公开(公告)号：US10952594B2

公开(公告)日：2021-03-23

申请号：US16697805

申请日：2019-11-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Jay Gurusamy ,  Carson Jay Shellenberger ,  Christopher A. Julian ,  Joshua T. Oen

IPC: A61B1/00 ,  A61B1/04 ,  A61B1/005 ,  A61B1/008 ,  A61B1/273 ,  G02B23/24

Abstract: A medical instrument may comprise a plurality of links disposed in series along an axial direction. The plurality of links also may comprise a brake assembly comprise one or more first braking components coupled to a first link in the pair of adjacent links and one or more second braking components coupled to a second link in the pair of adjacent links. The one or more first braking components and the one or more second braking components may have an interleaved arrangement with each other. The braking assembly may be actuatable between an engaged state and a disengaged state, wherein the one or more first braking components and the one or more second braking components inhibit the pair of adjacent links from pivoting relative to one another in the engaged state of the brake assembly, and wherein the one or more first braking components and the one or more second braking components permit the pair of adjacent links pivoting relative to one another in the disengaged state of the brake assembly. The one or more first braking components and the one or more second braking components may be pressed together in the engaged state of the brake assembly.