公开(公告)号：US20220226058A1

公开(公告)日：2022-07-21

申请号：US17154061

申请日：2021-01-21

申请人： Ethicon LLC

发明人： Andrew T. BECKMAN ,  Charles J. SCHEIB ,  Benjamin D. DICKERSON ,  Eric N. JOHNSON ,  Jason Alan HILL

IPC分类号： A61B34/00 ,  A61B34/37

摘要： A robotic surgical tool includes a handle, an elongate shaft extended through the handle, and an actuation system housed within the handle and including a drive belt extending along a portion of the shaft and having a distal end anchored to the shaft distal to the handle and a proximal end anchored to the shaft proximal to the handle, and a drive gear mounted to the handle to receive the drive belt. Operating the actuation system rotates the drive gear to drive the drive belt and thereby cause z-axis translation of the shaft through the handle.

公开(公告)号：US20220226056A1

公开(公告)日：2022-07-21

申请号：US17153026

申请日：2021-01-20

申请人： Ethicon LLC

发明人： Andrew T. BECKMAN ,  Spencer James WITTE ,  Charles J. SCHEIB ,  Benjamin D. DICKERSON ,  Travis Michael SCHUH ,  Eric N. JOHNSON ,  Jason Alan HILL

IPC分类号： A61B34/00 ,  B25J15/00 ,  B25J9/10

摘要： A robotic surgical tool includes a handle providing a drive input, an elongate shaft extendable through the handle and having an end effector arranged at a distal end of the shaft, and an accumulator system housed within the handle and operatively coupled to the drive input such that actuation of the drive input operates the accumulator system. At least one drive cable is threaded through the accumulator system and extends distally along the shaft, wherein operation of the accumulator system acts on the at least one drive cable to operate the end effector.

公开(公告)号：US20220226054A1

公开(公告)日：2022-07-21

申请号：US17153239

申请日：2021-01-20

申请人： Ethicon LLC

发明人： Andrew T. BECKMAN ,  Charles J. SCHEIB ,  Benjamin D. DICKERSON ,  Jason Alan HILL

IPC分类号： A61B34/37 ,  A61B17/068 ,  A61B17/3201 ,  A61B34/00

摘要： A robotic surgical tool includes an elongate shaft extendable through a handle that provides a drive input, an actuation system housed within the handle and operatively coupled to the drive input such that actuation of the drive input operates the actuation system, a rocker bar system arranged at a proximal end of the shaft and actuatable to articulate an end effector at a distal end of the shaft, and first and second drive cables extending along a portion of the shaft, each drive cable having a proximal end anchored to the shaft proximal to the handle and a distal end anchored to the shaft distal to the handle, wherein the drive cables are threaded through portions of the actuation and rocker bar systems such that operation of the actuation system acts on the drive cables and thereby actuates the rocker bar system to articulate the end effector.

公开(公告)号：US20220226048A1

公开(公告)日：2022-07-21

申请号：US17153998

申请日：2021-01-21

申请人： Ethicon LLC

发明人： Andrew T. BECKMAN ,  Charles J. SCHEIB ,  Benjamin D. DICKERSON ,  Eric N. JOHNSON ,  Jason Alan HILL

IPC分类号： A61B34/30 ,  A61B34/00 ,  A61B17/32

摘要： A robotic surgical tool includes a handle providing a first drive input and a second drive input, an elongate shaft extendable through the handle and having an end effector arranged at a distal end thereof, and a rack extending along a portion of the shaft and operatively coupled to a knife located at the end effector. Actuation of the first drive input transitions the rack between a locked configuration, where the rack is locked to the shaft, and a released configuration, where the rack is released from the shaft. Actuation of the second drive input with the rack in the locked configuration drives the rack and causes z-axis translation of the shaft through the handle. Actuation of the second drive input with the rack in the released configuration drives the rack relative to the shaft and thereby advances or retracts the knife at the end effector.

公开(公告)号：US20220226059A1

公开(公告)日：2022-07-21

申请号：US17154237

申请日：2021-01-21

申请人： Ethicon LLC

发明人： Andrew T. BECKMAN ,  Charles J. SCHEIB ,  Travis Michael SCHUH ,  Benjamin D. DICKERSON ,  Erica Ding CHIN ,  Eric N. JOHNSON ,  Jason Alan HILL

IPC分类号： A61B34/00 ,  A61B34/30 ,  A61B17/29 ,  A61B17/072 ,  A61B18/14 ,  A61B17/128

摘要： A robotic surgical tool includes a shaft extendable through a handle, an end effector arranged at a distal end of the shaft and including a first and second jaws providing first and second jaw extension, a plurality of drive members extending along the shaft and actuatable by the handle, and an articulable wrist interposing the end effector and the distal end. The wrist includes a proximal clevis, a distal clevis rotatably coupled to the proximal clevis, first and second pulleys rotatably mounted to the distal clevis, the first jaw extension being pinned to the first pulley and the second jaw extension being pinned to the second pulley, and a linkage mounted to the jaws. The plurality of drive members terminate at the first and second pulleys and are antagonistically operable to open and close the jaws and articulate the end effector in pitch and yaw.

公开(公告)号：US20220226057A1

公开(公告)日：2022-07-21

申请号：US17153214

申请日：2021-01-20

申请人： Ethicon LLC

发明人： Andrew T. BECKMAN ,  Charles J. SCHEIB ,  Benjamin D. DICKERSON ,  Jason Alan HILL

IPC分类号： A61B34/00 ,  A61B34/30

摘要： A robotic surgical tool includes an elongate shaft extendable through a handle providing a drive input, a drive cable extending along a portion of the shaft and having a proximal end anchored to the shaft proximal to the handle and a distal end anchored to the shaft distal to the handle, an actuation system housed within the handle and operatively coupled to the drive input such that actuation of the drive input operates the actuation system, and a toggle mechanism arranged at a proximal end of the shaft and actuatable to close or open opposing jaws of an end effector arranged at a distal end of the shaft. The drive cable is threaded through portions of the actuation system and the toggle mechanism such that operation of the actuation system acts on the drive cable and thereby actuates the toggle mechanism to close or open the opposing jaws.