SURGICAL INSTRUMENT WRIST
First Claim
1. A surgical instrument comprising:
- a shaft;
a link positioned to pivot on an axis fixed at a distal end of the shaft, wherein the link comprises a pulley portion;
a surgical end effector coupled to a distal end of the link;
first and second idler pulleys positioned proximally of and adjacent to the link;
a first control cable that extends from the shaft, around the first idler pulley in a first circumferential direction, and around the pulley portion of the link in a second circumferential direction that is generally opposite to the first circumferential direction; and
a second control cable that extends from the shaft, around the second idler pulley in the second circumferential direction, and around the pulley portion of the link in the first circumferential direction.
2 Assignments
0 Petitions
Accused Products
Abstract
A link is positioned to pivot at the distal end of a surgical instrument shaft. The link includes a pulley portion. A first control cable that pivots the link in one direction extends out of the surgical instrument shaft and crosses the width of the instrument in a first crossing direction. The first control cable is then routed around the pulley portion of the link in a first circumferential direction. Similarly, a second control cable that pivots the link in the opposite direction extends out of the surgical instrument shaft and crosses the width of the instrument in a second crossing direction. The second control cable is then routed around the pulley portion of the link in a second circumferential direction that is opposite the first circumferential direction.
46 Citations
20 Claims
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1. A surgical instrument comprising:
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a shaft; a link positioned to pivot on an axis fixed at a distal end of the shaft, wherein the link comprises a pulley portion; a surgical end effector coupled to a distal end of the link; first and second idler pulleys positioned proximally of and adjacent to the link; a first control cable that extends from the shaft, around the first idler pulley in a first circumferential direction, and around the pulley portion of the link in a second circumferential direction that is generally opposite to the first circumferential direction; and a second control cable that extends from the shaft, around the second idler pulley in the second circumferential direction, and around the pulley portion of the link in the first circumferential direction. - View Dependent Claims (2, 3, 4, 5, 6, 7, 20)
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8. A surgical instrument comprising
a shaft; -
a link positioned to pivot on an axis fixed at a distal end of the shaft, wherein the link comprises a pulley portion; a surgical end effector coupled to a distal end of the link; a first control cable that extends from the shaft, across a width of the instrument in a first crossing direction adjacent the pulley portion of the link, and around the pulley portion of the link in a first circumferential direction; and a second control cable that extends from the shaft, across the width of the instrument in a second crossing direction adjacent the pulley portion of the link, and around the pulley portion of the link in a second circumferential direction that is opposite the first circumferential direction. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15)
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16. A method of assembling a surgical instrument, comprising:
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positioning a link to pivot on an axis fixed at a distal end of an instrument shaft, wherein the link comprises a pulley portion; coupling a surgical end effector to the link; routing a first control cable from the instrument shaft, across a width of the instrument in a first crossing direction adjacent the pulley portion of the link, and around the pulley portion of the link in a first circumferential direction; and routing a second control cable from the instrument shaft, across the width of the instrument in a second crossing direction adjacent the pulley portion of the link, and around the pulley portion of the link in a second circumferential direction that is opposite the first circumferential direction. - View Dependent Claims (17, 18, 19)
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Specification