Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity
First Claim
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1. An articulated surgical instrument for minimally invasive surgery comprising:
- a sliding bracket slidably coupled to a support bracket;
an elongate support member having a proximal end coupled to the sliding bracket, and a distal end insertable into the body of a patient during minimally invasive surgery, the support member being movable along its longitudinal axis by sliding the sliding bracket relative to the support bracket;
a wrist member coupled to the distal end of the elongate support member, the wrist member rotatable relative to the elongate support member about a first axis;
a surgical end effector coupled to the wrist member, the surgical end effector comprising a first work member rotatable relative to the wrist member about a second axis; and
actuators disposed at the sliding bracket, the actuators coupled to the wrist member by cables to rotate the wrist member about the first axis, the actuators further coupled to the first work member by cables to rotate the first work member about the second axis;
the actuators comprising four actuators, the four actuators coupled by four cables to four pulleys coupled to the wrist member, wherein selective actuation of the four actuators rotates the wrist member about the first axis and translates the sliding bracket relative to the support bracket along a longitudinal axis of the support member.
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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.
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Citations
21 Claims
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1. An articulated surgical instrument for minimally invasive surgery comprising:
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a sliding bracket slidably coupled to a support bracket; an elongate support member having a proximal end coupled to the sliding bracket, and a distal end insertable into the body of a patient during minimally invasive surgery, the support member being movable along its longitudinal axis by sliding the sliding bracket relative to the support bracket; a wrist member coupled to the distal end of the elongate support member, the wrist member rotatable relative to the elongate support member about a first axis; a surgical end effector coupled to the wrist member, the surgical end effector comprising a first work member rotatable relative to the wrist member about a second axis; and actuators disposed at the sliding bracket, the actuators coupled to the wrist member by cables to rotate the wrist member about the first axis, the actuators further coupled to the first work member by cables to rotate the first work member about the second axis; the actuators comprising four actuators, the four actuators coupled by four cables to four pulleys coupled to the wrist member, wherein selective actuation of the four actuators rotates the wrist member about the first axis and translates the sliding bracket relative to the support bracket along a longitudinal axis of the support member. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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20. A surgical instrument comprising:
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a sliding bracket slidably coupled to a support bracket; an elongate support member having a proximal end coupled to the sliding bracket, and a distal end insertable into the body of a patient during minimally invasive surgery, the support member being movable along its longitudinal axis by sliding the sliding bracket relative to the support bracket; a wrist member coupled to the distal end of the elongate support member, the wrist member rotatable relative to the elongate support member about a first axis; a surgical end effector coupled to the wrist member, the surgical end effector comprising a first work member rotatable relative to the wrist member about a second axis; pulley means disposed at the wrist member for moving the wrist member and the surgical end effector; and actuation means disposed at the sliding bracket for selectively actuating the pulley means; the actuation means comprising four actuators, the four actuators coupled by four cables to four pulleys coupled to the wrist member, wherein selective actuation of the four actuators rotates the wrist member about the first axis and translates the sliding bracket relative to the support bracket along a longitudinal axis of the support member.
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21. A method of actuating a surgical instrument, the surgical instrument comprising a sliding bracket slidably coupled to a support bracket, the instrument further comprising an elongate support member having a proximal end coupled to the sliding bracket and a distal end inserted into the body of a patient during minimally invasive surgery, a wrist member coupled to the distal end of the elongate support member, and a surgical end effector coupled to the wrist member, the surgical end effector comprising a first work member, the method comprising:
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moving the support member along its longitudinal axis by sliding the sliding bracket relative to the support bracket; selectively actuating a plurality of actuators disposed at the sliding bracket, the actuators comprising four actuators, the four actuators coupled by four cables to four pulleys coupled to the wrist member, wherein selective actuation of the four actuators rotates the wrist member about the first axis and translates the sliding bracket relative to the support bracket along a longitudinal axis of the support member; rotating the wrist member relative to the elongate support member about a first axis in response to said selective actuation; and rotating the first work member relative to the wrist member about a second axis in response to said selective actuation.
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Specification