公开(公告)号：US20150320501A1

公开(公告)日：2015-11-12

申请号：US14792378

申请日：2015-07-06

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas G. Cooper ,  Christopher S. Anderson

IPC: A61B19/00

CPC classification number: A61B34/30 ,  A61B1/00142 ,  A61B1/00149 ,  A61B1/0058 ,  A61B1/008 ,  A61B1/018 ,  A61B17/00 ,  A61B17/062 ,  A61B17/068 ,  A61B17/1285 ,  A61B17/29 ,  A61B18/1442 ,  A61B34/71 ,  A61B2017/003 ,  A61B2017/00309 ,  A61B2017/2901 ,  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. In one embodiment, a minimally invasive surgical instrument comprises an elongate shaft having a working end, a proximal end, and a shaft axis between the working end and the proximal end; and an end effector. A wrist member has a flexible tube including an axis extending through an interior surrounded by a wall. The wall of the flexible tube includes a plurality of lumens oriented generally parallel to the axis of the flexible tube. The wrist member has a proximal portion connected to the working end of the elongate shaft and a distal portion connected to the end effector. A plurality of actuation cables have distal portions connected to the end effector and extend from the distal portion through the lumens of the wall of the wrist member toward the elongate shaft to proximal portions which are actuatable to bend the wrist member in pitch rotation and yaw rotation.

Abstract translation: 本发明涉及一种具有手腕机构的工具，其提供俯仰和偏转旋转，使得该工具在滚动，俯仰和偏转中没有奇异性。 在一个实施例中，微创手术器械包括细长轴，其具有在工作端和近端之间的工作端，近端和轴线; 和末端执行器。 手腕构件具有柔性管，其包括延伸穿过由壁围成的内部的轴线。 柔性管的壁包括大致平行于柔性管的轴线定向的多个管腔。 手腕构件具有连接到细长轴的工作端的近端部分和连接到端部执行器的远端部分。 多个致动电缆具有连接到末端执行器的远端部分并且从远端部分延伸穿过腕部构件的壁的内腔朝向细长轴到近端部分，该近端部分可以在俯仰旋转和偏转旋转中使手腕构件弯曲 。

公开(公告)号：US20190000494A1

公开(公告)日：2019-01-03

申请号：US16121831

申请日：2018-09-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Christopher S. Anderson ,  Thomas G. Cooper

IPC: A61B17/28 ,  A61B34/30

CPC classification number: A61B17/28 ,  A61B34/30 ,  A61B34/71 ,  A61B2017/00477

Abstract: A medical device includes a lever with an applied force position, a load position, and a fulcrum position. A first cable extends from the applied force position of the lever to a first capstan, the first cable wrapping around the first capstan. A second cable extends from the applied force position of the lever to a second capstan, the second cable wrapping around the second capstan. A rod couples the load position of the lever and a surgical end effector. The first and second capstans may be fixed to an axle. The axle may receive a rotational input from a rotary actuator. A hand wheel may be coupled to the axle. There may be a spring between a support structure and the lever to bias the lever to rotate about the fulcrum position of the lever.