公开(公告)号：WO2012068156A3

公开(公告)日：2012-11-01

申请号：PCT/US2011060849

申请日：2011-11-15

Applicant: INTUITIVE SURGICAL OPERATIONS ,  BRISSON GABRIEL F ,  BURBANK WILLIAM ,  DACHS II GREGORY W ,  ZABINSKI JOHN W ,  MURPHY TODD

Inventor： BRISSON GABRIEL F ,  BURBANK WILLIAM ,  DACHS II GREGORY W ,  ZABINSKI JOHN W ,  MURPHY TODD

IPC: A61B19/00 ,  A61B17/29 ,  F16H37/08

CPC classification number: A61B34/70 ,  A61B17/00 ,  A61B34/30 ,  A61B34/32 ,  A61B34/37 ,  A61B34/71 ,  A61B2017/00367 ,  A61B2017/00398 ,  A61B2017/00477 ,  A61B2017/2901 ,  A61B2017/2903 ,  A61B2017/293 ,  A61B2017/2932 ,  A61B2017/2936 ,  A61B2017/2938 ,  A61B2017/2943 ,  A61B2034/2059 ,  A61B2034/301 ,  A61B2034/302 ,  A61B2034/303 ,  A61B2034/715 ,  A61B2090/067

Abstract: Surgical assemblies and related methods are disclosed that provide for decoupling of instrument shaft roll and end effector actuation. A surgical assembly includes a base, an instrument shaft rotationally mounted to the base, an end effector supported at a distal end of the instrument shaft and including an actuation mechanism driven by a rotational motion, a drive shaft rotationally coupled with the actuation mechanism and configured to provide the rotational motion to the actuation mechanism, and a differential rotationally coupled to the drive shaft and receiving a first input motion and a second input motion. The differential combines the first and second input motions to generate an output motion that rotates the drive shaft. The first input motion is rotationally coupleable to an actuation source. The second input motion is coupled to rotation of the instrument shaft relative to the base.

Abstract translation: 公开了外科组件和相关方法，其提供器械轴卷和端部执行器致动的解耦。 外科组件包括：基座;旋转地安装到基座的器械轴;端部执行器，其支撑在器械轴的远端处并且包括由旋转运动驱动的致动机构;驱动轴，与致动机构旋转地联接并且被配置 以向致动机构提供旋转运动，以及与驱动轴旋转耦合并接收第一输入运动和第二输入运动的差速器。 该差速器将第一和第二输入运动组合起来以产生使驱动轴旋转的输出运动。 第一输入运动可旋转地连接至致动源。 第二输入运动与仪器轴相对于基座的旋转相联接。

公开(公告)号：WO2011060315A3

公开(公告)日：2011-08-11

申请号：PCT/US2010056607

申请日：2010-11-12

Applicant: INTUITIVE SURGICAL OPERATIONS

Inventor： BURBANK WILLIAM ,  DACHS II GREGORY ,  MURPHY TODD

IPC: A61B19/00 ,  B25J9/10 ,  F16D3/42

CPC classification number: A61B19/2203 ,  A61B17/00234 ,  A61B17/064 ,  A61B17/28 ,  A61B17/285 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B2017/00526 ,  A61B2034/305 ,  F16D3/185 ,  F16D3/26 ,  Y10S901/29 ,  Y10T29/49826

Abstract: Surgical tools having a two degree-of-freedom wrist (70), wrist articulation by linked tension members (218, 220, 222, 224), mechanisms (372, 390) for transmitting torque through an angle, and minimally invasive surgical tools incorporating these features are disclosed. An elongate intermediate wrist member (80) is pivotally coupled with a distal end of an instrument shaft (74) so as to rotate about a first axis transverse to the shaft, and an end effector body (72) is pivotally coupled with the intermediate member so as to rotate about a second axis that is transverse to the first axis. Linked tension members (218, 220, 222, 224) interact with attachment features (180, 182, 184, 186) to articulate the wrist. A torque-transmitting mechanism (372, 390) includes a coupling member (384, 394), coupling pins (398, 400), a drive shaft (392), and a driven shaft (396). The drive shaft is coupled with the driven shaft so as to control the relative orientations of the drive shaft, the coupling member, and the driven shaft.

Abstract translation: 具有两个自由度的手腕（70）的手术工具，通过连接的张紧构件（218,220,222,224）的腕关节，用于通过角度传递扭矩的机构（372,390）和包括 这些特征被公开。 细长的中间腕部构件（80）与仪器轴（74）的远端枢转地联接，以便围绕横向于轴的第一轴线旋转，并且末端执行器主体（72）与中间构件 以便围绕横向于第一轴线的第二轴线旋转。 连接的张力构件（218,220,222,224）与附接特征（180,182,184,186）相互作用以铰接手腕。 扭矩传递机构（372,390）包括联接构件（384,394），联接销（398,400），驱动轴（392）和从动轴（396）。 驱动轴与从动轴联接，以便控制驱动轴，联接构件和从动轴的相对定向。