公开(公告)号：US11207145B2

公开(公告)日：2021-12-28

申请号：US16317235

申请日：2017-06-22

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bram Gilbert Antoon Lambrecht ,  S. Christopher Anderson ,  Ladd T. Johnson

IPC: A61B34/00 ,  A61B34/30 ,  A61B17/29 ,  A61B90/00 ,  A61B17/00

Abstract: A medical instrument includes cable pairs respectively wound around input spindles and connected to actuate degrees of freedom of an instrument shaft structure. The cables may connect so that rotating the input spindles actuates corresponding degrees of freedom. First pulleys in the instrument may receive first cables from the input spindles and redirect the first cables toward the instrument shaft, and second pulleys may receive second cables from the input spindles and redirect the second cables toward the instrument shaft. In one configuration, the first and second pulleys are respectively mounted at first and second levels, and the second pulleys redirect the second cables through the first level. Additionally or alternatively, one level of cables may cross while the other level of cables does not.

公开(公告)号：US11950873B2

公开(公告)日：2024-04-09

申请号：US17529967

申请日：2021-11-18

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bram Gilbert Antoon Lambrecht ,  S. Christopher Anderson ,  Ladd T. Johnson

IPC: A61B34/00 ,  A61B34/30 ,  A61B17/00 ,  A61B17/29 ,  A61B90/00

CPC classification number: A61B34/71 ,  A61B34/00 ,  A61B34/30 ,  A61B2017/00477 ,  A61B17/29 ,  A61B2017/2903 ,  A61B2017/2929 ,  A61B2034/715 ,  A61B2090/371

Abstract: A medical instrument includes cable pairs respectively wound around input spindles and connected to actuate degrees of freedom of an instrument shaft structure. The cables may connect so that rotating the input spindles actuates corresponding degrees of freedom. First pulleys in the instrument may receive first cables from the input spindles and redirect the first cables toward the instrument shaft, and second pulleys may receive second cables from the input spindles and redirect the second cables toward the instrument shaft. In one configuration, the first and second pulleys are respectively mounted at first and second levels, and the second pulleys redirect the second cables through the first level. Additionally or alternatively, one level of cables may cross while the other level of cables does not.