公开(公告)号：WO2023086384A1

公开(公告)日：2023-05-19

申请号：PCT/US2022/049404

申请日：2022-11-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： WHITLOCK, Michael ,  LATH, Adrit ,  ROSS, Adam J.

IPC: A61B18/14 ,  A61B17/295 ,  A61B17/072 ,  A61B17/29

Abstract: A medical instrument may comprise a shaft (391) and an end effector (350) coupled to a distal end portion of the shaft. The end effector may comprise a jaw mechanism (350), a movable element (380) ranslatable relative to the jaw mechanism, a first actuation element (399) operably coupled to the end effector and translatable relative to the shaft, and a second actuation element (398) operably coupled to the end effector and translatable relative to the shaft. Translation of the first actuation element in a first direction relative to the shaft drives closing of the jaw mechanism. Translation of the second actuation element in a second direction relative to the shaft, opposite from the first direction, drives opening of the jaw mechanism. Translation of the second actuation element relative to the shaft in the first and second directions drives translation of the movable element relative to the jaw mechanism.

公开(公告)号：WO2023069404A1

公开(公告)日：2023-04-27

申请号：PCT/US2022/046979

申请日：2022-10-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： MUELLER, Liliann ,  LITKE, Ronald G. ,  ROSS, Adam J.

IPC: A61B34/00 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00

Abstract: An instrument includes a shaft, a moveable component coupled to the shaft, and an actuation member drive assembly coupled to the shaft. The actuation member drive assembly may include a rotatable drive member, a ring gear operably coupled to the rotatable drive member and configured to rotate in response to rotation of the rotatable drive member, and a planet gear meshed with the ring gear. The instrument further includes an actuation member extending through the shaft and operably coupled to the moveable component and the planet gear. The actuation member is moveable in translation in response to rotation of the planet gear. Devices and methods relate to actuation member drive assemblies.