive surgical instrument, the end effector arrangement comprising:

a first end effector mounting formation having a proximal end portion and a distal end portion which includes a first distal pivot location;

a second end effector mounting formation having a proximal end portion and a distal end portion which includes a second distal pivot location, the distal end portions of the first and second end effector mounting formations being rotatably coupled together at the first and second distal pivot locations to rotate with respect to each other, each end effector mounting formation being arranged to carry an end effector element;

a first pulley rotatable about a first center of rotation and having a first force transfer location spaced from the first center of rotation, the proximal end portion of the first end effector mounting formation being rotatably coupled with the first pulley at the first force transfer location to rotate with respect to one another; and

a second pulley rotatable about a second center of rotation and having a second force transfer location spaced from the second center of rotation, the proximal end portion of the second end effector mounting formation being rotatably coupled with the second pulley at the second force transfer location to rotate with respect to one another.

2. The end effector arrangement of claim 1 wherein the first and second centers of rotation are aligned, and wherein the first and second pulleys are rotatably coupled together at the centers of rotation to rotate with respect to one another.

3. The end effector arrangement of claim 2 wherein the first and second pulleys are rotatably coupled together to rotate with respect to one another in a plane of movement, and wherein the first and second end effector mounting formations are rotatably coupled together to rotate with respect to one another in the plane of movement.

4. The end effector arrangement of claim 1 wherein the first and second end effector mounting formations are rotatably coupled together to move the end effector elements toward one another to contact at a contact position and away from one another generally in a plane of movement.

5. The end effector arrangement of claim 4 wherein the first and second force transfer locations are generally aligned with one another along a direction generally perpendicular to the plane of movement when the first and second end effector mounting formations are arranged to position the end effector elements in the contact position.

6. The end effector arrangement of claim 5 wherein the centers of rotation of the first and second pulleys are disposed between the generally aligned first and second force transfer locations and the rotatably coupled first and second distal pivot locations of the end effector mounting formations in the contact position.

7. The end effector arrangement of claim 5 wherein the centers of rotation of the first and second pulleys, the first and second force transfer locations, and the first and second distal pivot locations of the end effector mounting formations lie generally on a mid-plane which is perpendicular to the plane of movement when the first and second end effector mounting formations are arranged to position the end effector elements in the contact position.

8. The end effector arrangement of claim 1 wherein the first pulley has a first radius R₁ centered at the first center of rotation and the second pulley has a second radius R₂ centered at the second center of rotation, the first force transfer location being spaced from the first center of rotation of the first pulley by a first distance d₁ smaller than the first radius R₁, the second force transfer location being spaced from the second center of rotation of the second pulley by a second distance d₂ smaller than the second radius R₂.

9. The end effector arrangement of claim 8 wherein a ratio R₁/d₁ is at least about 2 and a ratio R₂/d₂ is at least about 2.

10. The end effector arrangement of claim 8 wherein the first radius R₁ is equal to the second radius R₂ and the first distance d₁ is equal to the second distance d₂, and wherein R₁/d₁=R₂/d₂=R/d.

11. The end effector arrangement of claim 10 wherein the first distal pivot location is spaced from the first force transfer location by a first distance L₁, and wherein the second distal pivot location is spaced from the second force transfer location by a second distance L₂.

12. The end effector arrangement of claim 11 wherein L₁=L₂=L.

13. The end effector arrangement of claim 12 wherein the end effector mounting formations are arranged to carry end effector elements having distal ends which are spaced from the rotatably coupled distal pivot locations by a distance l.

14. The end effector arrangement of claim 13 wherein (R/d)(L/l) is at least about 1.

15. The end effector arrangement of claim 1 further comprising:

a first channel formation extending at least partially circumferentially around the first pulley, the first channel formation defining opposed flange formations, one of the flange formations having a diameter less than the other flange formation; and

a second channel formation extending at least partially circumferentially around the second pulley, the second channel formation defining opposed flange formations, one of the flange formations having a diameter less than the other flange formation.

16. An end effector arrangement of a minimally invasive surgical instrument, the end effector arrangement comprising:

a first finger including a proximal end portion having a first finger transfer aperture, a distal end portion, and a first finger pivot hole disposed between the proximal end portion and the distal end portion;

a second finger including a proximal end portion having a second finger transfer aperture, a distal end portion, and a second finger pivot hole disposed between the proximal end portion and the distal end portion, the first pivot hole and the second pivot hole being rotatably coupled for pivoting of the first and second fingers relative to one another;

a first pulley being rotatable about a first pulley pivot hole and having a first pulley transfer aperture spaced from the first pulley pivot hole, the first finger transfer aperture of the first finger being rotatably coupled with the first pulley transfer aperture for pivoting of the first finger and the first pulley relative to one another; and

a second pulley being rotatable about a second pulley pivot hole and having a second pulley transfer aperture spaced from the second pulley pivot hole, the second finger transfer aperture of the second finger being rotatably coupled with the second pulley transfer aperture for pivoting of the second finger and the second pulley relative to one another.

