US 11,141,233 B2 · Surgical tool for robotic surgery and robotic surgical assembly

Abstract

A medical instrument for surgery includes at least one frame and at least one jointed device. The jointed device includes at least one first joint member, or first link, adapted to connect to at least one portion of the frame and at least one second joint member, or second link. The first joint member is connected by a rotational joint to the second joint member. The medical instrument includes at least a pair of tendons, adapted to move the second joint member with respect to the first joint member. Each of the first joint member and the second joint member includes a main structural body made in a single piece with one or more convex contact surfaces. Each of the convex contact surfaces is a ruled surface formed by straight line portions all parallel to each other and substantially parallel to a joint movement axis.

Claims14

Dependent claims

A medical instrument for surgery comprising:

a frame;
a jointed device, said jointed device comprising at least one first link, and a second link, wherein said first link is connected via a rotational joint defining an axis of the rotational joint to said second link;
and
at least one tendon for moving said second link with respect to said first link by pulling;
wherein at least one of said first link and said second link comprises in a single piece at least one sliding surface, on which said at least one tendon slides for moving said second link with respect to said first link;
and
wherein said sliding surface is a convex ruled surface formed by a plurality of portions of straight generator lines, all of said straight generator lines being parallel to said axis of the rotational joint.

4 more elements

Dependencies are inferred from the claim text.

Surgical tool for robotic surgery and robotic surgical assembly

Life of this patent

Surgical tool for robotic surgery and robotic surgical assembly

Life of this patent

Abstract

Claims14