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    Apparatus for pitch and yaw rotation
    1.
    发明授权
    Apparatus for pitch and yaw rotation 有权

    公开(公告)号：US11051794B2

    公开(公告)日：2021-07-06

    申请号：US16162652

    申请日：2018-10-17

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Thomas G. Cooper ,  Daniel T. Wallace ,  Stacey Chang ,  S. Christopher Anderson ,  Dustin Williams

    IPC: A61B17/00 ,  A61B34/00 ,  A61B34/30 ,  A61B17/29 ,  A61B1/005 ,  A61B1/008

    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. A positively positionable multi-disk wrist mechanism includes a plurality of disks or vertebrae stacked in series. Each vertebra is configured to rotate in pitch or in yaw with respect to each neighboring vertebra. Actuation cables are used to manipulate and control movement of the vertebrae. In specific embodiments, some of the cables are distal cables that extend from a proximal vertebra through one or more intermediate vertebrae to a distal vertebra, while the remaining cables are medial cables that extend from the proximal vertebra to one or more of the intermediate vertebrae. The cables are actuated by a pivoted plate cable actuator mechanism.

    Roll-Pitch-Roll Surgical Tool
    2.
    发明申请
    Roll-Pitch-Roll Surgical Tool 审中-公开

    公开(公告)号：US20180338805A1

    公开(公告)日：2018-11-29

    申请号：US16055299

    申请日：2018-08-06

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Tracey A. Morley ,  Daniel T. Wallace

    IPC: A61B34/30 ,  A61B34/00 ,  A61B17/062 ,  A61B17/00 ,  A61B17/068 ,  A61B90/50

    Abstract: A robotic surgical tool includes an elongate shaft having a working end and a shaft axis, and a pair of linking arms each having a proximal end and a distal end. The proximal end is pivotally mounted on the working end of the shaft to rotate around a first pitch axis to produce rotation in first pitch. A wrist member has a proximal portion pivotally connected to the distal end of the linking arm to rotate around a second pitch axis to produce rotation in second pitch. An end effector is pivotally mounted on a distal portion of the wrist member to rotate around a wrist axis of the wrist member to produce rotation in distal roll. The wrist axis extends between the proximal portion and the distal portion of the wrist member. The elongate shaft is rotatable around the shaft axis to produce rotation in proximal roll. At about 90° pitch, the wrist axis is generally perpendicular to the shaft axis. The proximal roll around the shaft axis and the distal roll around the wrist axis do not overlap. The use of the linking arms allows the end effector to be bent back beyond 90° pitch. The ability to operate the end effector at about 90° pitch and to bend back the end effector renders the wrist mechanism more versatile and adaptable to accessing hard to reach locations, particularly with small entry points such as those involving spinal, neural, or rectal surgical sites.

    Apparatus for Pitch and Yaw Rotation
    4.
    发明申请
    Apparatus for Pitch and Yaw Rotation 审中-公开

    公开(公告)号：US20190046173A1

    公开(公告)日：2019-02-14

    申请号：US16162652

    申请日：2018-10-17

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Thomas G. Cooper ,  Daniel T. Wallace ,  Stacey Chang ,  S. Christopher Anderson ,  Dustin Williams

    IPC: A61B17/00 ,  A61B34/00 ,  A61B34/30 ,  A61B1/008 ,  A61B1/005 ,  A61B17/29

    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. A positively positionable multi-disk wrist mechanism includes a plurality of disks or vertebrae stacked in series. Each vertebra is configured to rotate in pitch or in yaw with respect to each neighboring vertebra. Actuation cables are used to manipulate and control movement of the vertebrae. In specific embodiments, some of the cables are distal cables that extend from a proximal vertebra through one or more intermediate vertebrae to a distal vertebra, while the remaining cables are medial cables that extend from the proximal vertebra to one or more of the intermediate vertebrae. The cables are actuated by a pivoted plate cable actuator mechanism.

    Apparatus for pitch and yaw rotation
    5.
    发明授权
    Apparatus for pitch and yaw rotation 有权

    公开(公告)号：US10105128B2

    公开(公告)日：2018-10-23

    申请号：US15624344

    申请日：2017-06-15

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Thomas G. Cooper ,  Daniel T. Wallace ,  Stacey Chang ,  S. Christopher Anderson ,  Dustin Williams

    IPC: A61B17/00 ,  A61B19/00 ,  A61B34/00 ,  A61B17/29 ,  A61B34/30 ,  A61B1/005 ,  A61B1/008

    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. A positively positionable multi-disk wrist mechanism includes a plurality of disks or vertebrae stacked in series. Each vertebra is configured to rotate in pitch or in yaw with respect to each neighboring vertebra. Actuation cables are used to manipulate and control movement of the vertebrae. In specific embodiments, some of the cables are distal cables that extend from a proximal vertebra through one or more intermediate vertebrae to a distal vertebra, while the remaining cables are medial cables that extend from the proximal vertebra to one or more of the intermediate vertebrae. The cables are actuated by a pivoted plate cable actuator mechanism.

