公开(公告)号：US09474569B2

公开(公告)日：2016-10-25

申请号：US14718944

申请日：2015-05-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Scott E. Manzo ,  Lawrence Kerver

IPC: A61B18/14 ,  A61B17/00 ,  A61B18/00

CPC classification number: A61B18/1445 ,  A61B18/1482 ,  A61B34/30 ,  A61B34/71 ,  A61B2017/00477 ,  A61B2018/00083 ,  A61B2018/00607 ,  A61B2018/0063 ,  A61B2018/00982 ,  A61B2018/1452 ,  A61B2018/1455 ,  A61B2034/306

Abstract: A surgical instrument can include a shaft having a proximal end and a distal end, and a wrist coupled to the distal end of the shaft and configured to articulate in multiple degrees of freedom. An end effector having jaws may be supported by the wrist. The surgical instrument can further include a first drive element extending from the proximal end of the shaft to the end effector, the first drive element being configured to transmit forces to move the jaws relative to each other between open and closed positions, and a second drive element extending from the proximal end of the shaft to the end effector, the second drive element being configured to transmit forces to translate a component of the end effector in a longitudinal direction relative to the jaws. The component can be configured to translate independently of movement of the jaws.

Abstract translation: 手术器械可以包括具有近端和远端的轴，以及联接到轴的远端并被配置为以多个自由度进行关节的腕。 具有钳口的末端执行器可以由手腕支撑。 外科器械还可以包括从轴的近端延伸到末端执行器的第一驱动元件，第一驱动元件构造成传递力以在打开位置和关闭位置之间相对于彼此移动夹爪，并且第二驱动 元件从所述轴的近端延伸到所述端部执行器，所述第二驱动元件构造成传递力以相对于所述钳口在纵向方向上平移所述端部执行器的部件。 组件可以配置为独立于夹爪的移动而进行平移。