公开(公告)号：EP3087944A1

公开(公告)日：2016-11-02

申请号：EP16175279.5

申请日：2002-07-01

申请人： Intuitive Surgical Operations, Inc.

发明人： COOPER, Thomas G. ,  CHANG, Stacey ,  ANDERSON, Christopher S. ,  WILLIAMS, Dustin ,  MANZO, Scott ,  WALLACE, Daniel T.

IPC分类号： A61B34/00 ,  A61B17/00 ,  A61B34/30 ,  A61B1/005 ,  A61B1/008 ,  A61B17/29

CPC分类号： A61B17/00234 ,  A61B1/0055 ,  A61B1/0057 ,  A61B1/008 ,  A61B34/30 ,  A61B34/71 ,  A61B34/72 ,  A61B2017/00314 ,  A61B2017/0069 ,  A61B2017/2908 ,  A61B2017/2929 ,  A61B2017/2936 ,  A61B2034/304 ,  A61B2034/305 ,  A61B2034/306

摘要： 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. In specific embodiments, the actuator mechanism includes a plurality of small radius holes or grooves for receiving the medial cables and a plurality of large radius holes or grooves for receiving the distal cables. The holes or grooves restrain the medial cables to a small radius of motion and the distal cables to a large radius of motion, so that the medial cables to the medial vertebra move only a fraction of the amount as the distal cables to the distal vertebra, so as to achieve precise control and manipulation of the vertebrae.

摘要翻译： 本发明涉及一种具有手腕机构的工具，该手腕机构以这样的方式提供俯仰和偏航旋转，使得该工具在侧倾，俯仰和偏航中没有奇点。 可正向定位的多盘手腕机构包括串联堆叠的多个盘或椎骨。 每个椎骨被配置为相对于每个相邻椎骨以俯仰或偏航旋转。 驱动电缆用于操纵和控制椎骨的运动。 在特定实施例中，一些缆线是从近侧椎骨穿过一个或多个中间椎骨延伸到远侧椎骨的远侧缆线，而其余缆线是从近侧椎骨延伸到一个或多个中间椎骨的内侧缆线。 电缆由一个旋转的平板电缆执行机构驱动。 在具体实施例中，致动器机构包括用于接收中间线缆的多个小半径孔或凹槽以及用于接收远侧线缆的多个大半径孔或凹槽。 孔或凹槽将内侧缆线限制到较小的运动半径，并且远侧缆线运动到较大的运动半径，使得到内侧椎骨的内侧缆线仅移动远侧缆线到远侧椎骨的一部分量， 以实现对椎骨的精确控制和操纵。