MECHANICAL JOINTS, AND RELATED SYSTEMS AND METHODS

    公开(公告)号:US20200170734A1

    公开(公告)日:2020-06-04

    申请号:US16697811

    申请日:2019-11-27

    Abstract: A surgical instrument may comprise a shaft; a wrist structure coupled to the shaft; an end effector coupled to the wrist structure; and an actuation element extending through the shaft and the wrist and coupled to the end effector. The wrist structure may be articulatable in multiple degrees of freedom relative to the shaft, and the actuation element may follow a twisted path along at least a portion of a length of the wrist structure, the twisted path having an angular extent of less than 360 degrees over the length of the wrist.

    INSTRUMENT SHAFT FOR COMPUTER-ASSISTED SURGICAL SYSTEM
    3.
    发明申请
    INSTRUMENT SHAFT FOR COMPUTER-ASSISTED SURGICAL SYSTEM 审中-公开
    用于计算机辅助外科系统的仪器轴

    公开(公告)号:US20160193001A1

    公开(公告)日:2016-07-07

    申请号:US14911977

    申请日:2014-08-14

    Abstract: A shaft for a surgical instrument comprises an outer tube having a proximal end and a distal end, a central lumen extending through the outer tube, and a plurality of stiffening rods positioned around the central lumen. The plurality of stiffening rods may comprise a nonconductive material. The shaft may form part of an electrosurgical instrument. In another embodiment, a surgical instrument may comprise an end effector and a shaft having an outer tube having a proximal end and a distal end, a drive rod, and at least four stiffening rods positioned around the drive rod, each stiffening rod being positioned substantially immediately adjacent to the drive rod. The axial stiffness of the shaft increases incrementally during actuation of the end effector.

    Abstract translation: 用于外科器械的轴包括具有近端和远端的外管,延伸穿过外管的中心腔和围绕中心腔定位的多个加强杆。 多个加强杆可以包括非导电材料。 轴可以形成电外科器械的一部分。 在另一个实施例中,外科器械可以包括端部执行器和具有外管的轴,所述外管具有近端和远端,驱动杆和围绕驱动杆定位的至少四个加强杆,每个加强杆基本上被定位 紧邻驱动杆。 在末端执行器的致动期间,轴的轴向刚度增加。

    INSTRUMENT SHAFT FOR COMPUTER-ASSISTED SURGICAL SYSTEM

    公开(公告)号:US20190060017A1

    公开(公告)日:2019-02-28

    申请号:US16171942

    申请日:2018-10-26

    Abstract: A shaft for a surgical instrument comprises an outer tube having a proximal end and a distal end, a central lumen extending through the outer tube, and a plurality of stiffening rods positioned around the central lumen. The plurality of stiffening rods may comprise a nonconductive material. The shaft may form part of an electrosurgical instrument. In another embodiment, a surgical instrument may comprise an end effector and a shaft having an outer tube having a proximal end and a distal end, a drive rod, and at least four stiffening rods positioned around the drive rod, each stiffening rod being positioned substantially immediately adjacent to the drive rod. The axial stiffness of the shaft increases incrementally during actuation of the end effector.

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