Compact robotic wrist
First Claim
Patent Images
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.
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Accused Products
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.
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Citations
17 Claims
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1. A minimally-invasive surgical tool, comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A minimally-invasive surgical tool, comprising:
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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. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15)
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16. A minimally-invasive surgical tool, comprising:
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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.
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17. A minimally-invasive surgical tool, comprising:
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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.
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Specification