公开(公告)号：US20210338352A1

公开(公告)日：2021-11-04

申请号：US17325815

申请日：2021-05-20

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Mark A. DIEL ,  Bram Gilbert Antoon LAMBRECHT

IPC: A61B34/35 ,  A61B34/00 ,  B25J15/00 ,  B25J15/02 ,  B25J9/10 ,  A61B17/00 ,  F16H25/08

Abstract: A surgical instrument may comprise a chassis, a shaft coupled to the chassis at the proximal end of the shaft, an end effector coupled to the shaft at the distal end of the shaft, a force transmission mechanism coupled to the chassis, and an actuation element connected between a lever arm of the force transmission mechanism and the end effector. The force transmission mechanism includes a worm drive, and the lever arm comprising a first end and a follower member at the first end of the lever arm, wherein the follower member is engaged with the worm drive and is configured to be driven by the worm drive. Rotational movement of the worm drive imparts translational movement to the actuation element via the lever arm, and the lever arm slides along a generally linear direction relative to the chassis to impart the translational movement to the actuation element.

公开(公告)号：US20170231703A1

公开(公告)日：2017-08-17

申请号：US15503313

申请日：2015-08-13

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Mark A. DIEL ,  Bram Gilbert Antoon LAMBRECHT

IPC: A61B34/35 ,  A61B17/00 ,  F16H25/08 ,  A61B34/00

CPC classification number: A61B34/35 ,  A61B17/00234 ,  A61B34/70 ,  A61B34/71 ,  A61B2017/00398 ,  A61B2017/2902 ,  A61B2017/294 ,  A61B2017/2943 ,  A61B2017/2944 ,  A61B2090/034 ,  F16H25/08

Abstract: A force transmission mechanism for a surgical instrument includes a worm drive, a lever arm, and an actuation element. The lever arm may include a follower member at a first end of the lever arm. The follower member engages the worm drive and is configured to be driven by the worm drive. The actuation element is connected the lever arm. The actuation element is configured to transmit force to actuate an end effector of the surgical instrument. Rotational movement of the worm drive imparts translational movement to the actuation element via the lever arm.