17. The end effector arrangement of claim 16 wherein the first pulley pivot hole and the second pulley pivot hole are rotatably coupled for pivoting of the first and second pulleys relative to one another.

18. The end effector arrangement of claim 16 wherein the first and second finger pivot holes, the first and second pulley pivot holes, and the first and second pulley transfer apertures lie generally on a mid-plane, and wherein the first and second finger transfer apertures are disposed on opposite sides of the mid-plane during the full range of pivoting of the first and second fingers relative to one another.

19. The end effector arrangement of claim 18 wherein the first and second pulley pivot holes are disposed between the first and second finger pivot holes and the first and second pulley transfer apertures in the contact position.

20. The end effector arrangement of claim 16 wherein the first and second fingers are generally identical, and wherein the first and second pulleys are generally identical.

21. An end effector arrangement of a minimally invasive surgical instrument, the end effector arrangement comprising:

a first end effector mounting formation having a proximal end portion and a distal end portion which includes a first distal pivot location;

a second end effector mounting formation having a proximal end portion and a distal end portion which includes a second distal pivot location, the distal end portions of the first and second end effector mounting formations being rotatably coupled together at the first and second distal pivot locations to rotate with respect to each other, each end effector mounting formation being arranged to carry an end effector element;

a first force transfer member being rotatable about a first center of rotation by a first applied force normal to a first applied moment arm extending from the first center of rotation, the first force transfer member being coupled with a first transfer location in the proximal end portion of the first end effector mounting formation to transfer a first transfer force to the first transfer location in response to the first applied force, the first transfer force having a first normal force component normal to a first transfer moment arm extending from the first distal pivot location to the first transfer location, the first normal force component being equal to or larger than the first applied force; and

a second force transfer member being rotatable about a second center of rotation by a second applied force normal to a second applied moment arm extending from the second center of rotation, the second force transfer member being coupled with a second transfer location in the proximal end portion of the second end effector mounting formation to transfer a second transfer force to the second transfer location in response to the second applied force, the second transfer force having a second normal force component normal to a second transfer moment arm extending from the second distal pivot location to the second transfer location, the second normal force component being equal to or larger than the second applied force.

22. The end effector arrangement of claim 21 wherein the first force transfer member comprises a first pulley, the first applied moment arm being generally equal to the radius of the first pulley, and wherein the second force transfer member comprises a second pulley, the second applied moment arm being generally equal to the radius of the second pulley.

23. The end effector arrangement of claim 21 wherein the first center of rotation of the first force transfer member and the second center of rotation of the second force transfer member are rotatably coupled together.

24. An end effector arrangement of a minimally invasive surgical instrument, the end effector arrangement comprising:

a first finger including a proximal end portion, a distal end portion, and a first finger pivot hole disposed between the proximal end portion and the distal end portion;

a second finger including a proximal end portion, a distal end portion, and a second finger pivot hole disposed between the proximal end portion and the distal end portion, the first finger pivot hole and the second finger pivot hole being rotatably coupled for pivoting of the first and second fingers relative to one another;

a first actuation member being rotatable about a first actuation member pivot hole;

first means coupled between the first finger and the first actuation member for transferring a first transfer force from the first actuation member to the first finger at a first transfer location in response to a first tangential force applied to the first actuation member, the first tangential force being normal to a radial direction extending radially from the first actuation member pivot hole, the first transfer force being normal to a first finger moment arm measured from the first finger pivot hole to the first transfer location, the first transfer force being equal to or greater than the first tangential force;

a second actuation member being rotatable about a second actuation member pivot hole; and

second means coupled between the second finger and the second actuation member for transferring a second transfer force from the second actuation member to the second finger at a second transfer location in response to a second tangential force applied to the second actuation member, the second tangential force being normal to a radial direction extending radially from the second actuation member pivot hole, the second transfer force being normal to a second finger moment arm measured from the second finger pivot hole to the second transfer location, the second transfer force being equal to or greater than the second tangential force.

25. The end effector arrangement of claim 24 wherein first and second actuation member pivot holes are rotatably coupled for pivoting of the first and second actuation members relative to one another.

26. The end effector arrangement of claim 24 wherein the first transfer location is in the proximal end portion of the first finger and the second transfer location is in the proximal portion of the second finger.