Compact robotic wrist

• US 9,884,427 B2
• Filed: 04/02/2015
• Issued: 02/06/2018
• Est. Priority Date: 03/14/2013
• Status: Active Grant

• Current Assignee: SRI International, Inc.
• Original Assignee: SRI International, Inc.
• Inventors: Low, Thomas P., Kilroy, Pablo Eduardo Garcia, Miller, Kenneth C., Egan, Thomas D., Crittenden, Arthur Maxwell, Koenig, Karen Shakespear
• Primary Examiner(s): Fishback, Ashley
• Application Number:
  US14/677,509
• Publication Number:
  US 20150209965A1
• Time in Patent Office: 1,041 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

An integrated multiaxial wrist and grasper system for use in a robotic tool can yaw, pitch and grasp via actuation of four independent cable ends of four cables. The tool includes a drive mechanism that effects movement of the multiaxial wrist and grasper via actuation of the cables that extend between the drive mechanism and the wrist.

Claims

1. An integrated wrist and grasper system for use in a robotic tool, comprising:

a multiaxial wrist and grasper assembly configured to perform yaw, pitch and grasping motions via actuation of four independent cable ends of a plurality of cables, the assembly comprising;

a first set of pulleys arranged along a first axis of rotation, one of the first set of pulleys coupled to a first jaw and another of the first set of pulleys coupled to a second jaw, the first and second jaws defining the grasper, the first and second jaws configured to move toward or away from each other to perform the grasping motion; and

a second set of pulleys operatively coupled to the first set of pulleys and arranged along a second axis of rotation that is non-parallel to the first axis of rotation,

wherein the plurality of cables are wrapped at least partially around the first and second sets of pulleys.

2. The system of claim 1, wherein the second axis of rotation is orthogonal to the first axis of rotation.

3. The system of claim 1, wherein the second set of pulleys is coupled to a section proximal to the second set of pulleys that extends along an axis orthogonal to the first and second axes, and wherein the section is configured to rotate about its axis to effect a roll motion of the multiaxial wrist and grasper assembly.

4. The system of claim 1, further comprising a yoke with an axle that extends along the first axis, the yoke configured to couple to the first set of pulleys.

5. The system of claim 1, wherein rotation of the second set of pulleys by tensioning two of the four cable ends causes the wrist to perform the pitch motion.

6. The system of claim 1, wherein rotation of the first set of pulleys in opposite directions causes the first and second jaws to move toward each other or move away from each other to perform the grasping motion.

7. The system of claim 1, wherein rotation of the first set of pulleys in the same direction causes the first and second jaws to perform the yaw motion together.

8. An integrated wrist and grasper system for use with a robotic tool, comprising:

a multiaxial wrist and grasper assembly configured to perform yaw, pitch and grasping motions via actuation of four independent cable ends of a plurality of cables, the assembly comprising;

a first set of pulleys and a second set of pulleys arranged along a first axis of rotation;

a fourth set of pulleys arranged in series with the first set of pulleys and a fifth set of pulleys arranged in series with the second set of pulleys, each of the fourth and fifth set of pulleys configured to rotate about an axis of rotation that is parallel and offset from the first axis;

a third set of pulleys intercoupled by a yoke having a pair of attachment portions configured to couple to a pair of jaws to define the grasper, each of the attachment portions being independently movable by one of the third set of pulleys, the third set of pulleys arranged along a third axis of rotation that is angled relative to the first axis of rotation and relative to the axis of each of the fourth and fifth sets of pulleys such that a groove on one of the third set of pulleys aligns with a groove on one of the fourth set of pulleys and a groove on another of the third set of pulleys aligns with a groove on one of the fifth set of pulleys,

wherein the cables are wrapped at least partially around the third set of pulleys and the fourth and fifth sets of pulleys so that the cables follow a straight path between said aligned grooves to minimize friction between the cables and pulleys.

9. The system of claim 8, wherein rotation of the third set of pulleys in opposite directions causes the jaws coupled to the attachment portions to move toward each other or move away from each other to perform the grasping motion.

10. The system of claim 8, wherein rotation of the third set of pulleys in the same direction causes the jaws to perform the yaw motion together.

11. The system of claim 8, wherein rotation of the first and second sets of pulleys in the same direction causes the wrist to perform the pitch motion.

12. A robotic multiaxial tool, comprising:

a multiaxial wrist and grasper assembly configured to yaw, pitch and grasp via actuation of four cables, the assembly comprising

a first set of pulleys arranged along a first axis of rotation, one of the first set of pulleys coupled to a first jaw and another of the first set of pulleys coupled to a second jaw, the first and second jaws defining the grasper, the first and second jaws configured to move toward or away from each other to effect a grasping motion, and

a second set of pulleys operatively coupled to the first set of pulleys and arranged along a second axis of rotation that is non-parallel to the first axis of rotation, the four cables wrapped at least partially around the first and second set of pulleys, and

a drive mechanism configured to effect movement of the multiaxial wrist and grasper, comprising

three electric motors,

a third set of pulleys having two pulleys independently rotated by two of the three electric motors,

a fourth set of pulleys positioned proximal to the third set of pulleys, the fourth set of pulleys having two pulleys coupled to opposite sides of a rocker member configured to rock in a clockwise or counterclockwise direction to move one of the fourth set of pulleys distally relative to another of the fourth set of pulleys, the rocker member driven by a third of the three electric motors to rock in said clockwise or counterclockwise direction, two of the four cables wrapped at least partially around one of the fourth set of pulleys in the same direction and cable ends of said two cables coupled to opposite sides of one of the third set of pulleys, and another two of the four cables wrapped at least partially around another of the fourth set of pulleys in the same direction and cable ends of said another two cables coupled to opposite sides of another of the third set of pulleys, wherein the drive mechanism is configured to vary tension in each of the four cables to effect the yaw or pitch motion of the wrist and to move the first and second jaws relative to each other to effect a grasping motion.

