公开(公告)号：US20150066002A1

公开(公告)日：2015-03-05

申请号：US14536899

申请日：2014-11-10

Applicant: Intuitive Surgical Operations, Inc.

Inventor： THOMAS G. COOPER ,  DANIEL T. WALLACE ,  CHANG STACEY CHANG ,  S. CHRISTOPHER ANDERSON ,  WILLIAM DUSTIN ,  SCOTT E. MANZO

IPC: A61B17/00

CPC classification number: A61B17/00234 ,  A61B1/0055 ,  A61B1/0057 ,  A61B1/008 ,  A61B34/30 ,  A61B34/71 ,  A61B34/72 ,  A61B2017/00314 ,  A61B2017/0069 ,  A61B2017/2908 ,  A61B2017/2929 ,  A61B2017/2936 ,  A61B2034/304 ,  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. 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. In specific embodiments, the actuator mechanism includes a plurality of small radius holes or grooves for receiving the medial cables and a plurality of large radius holes or grooves for receiving the distal cables. The holes or grooves restrain the medial cables to a small radius of motion and the distal cables to a large radius of motion, so that the medial cables to the medial vertebra move only a fraction of the amount as the distal cables to the distal vertebra, so as to achieve precise control and manipulation of the vertebrae.

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。 可靠地定位的多盘腕式机构包括多个堆叠在一起的盘或椎骨。 每个椎骨被配置为相对于每个相邻的椎骨以俯仰或偏航方式旋转。 驱动电缆用于操纵和控制椎骨的运动。 在具体实施例中，一些电缆是从近端椎骨通过一个或多个中间椎骨延伸到远端椎骨的远端电缆，而其余电缆是从近端椎骨延伸到一个或多个中间椎骨的内侧电缆。 电缆由枢轴板电缆致动器机构致动。 在具体实施例中，致动器机构包括用于接纳中间电缆的多个小半径孔或槽，以及用于接收远端电缆的多个大半径孔或槽。 孔或凹槽将内侧电缆限制在较小的运动半径和远端电缆到大的运动半径，使得到内侧椎骨的内侧电缆仅将远端电缆的一部分量移动到远端椎骨， 以便精确控制和操纵椎骨。