    Roll-pitch-roll surgical tool
    6.
    发明授权
    Roll-pitch-roll surgical tool 有权

    公开(公告)号：US10052155B2

    公开(公告)日：2018-08-21

    申请号：US14874614

    申请日：2015-10-05

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Tracey A. Morley ,  Daniel T. Wallace

    IPC: B25J17/02 ,  A61B19/00 ,  A61B17/062 ,  A61B34/00 ,  A61B34/30 ,  A61B17/068 ,  A61B17/00 ,  A61B90/50

    CPC classification number: A61B34/30 ,  A61B17/00234 ,  A61B17/062 ,  A61B17/068 ,  A61B34/71 ,  A61B2017/00477 ,  A61B2034/305 ,  A61B2090/506 ,  Y10T74/20305 ,  Y10T74/20335 ,  Y10T74/2036

    Abstract: A robotic surgical tool includes an elongate shaft having a working end and a shaft axis, and a pair of linking arms each having a proximal end and a distal end. The proximal end is pivotally mounted on the working end of the shaft to rotate around a first pitch axis to produce rotation in first pitch. A wrist member has a proximal portion pivotally connected to the distal end of the linking arm to rotate around a second pitch axis to produce rotation in second pitch. An end effector is pivotally mounted on a distal portion of the wrist member to rotate around a wrist axis of the wrist member to produce rotation in distal roll. The wrist axis extends between the proximal portion and the distal portion of the wrist member. The elongate shaft is rotatable around the shaft axis to produce rotation in proximal roll. At about 90° pitch, the wrist axis is generally perpendicular to the shaft axis. The proximal roll around the shaft axis and the distal roll around the wrist axis do not overlap. The use of the linking arms allows the end effector to be bent back beyond 90° pitch. The ability to operate the end effector at about 90° pitch and to bend back the end effector renders the wrist mechanism more versatile and adaptable to accessing hard to reach locations, particularly with small entry points such as those involving spinal, neural, or rectal surgical sites.

    ROLL-PITCH-ROLL SURGICAL TOOL
    8.
    发明申请
    ROLL-PITCH-ROLL SURGICAL TOOL 审中-公开
    ROLL-PITCH-ROLL手术工具

    公开(公告)号：US20140052156A1

    公开(公告)日：2014-02-20

    申请号：US13967656

    申请日：2013-08-15

    Applicant: Intuitive Surgical Operations, Inc

    Inventor： Tracey A. Morley ,  Daniel T. Wallace

    IPC: A61B17/00 ,  A61B19/00

    CPC classification number: A61B34/30 ,  A61B17/00234 ,  A61B17/062 ,  A61B17/068 ,  A61B34/71 ,  A61B2017/00477 ,  A61B2034/305 ,  A61B2090/506 ,  Y10T74/20305 ,  Y10T74/20335 ,  Y10T74/2036

    Abstract: A robotic surgical tool includes an elongate shaft having a working end and a shaft axis. The proximal end of a wrist member is pivotally mounted on the working end of the shaft to rotate around a first pitch axis to produce rotation in first pitch. An end effector is pivotally mounted on a distal portion of the wrist member to rotate around a wrist axis of the wrist member to produce rotation in distal roll. The wrist axis extends between the proximal portion and the distal portion of the wrist member. The elongate shaft is rotatable around the shaft axis to produce rotation in proximal roll.

    Abstract translation: 机器人手术工具包括具有工作端和轴线的细长轴。 手腕构件的近端枢转地安装在轴的工作端上，以围绕第一俯仰轴线旋转以产生第一节距的旋转。 端部执行器枢转地安装在腕部构件的远端部分上以围绕腕部构件的腕轴旋转以在远侧辊中产生旋转。 腕轴在腕部件的近端部分和远端部分之间延伸。 细长轴可以绕着轴的轴线旋转以在近侧的辊中产生旋转。

    Pitch-roll-yaw surgical tool
    10.
    发明授权
    Pitch-roll-yaw surgical tool 有权
    俯仰横摆手术工具

    公开(公告)号：US09173643B2

    公开(公告)日：2015-11-03

    申请号：US13967656

    申请日：2013-08-15

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Tracey A. Morley ,  Daniel T. Wallace

    IPC: A61B17/00 ,  A61B17/062 ,  A61B19/00 ,  A61B17/068

    CPC classification number: A61B34/30 ,  A61B17/00234 ,  A61B17/062 ,  A61B17/068 ,  A61B34/71 ,  A61B2017/00477 ,  A61B2034/305 ,  A61B2090/506 ,  Y10T74/20305 ,  Y10T74/20335 ,  Y10T74/2036

    Abstract: A robotic surgical tool includes an elongate shaft having a working end and a shaft axis. The proximal end of a wrist member is pivotally mounted on the working end of the shaft to rotate around a first pitch axis to produce rotation in first pitch. An end effector is pivotally mounted on a distal portion of the wrist member to rotate around a wrist axis of the wrist member to produce rotation in distal roll. The wrist axis extends between the proximal portion and the distal portion of the wrist member. The elongate shaft is rotatable around the shaft axis to produce rotation in proximal roll.

    Abstract translation: 机器人手术工具包括具有工作端和轴线的细长轴。 手腕构件的近端枢转地安装在轴的工作端上，以围绕第一俯仰轴线旋转以产生第一节距的旋转。 端部执行器枢转地安装在腕部构件的远端部分上以围绕腕部构件的腕轴旋转以在远侧辊中产生旋转。 腕轴在腕部件的近端部分和远端部分之间延伸。 细长轴可以绕着轴的轴线旋转以在近侧的辊中产生旋转。

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