13. The tool of claim 12, wherein the second axis of rotation is orthogonal to the first axis of rotation.

14. The tool of claim 12, wherein rocking of the rocker member is configured to vary a relative tension between a first pair of the four cables and second pair of the four cables to effect a pitch motion of the wrist.

15. The tool of claim 12, further comprising a fourth electric motor configured to rotate a distal section of the tool about an axis orthogonal to the first and second axes of rotation to effect a roll motion of the wrist, said distal section being operatively coupled to the second set of pulleys.

16. The tool of claim 12, wherein rotation of said one of the third set of pulleys increases tension on one of the two cables attached thereto and decreases tension on the other of the two cables attached thereto to rotate one of the first set of pulleys to yaw the jaw attached to said one of the first pulleys.

17. The tool of claim 12, wherein rotation of the third set of pulleys in the same direction increases tension on one of the two cables attached to each of the third set of pulleys and decreases tension on the other of the two cables attached to each of the third set of pulleys, thereby rotating said first set of pulleys to yaw the jaws attached thereto in the same direction.

18. The tool of claim 12, wherein rotation of the third set of pulleys in different directions increases tension on one of the two cables attached to each of the third set of pulleys and decreases tension on the other of the two cables attached to each of the third set of pulleys, thereby rotating said first set of pulleys in opposite directions to yaw the jaws attached thereto toward each other or away from each other in said grasping motion.

19. A robotic multiaxial tool, comprising:

a multiaxial wrist and grasper assembly configured to yaw, pitch and grasp via actuation of four cables, the assembly comprising

a first set of pulleys arranged along a first axis of rotation, one of the first set of pulleys operatively coupled to a first jaw and another of the first set of pulleys operatively coupled to a second jaw, the first and second jaws defining the grasper, the first and second jaws configured to move toward or away from each other to effect a grasping motion, and

a second set of pulleys operatively coupled to the first set of pulleys and arranged along a second axis of rotation that is non-parallel to the first axis of rotation, the four cables wrapped at least partially around the first and second set of pulleys; and

a drive mechanism configured to effect movement of the multiaxial wrist, comprising

three electric motors,

a third set of pulleys having two pulleys independently rotated by two of the three electric motors,

a fourth set of pulleys positioned proximal to the third set of pulleys, and

a shuttle mechanism axially interposed between the third set of pulleys and the second set of pulleys, the shuttle mechanism actuatable by a third of the three electric motors to move along a longitudinal axis of the tool;

two of the four cables wrapped at least partially around a central pulley and a first shuttle pulley of the shuttle mechanism, wrapped at least partially around one of the fourth set of pulleys in the same direction, and extending to corresponding cable ends coupled to opposite sides of one of the third set of pulleys; and

another two of the four cables wrapped at least partially around a second shuttle pulley and the central pulley of the shuttle mechanism, wrapped at least partially around another of the fourth set of pulleys in the same direction, and extending to corresponding cable ends coupled to opposite sides of another of the third set of pulleys,

wherein the drive mechanism is configured to vary tension in each of the four cables to effect a yaw or pitch motion of the wrist and to move the first and second jaws relative to each other to effect a grasping motion.

20. The tool of claim 19, wherein the second axis of rotation is orthogonal to the first axis of rotation.

21. The tool of claim 19, wherein axial movement of the shuttle mechanism increases a distance between the central pulley and the first shuttle pulley to thereby increase tension in said two of the four cables and decreases a distance between the central pulley and the second shuttle pulley to thereby decrease tension in said another two of the four cables, thereby causing the second set of pulleys to rotate to effect a pitch motion of the wrist.

22. The tool of claim 19, further comprising a fourth electric motor configured to rotate a distal section of the tool about the longitudinal axis that is orthogonal to the first and second axes of rotation to effect a roll motion of the multiaxial wrist, said distal section being coupled to the second set of pulleys.

23. The tool of claim 19, wherein rotation of said one of the third set of pulleys increases tension on one of the two cables attached thereto and decreases tension on the other of the two cables attached thereto to rotate said one of the first set of pulleys to yaw the jaw attached to said one of the first pulleys.

24. The tool of claim 19, wherein rotation of the third set of pulleys in the same direction increases tension on one of the two cables attached to each of the third set of pulleys and decreases tension on the other of the two cables attached to each of the third set of pulleys, thereby rotating said first set of pulleys to yaw the jaws attached thereto in the same direction.

25. The tool of claim 19, wherein rotation of the third set of pulleys in different directions increases tension on one of the two cables attached to each of the third set of pulleys and decreases tension on the other of the two cables attached to each of the third set of pulleys, thereby rotating said first set of pulleys in different directions to yaw the jaws attached thereto toward or away from each other in said grasping motion.