Compact robotic wrist

• US 9,889,568 B2
• Filed: 03/13/2014
• Issued: 02/13/2018
• Est. Priority Date: 03/14/2013
• Status: Active Grant

• Current Assignee: SRI International, Inc.
• Original Assignee: SRI International, Inc.
• Inventors: Kilroy, Pablo Eduardo Garcia, Miller, Kenneth C., Egan, Thomas D., Low, Thomas P., Crittenden, Arthur Maxwell, Koenig, Karen Shakespear
• Primary Examiner(s): Fishback, Ashley
• Application Number:
  US14/388,208
• Publication Number:
  US 20150150635A1
• Time in Patent Office: 1,433 Days
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 2017/2938 Independently actuatable jaw members, e.g. two actuating rods
• 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 2034/715 Cable tensioning mechanisms for removing slack
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: B25J 15/0028 with movable, e.g. pivoting gripping jaw surfaces
• CPC Class Codes: B25J 15/0286 actuated by chains, cables or ribbons
• CPC Class Codes: B25J 17/02 Wrist joints
• CPC Class Codes: Y10S 901/29 Wrist
• CPC Class Codes: Y10S 901/36 Actuating means
• CPC Class Codes: Y10S 901/38 Electric motor

Abstract

A surgical tool includes a tool shaft, and end effector and a wrist that couples the end effector to the tool shaft. The tool includes a drive mechanism configured to effect movement of one or both of the wrist and the end effector in yaw and pitch via independent actuation of four independent cable ends of two or more independent cables that extend between the drive mechanism and the wrist.

Claims

1. A minimally-invasive surgical tool, comprising:

a tool shaft;

an end effector;

a multi-axial wrist disposed between the tool shaft and the end effector, the wrist comprising three or more sets of pulleys arranged in two orthogonal directions; and

a drive mechanism comprising a plurality of motors configured to effect movement of one or both of the wrist and the end effector by controlling four cable ends of a plurality of cables that wind at least partially around one or more of the three or more sets of pulleys, the drive mechanism configured to vary relative tension between the four cable ends to effect a yaw or pitch motion of the end effector,

wherein one of the motors is coupled to a rocker mechanism configured to rock back and forth so that a first end of the rocker mechanism moves proximally to thereby increase tension on one cable end coupled to the first end of the rocker mechanism, and a second opposite end of the rocker member moves distally to thereby relax tension on a second cable end coupled to the second end, to thereby effect the pitch motion of the end effector.

2. The surgical tool of claim 1, wherein the three or more sets of pulleys comprises two sets of pulleys oriented in two orthogonal directions and a third set of pulleys that are angled between said two sets of pulleys, thereby decreasing cross-over and friction between the cables.

3. The surgical tool of claim 1, wherein control of the cables controls movement of a pair of jaws of the end effector.

4. The surgical tool of claim 1, wherein the three or more sets of pulleys comprises a first set of pulleys attached to the end effector and a second set of pulleys aligned with the first set of pulleys such that part of one or more of the cables extends along a straight path from the second set of pulleys to the first set of pulleys.

5. The surgical tool of claim 4, wherein the first set of pulleys are arranged proximate a central axis of the tool shaft, the first set of pulleys having a diameter substantially equal to a diameter of the tool shaft.

6. The surgical tool of claim 1, wherein at least a portion of the motors are in a motor pack that is removably coupleable to a coupling unit attached to a proximal end of the tool shaft.

7. The surgical tool of claim 6, wherein the coupling unit provides a sterile barrier.

8. A minimally-invasive surgical tool, comprising:

a tool shaft;

an end effector;

a multi-axial wrist disposed between the tool shaft and the end effector, the wrist comprising three or more sets of pulleys arranged in two orthogonal directions; and

a drive mechanism comprising a plurality of motors configured to effect movement of one or both of the wrist and the end effector by controlling four cable ends of a plurality of cables that wind at least partially around one or more of the three or more sets of pulleys, the drive mechanism configured to vary relative tension between the four cable ends to effect a yaw or pitch motion of the end effector,

wherein one of the motors is coupled to a shuttle mechanism configured to move axially within the tool shaft, the shuttle mechanism configured to relax tension on one cable end and to increase tension on a second cable end to thereby effect a pitch motion of the end effector.

9. The surgical tool of claim 8, wherein the drive mechanism comprises three electric motors.

10. The surgical tool of claim 9, wherein at least a portion of the motors are in a motor pack that is removably coupleable to a coupling unit attached to a proximal end of the tool shaft.

11. The surgical tool of claim 10, wherein the coupling unit provides a sterile barrier.

12. The surgical tool of claim 8, wherein the three or more sets of pulleys comprises two sets of pulleys oriented in two orthogonal directions and a third set of pulleys that are angled between said two sets of pulleys, thereby decreasing cross-over and friction between the cables.

13. The surgical tool of claim 8, wherein control of the cables controls movement of a pair of jaws of the end effector.

14. The surgical tool of claim 8, wherein the three or more sets of pulleys comprises a first set of pulleys attached to the end effector and a second set of pulleys aligned with the first set of pulleys such that part of one or more of the cables extends along a straight path from the second set of pulleys to the first set of pulleys.

15. The surgical tool of claim 14, wherein the first set of pulleys are arranged proximate a central axis of the tool shaft, the first set of pulleys having a diameter substantially equal to a diameter of the tool shaft.

16. A minimally-invasive surgical tool, comprising:

a tool shaft;

an end effector;

a multi-axial wrist disposed between the tool shaft and the end effector, the wrist comprising three or more sets of pulleys arranged in two orthogonal directions; and

a drive mechanism comprising three electric motors configured to effect movement of one or both of the wrist and the end effector, the drive mechanism configured to independently control two cable loops that wind at least partially around one or more of the three or more sets of pulleys to vary relative tension between the two cable loops and between two ends of each cable loop to effect a yaw or pitch motion, one of the three motors coupled to a mechanism configured to tension two sides of the same cable loop to effect a pitch motion,

wherein said mechanism is a rocker mechanism configured to rock back and forth so that a first end of the rocker mechanism moves proximally, thereby increasing tension on a side of a cable coupled to the first end, and a second opposite end of the rocker member moves distally, thereby relaxing tension on an opposite side of the cable coupled to the second end, to thereby effect the pitch motion of the end effector.

17. A minimally-invasive surgical tool, comprising:

a tool shaft;

an end effector;

a multi-axial wrist disposed between the tool shaft and the end effector, the wrist comprising three or more sets of pulleys arranged in two orthogonal directions; and

a drive mechanism comprising three electric motors configured to effect movement of one or both of the wrist and the end effector, the drive mechanism configured to independently control two cable loops that wind at least partially around one or more of the three or more sets of pulleys to vary relative tension between the two cable loops and between two ends of each cable loop to effect a yaw or pitch motion, one of the three motors coupled to a mechanism configured to tension two sides of the same cable loop to effect a pitch motion,

wherein the mechanism is a shuttle mechanism configured to move axially within the tool shaft, the shuttle mechanism configured to relax tension on one of the two cable loops and to increase tension on another of the two cable loops to thereby effect the pitch motion of the end effector.