Robotic medical systems with high force instruments
AssigneeAuris Health, Inc.
InventorsDaniel T. Wallace, Travis Michael Schuh, Spencer James Witte
Life of this patent
Estimating the term…
Abstract
A robotic system can include a high force instrument that amplifies input forces such that output forces are greater than input forces. The high force instrument can include an end effector. The high force instrument can further include a first pulley configured to rotate about a pulley axis and a first jaw member connected to the first pulley by a first drive pin. The high force instrument can also include a second pulley configured to rotate about the pulley axis and a second jaw member connected to the second pulley by a second drive pink. A link can provide a first pivot point about which the first jaw member can pivot and a second pivot point about which the second jaw member can pivot.
Claims20
A robotic system comprising:
- an instrument having an end effector, the instrument comprising:
- a first pulley configured to rotate about a pulley axis;
- a first jaw member connected to the first pulley by a first drive pin;
- a second pulley configured to rotate about the pulley axis;
- a second jaw member connected to the second pulley by a second drive pin;
- and
- a link providing a first pivot point about which the first jaw member can pivot and a second pivot point about which the second jaw member can pivot,
- wherein, during rotation of the first pulley and the second pulley, the first drive pin can rotate past the second drive pin.
A robotic system comprising:
- an instrument having an end effector, the instrument comprising:
- a first pulley configured to rotate about a pulley axis;
- a first jaw member connected to the first pulley by a first drive pin;
- a second pulley configured to rotate about the pulley axis;
- a second jaw member connected to the second pulley by a second drive pin;
- a link providing a first pivot point about which the first jaw member can pivot and a second pivot point about which the second jaw member can pivot;
- and
- a geared constraint configured to constrain motion of the first jaw member and the second jaw member such that motion of one of the first jaw member and the second jaw member causes a substantially corresponding motion of the other of the first jaw member and the second jaw member.
A robotic system comprising:
- an instrument having an end effector, the instrument comprising:
- a first pulley configured to rotate about a pulley axis;
- a first jaw member connected to the first pulley by a first drive pin;
- a second pulley configured to rotate about the pulley axis;
- a second jaw member connected to the second pulley by a second drive pin;
- a link providing a first pivot point about which the first jaw member can pivot and a second pivot point about which the second jaw member can pivot;
- and
- a slot constraint configured to prevent or reduce a risk of rotation of the end effector about the first drive pin and the second drive pin when the first drive pin and the second drive pins are aligned.
Dependencies are inferred from the claim text.