公开(公告)号：US20170281296A1

公开(公告)日：2017-10-05

申请号：US15624344

申请日：2017-06-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas G. Cooper ,  Daniel T. Wallace ,  Stacey Chang ,  S. Christopher Anderson ,  Dustin Williams

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

CPC classification number: 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

Abstract: 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.

公开(公告)号：US20160022366A1

公开(公告)日：2016-01-28

申请号：US14874614

申请日：2015-10-05

Applicant: INTUITIVE SURGICAL OPERATIONS, INC

Inventor： Tracey A. Morley ,  Daniel T. Wallace

IPC: A61B19/00

CPC classification number: A61B34/30 ,  A61B17/00234 ,  A61B17/062 ,  A61B17/068 ,  A61B34/71 ,  A61B2017/00477 ,  A61B2034/305 ,  A61B2090/506 ,  Y10T74/20305 ,  Y10T74/20335 ,  Y10T74/2036

Abstract: A robotic surgical tool includes an elongate shaft having a working end and a shaft axis, and a pair of linking arms each having a proximal end and a distal end. The proximal end is pivotally mounted on the working end of the shaft to rotate around a first pitch axis to produce rotation in first pitch. A wrist member has a proximal portion pivotally connected to the distal end of the linking arm to rotate around a second pitch axis to produce rotation in second pitch. An end effector is pivotally mounted on a distal portion of the wrist member to rotate around a wrist axis of the wrist member to produce rotation in distal roll. The wrist axis extends between the proximal portion and the distal portion of the wrist member. The elongate shaft is rotatable around the shaft axis to produce rotation in proximal roll. At about 90° pitch, the wrist axis is generally perpendicular to the shaft axis. The proximal roll around the shaft axis and the distal roll around the wrist axis do not overlap. The use of the linking arms allows the end effector to be bent back beyond 90° pitch. The ability to operate the end effector at about 90° pitch and to bend back the end effector renders the wrist mechanism more versatile and adaptable to accessing hard to reach locations, particularly with small entry points such as those involving spinal, neural, or rectal surgical sites.

Abstract translation: 机器人手术工具包括具有工作端和轴线的细长轴和一对连接臂，每个连接臂具有近端和远端。 近端枢转地安装在轴的工作端上以围绕第一俯仰轴线旋转以产生第一节距的旋转。 手腕构件具有枢转地连接到连接臂的远端的近端部分，以围绕第二俯仰轴线旋转以产生第二俯仰的旋转。 端部执行器枢转地安装在腕部构件的远端部分上以围绕腕部构件的腕轴旋转以在远侧辊中产生旋转。 腕轴在腕部件的近端部分和远端部分之间延伸。 细长轴可以绕着轴的轴线旋转以在近侧的辊中产生旋转。 在大约90°的间距处，腕轴通常垂直于轴的轴线。 围绕轴线的近侧卷轴和围绕腕轴的远端卷轴不重叠。 连接臂的使用允许端部执行器向后弯曲超过90°间距。 以约90°间距操作末端执行器并且使末端执行器向后弯曲的能力使得腕部机构更加通用，并且适于进入难以到达的位置，特别是对于诸如涉及脊柱，神经或直肠手术的小入口点 网站。