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    MECHANICAL WRIST JOINTS WITH ENHANCED RANGE OF MOTION, AND RELATED DEVICES AND METHODS
    6.
    发明公开
    MECHANICAL WRIST JOINTS WITH ENHANCED RANGE OF MOTION, AND RELATED DEVICES AND METHODS 审中-公开
    具有扩展范围的移动和相关设备及方法机械手腕

    公开(公告)号：EP3107697A1

    公开(公告)日：2016-12-28

    申请号：EP15752516.3

    申请日：2015-02-20

    申请人： Intuitive Surgical Operations Inc.

    发明人： SARALIEV, Daniel P. ,  BRISSON, Gabriel F. ,  WILLIAMS, Matthew R.

    IPC分类号： B25J17/00

    CPC分类号： B25J17/0241 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/71 ,  A61B50/13 ,  A61B90/361 ,  A61B2017/2908 ,  A61B2034/306 ,  B25J9/104 ,  Y10S901/29

    摘要： A wrist joint, such as for a surgical instrument, may include a first disc, a second disc adjacent the first disc, and a drive tendon that extends through the first disc and the second disc. The first disc and the second disc may include respective opposing joint features that intermesh with one another. The first disc and the second disc may further include opposing load bearing surfaces separate from the joint features. The drive tendon may exert a force on at least one of the first and second discs to cause relative rotation between the first and second discs. The first and second discs may have a maximum rotational range of motion greater than about +/- 45 degrees relative to each other.

    摘要翻译： 腕关节，：如用于手术器械可以包括第一盘，第二盘相邻的第一盘，以及驱动腱确实通过所述第一盘和第二盘延伸。 所述第一盘和第二盘可包括respectivement相对关节特征并彼此啮合。 所述第一盘和第二盘还可以包括相对的负载支承表面由关节功能分离。 驱动腱可施加在第一和第二盘的至少一个的力以使所述第一和第二盘之间的相对旋转。 所述第一和第二盘可具有运动不是相对于海誓山盟约+/- 45度的最大旋转范围内。

    ARTICULATABLE MEMBERS HAVING CONSTRAINED MOTION, AND RELATED DEVICES AND METHODS
    7.
    发明公开
    ARTICULATABLE MEMBERS HAVING CONSTRAINED MOTION, AND RELATED DEVICES AND METHODS 审中-公开
    具有减少运动和相关设备和方法铰接式元素

    公开(公告)号：EP3107463A1

    公开(公告)日：2016-12-28

    申请号：EP15751972.9

    申请日：2015-02-13

    申请人： Intuitive Surgical Operations, Inc.

    发明人： COOPER, Thomas G. ,  PARK, William John ,  WILLIAMS, Matthew R.

    IPC分类号： A61B17/02 ,  A61B90/00

    CPC分类号： A61B34/35 ,  A61B17/00234 ,  A61B18/1206 ,  A61B18/14 ,  A61B34/30 ,  A61B34/71 ,  A61B2017/00314 ,  A61B2034/306 ,  B25J9/06 ,  B25J9/104 ,  B25J15/0023 ,  B25J15/0066 ,  B25J15/0475 ,  B25J15/10 ,  B25J15/12

    摘要： An articulatable member includes a distal end, a proximal end, an actuation member, and a constraint member. The actuation member extends from the proximal end to the distal end. The actuation member transmits force to bend the articulatable member from a neutral position. The constraint member extends from the proximal end to the distal end. The constraint member may have opposite ends that are fixed to the distal end and the proximal end. In one embodiment, the constraint member follows a helical path along at least a portion of the articulatable member from the proximal end to the distal end. In another embodiment, the actuation member follows a helical path along at least a portion of the articulatable member.

    摘要翻译： 进行关节运动的部件包括远端，近端，在致动部件和一个约束构件。 所述致动构件从所述近端到所述远端延伸。 激励部件将力传递到从中间位置弯曲关节运动的成员。 约束构件从所述近端到所述远端延伸。 约束元件可具有相对的端部并固定在远端和近端。 在一个中，实施方式约束构件如下至少沿从所述近端到所述远端可铰接构件的一部分的螺旋路径。 在另一个实施例中致动部件沿如下所述可铰接构件的至少一部分上的螺旋形路径。