Apparatus for pitch and yaw rotation

• US 8,911,428 B2
• Filed: 03/07/2012
• Issued: 12/16/2014
• Est. Priority Date: 06/29/2001
• Status: Expired due to Term

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Cooper, Thomas G., Wallace, Daniel T., Chang, Stacey, Anderson, S. Christopher, Williams, Dustin, Manzo, Scott
• Primary Examiner(s): Nguyen, Victor
• Application Number:
  US13/414,445
• Publication Number:
  US 20120220831A1
• Time in Patent Office: 1,014 Days
• Field of Search: 606/1, 606/130, 606/205, 600/101, 600/102
• US Class Current: 606/1
• CPC Class Codes: A61B 1/0055 Constructional details of insertion parts, e.g. vertebral elements
• CPC Class Codes: A61B 1/0057 Constructional details of force transmission elements, e.g. control wires
• CPC Class Codes: A61B 1/008 Articulations
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 2017/00314 Separate linked members
• CPC Class Codes: A61B 2017/0069 with universal joint, cardan joint
• CPC Class Codes: A61B 2017/2908 Multiple segments connected by articulations
• CPC Class Codes: A61B 2017/2929 with a head rotatable about the longitudinal axis of the shaft
• CPC Class Codes: A61B 2017/2936 Pins in guiding slots
• CPC Class Codes: A61B 2034/304 including a freely orientable platform, e.g. so called 'Stewart platforms'
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2034/306 Wrists with multiple vertebrae
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/72 Micromanipulators

Abstract

The present invention is directed to a tool having a wrist mechanism that provides pitch and yaw rotation in such a way that the tool has no singularity in roll, pitch, and yaw. A positively positionable multi-disk wrist mechanism includes a plurality of disks or vertebrae stacked in series. Each vertebra is configured to rotate in pitch or in yaw with respect to each neighboring vertebra. Actuation cables are used to manipulate and control movement of the vertebrae. In specific embodiments, some of the cables are distal cables that extend from a proximal vertebra through one or more intermediate vertebrae to a distal vertebra, while the remaining cables are medial cables that extend from the proximal vertebra to one or more of the intermediate vertebrae. The cables are actuated by a pivoted plate cable actuator mechanism.

Claims

1. An apparatus comprising:

a first actuator link;

a first gear section rotatably coupled to the first actuator link to longitudinally move the first actuator link;

a second actuator link;

a second gear section rotatably coupled to the second actuator link to longitudinally move the second actuator link;

an actuator plate comprising a mounting member, wherein the first and second actuator links are rotatably coupled to the mounting member to move the actuator plate in pitch and yaw rotations when the first and second actuator links are longitudinally moved, and further wherein the first and second actuator links being longitudinally moved in the same direction causes the pitch rotation, and the first and second actuator links being longitudinally moved in opposite directions causes the yaw rotation.

2. The apparatus of claim 1, wherein the first and second actuator links are coupled to the mounting member via ball-in-socket joints.

3. The apparatus of claim 1, wherein the first and second gear sections comprise gear quadrants.

4. The apparatus of claim 1, the actuator plate further comprising a first plurality of apertures having a first radius, and a second plurality of apertures having a second radius larger than the first radius.

5. The apparatus of claim 1, further comprising:

a lower housing member, wherein the actuator plate is mounted on the lower housing member;

an upper housing member mounted on the lower housing member.

6. An apparatus comprising:

a first actuator link;

a first gear section rotatably coupled to the first actuator link to longitudinally move the first actuator link;

a second actuator link;

a second gear section rotatably coupled to the second actuator link to longitudinally move the second actuator link;

an actuator plate comprising a mounting member, wherein the first and second actuator links are rotatably coupled to the mounting member to move the actuator plate in pitch and yaw rotations when the first and second actuator links are longitudinally moved, the apparatus further comprising;

a parallel linkage comprising a pair of parallel links coupled to the actuator plate;

a pair of parallel rings rotatably coupled to the pair of parallel links;

a parallel linkage housing rotatably coupled to the pair of parallel links via pivots to rotate the actuator plate.

7. An apparatus comprising:

a first actuator link;

a first gear section rotatably coupled to the first actuator link to longitudinally move the first actuator link;

a second actuator link;

a second gear section rotatably coupled to the second actuator link to longitudinally move the second actuator link;

an actuator plate comprising a mounting member, wherein the first and second actuator links are rotatably coupled to the mounting member to move the actuator plate in pitch and yaw rotations when the first and second actuator links are longitudinally moved, the apparatus further comprising;

first and second drive gears coupled to the first and second gear sections to drive the first and second gear sections; and

first and second drive spools coupled to actuate the first and second drive gears, respectively.

8. An apparatus comprising:

a first actuator link;

a first gear section rotatably coupled to the first actuator link to longitudinally move the first actuator link;

a second actuator link;

a second gear section rotatably coupled to the second actuator link to longitudinally move the second actuator link;

an actuator plate comprising a mounting member, wherein the first and second actuator links are rotatably coupled to the mounting member to move the actuator plate in pitch and yaw rotations when the first and second actuator links are longitudinally moved, the actuator plate further comprising a first plurality of apertures having a first radius, and a second plurality of apertures having a second radius larger than the first radius, the apparatus further comprising;

a shaft having a proximal end and a distal end, the proximal end coupled to the actuator plate;

a flexible wrist coupled to distal end of the shaft, the flexible wrist comprising at least one medial disk and at least one distal disk;

a first plurality of cables extending from the actuator plate through the first plurality of apertures to the at least one medial disk of the flexible wrist; and

a second plurality of cables extending from the actuator plate through the second plurality of apertures to the at least one distal disk of the flexible wrist.

9. The apparatus of claim 8, wherein a most distal disk of the at least one distal disk of the flexible wrist is coupled to an end effector.