# US 11,304,770 B2 · Force transmission mechanism for surgical instrument, and related devices, systems, and methods > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,304,770 B2 - Document ID: US11304770B2 - Status: Granted - Kind: B2 - Application number: 16/083,150 - Filed: 2017-03-08 - Published: 2019-03-07 - Granted: 2022-04-19 - Earliest claimed: 2016-03-09 - Assignees: Intuitive Surgical Operations, Inc. - Applicants: Intuitive Surgical Operations, Inc. - Inventors: Samuel T. Crews; Harsukhdeep Singh Ratia; Nicole Kernbaum - Web page: https://patentgrep.com/patent/US11304770B2 ## CPC - A61B 34/71: {Manipulators operated by drive cable mechanisms} - A61B 17/1285: {for minimally invasive surgery} - A61B 17/29: Forceps for use in minimally invasive surgery - A61B 34/35: for telesurgery - A61B 2017/00398: {using powered actuators, e.g. stepper motors, solenoids} - A61B 2017/2936: {Pins in guiding slots} - A61B 2017/2944: {Translation of jaw members} - A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract A force transmission mechanism for a teleoperated surgical instrument includes a drive pulley, a drive cable operably coupled with the drive pulley, a driven pulley operably coupled with the drive cable, and an actuation member operably coupled to the driven pulley. The actuation member is configured to transmit force to actuate an end effector of the surgical instrument. Rotational motion of the driven pulley causes translational movement of the actuation element to actuate the end effector. Methods relate to operating a force transmission mechanism. ## Claims ### Claim 1 A force transmission mechanism for an instrument, comprising: a drive pulley rotatable about a first rotational axis; one or more drive cables operably coupled with the drive pulley; a driven pulley operably coupled with the or each of the one or more drive cables, the driven pulley rotatable about a second rotational axis oriented in a non-parallel relationship to the first rotational axis; and a push/pull actuation member engaged with the driven pulley, the push/pull actuation member being configured to transmit compressive and tensile forces along a shaft of the instrument to actuate an end effector of the instrument; wherein rotational motion of the driven pulley causes translational movement of the push/pull actuation member to actuate the end effector. ### Claim 2 (depends on 1) The force transmission mechanism of claim 1, wherein the first rotational axis and the second rotational axis are orthogonal to one another. ### Claim 3 (depends on 1) The force transmission mechanism of claim 1, wherein: the force transmission mechanism comprises an idler pulley engaged with a drive cable of the one or more drive cables; and the idler pulley is positioned between the drive pulley and the driven pulley. ### Claim 4 (depends on 1) The force transmission mechanism of claim 1, wherein: the one or more drive cables comprise a first drive cable portion and a second drive cable portion; the force transmission mechanism comprises a first idler pulley engaged with the first drive cable portion between the drive pulley and the driven pulley; and the force transmission mechanism comprises a second idler pulley engaged with the second drive cable portion between the drive pulley and the driven pulley. ### Claim 5 (depends on 1) The force transmission mechanism of claim 1, wherein the force transmission mechanism is configured to provide a mechanical advantage ratio between a tensile force in the one or more drive cables and an actuation force applied by the push/pull actuation member to the end effector. ### Claim 6 (depends on 5) The force transmission mechanism of claim 5, wherein the mechanical advantage ratio ranges from 1:1 to 3:1. ### Claim 7 (depends on 6) The force transmission mechanism of claim 6, wherein the mechanical advantage ratio is 1.5:1. ### Claim 8 (depends on 1) The force transmission mechanism of claim 1, further comprising a ball joint coupling the push/pull actuation member to the driven pulley. ### Claim 9 (depends on 8) The force transmission mechanism of claim 8, wherein: the ball joint comprises a ball element and a socket configured to receive the ball element; the driven pulley comprises the socket; the ball element is rotatably received by the socket; and the push/pull actuation member extends from the ball element. ### Claim 10 A force transmission mechanism for an instrument, the force transmission mechanism comprising: a drive pulley; a driven pulley; a first drive cable portion operably coupled to the drive pulley and the driven pulley; a second drive cable portion operably coupled to the drive pulley and the driven pulley; and a push/pull actuation member engaged with the driven pulley, the push/pull actuation member being configured to transmit compressive and tensile forces along a shaft of the instrument to actuate an end effector of the instrument; wherein: the first drive cable portion is wrapped at least partially around the drive pulley in a first direction; the second drive cable portion is wrapped at least partially around the drive pulley in a second direction opposite the first direction; and the first drive cable portion and the second drive cable portion extend from the drive pulley toward the driven pulley in the same direction at diametrically opposite positions of the drive pulley; and rotational motion of the driven pulley causes translational movement of the push/pull actuation member to actuate the end effector. ### Claim 11 (depends on 10) The force transmission mechanism of claim 10, wherein: the driven pulley comprises an outer diameter; and the push/pull actuation member is engaged with the driven pulley at a location of the driven pulley within the outer diameter. ### Claim 12 (depends on 10) The force transmission mechanism of claim 10, wherein the first drive cable portion and the second drive cable portion are separate cables. ### Claim 13 (depends on 10) The force transmission mechanism of claim 10, wherein the first drive cable portion and the second drive cable portion each have an end secured to the driven pulley. ### Claim 14 An instrument comprising: a shaft; an end effector at a distal portion of the shaft; and a force transmission mechanism at a proximal portion of the shaft, the force transmission mechanism comprising: a drive pulley rotatable about a first rotational axis, a drive cable operably coupled with the drive pulley, a driven pulley operably coupled with the drive cable and rotatable about a second rotational axis oriented in a non-parallel relationship with the first rotational axis, and a push/pull actuation member engaged with the driven pulley and to the end effector; wherein the push/pull actuation member extends along the shaft and is configured to transmit compressive and tensile forces to actuate the end effector; and wherein rotational motion of the driven pulley causes translational movement of the push/pull actuation member to actuate the end effector. ### Claim 15 (depends on 14) The instrument of claim 14, wherein: the end effector comprises jaws moveable between a closed position and an open position; an effective distance between a ball element and the second rotational axis of the driven pulley is at a maximum when the jaws of the end effector are in the closed position; and the push/pull actuation member extends from the ball element. ### Claim 16 (depends on 14) The instrument of claim 14, wherein the end effector comprises a ligation clip applier tool. ### Claim 17 (depends on 14) The instrument of claim 14, wherein the end effector comprises forceps. ### Claim 18 (depends on 14) The instrument of claim 14, wherein: the instrument further comprises an input device operably coupled to the drive pulley; and the input device is configured to transmit a rotational input of a drive mechanism of a patient side manipulator to the drive pulley. ### Claim 19 (depends on 14) The instrument of claim 14, wherein: the drive cable comprises a first end portion and a second end portion; and the first end portion and the second end portion are secured to the driven pulley. ### Claim 20 An instrument, comprising: a drive pulley; a driven pulley; a first drive cable portion wrapped in a first direction around the drive pulley, extending to the driven pulley, and wrapped in a second direction around the driven pulley; a second drive cable portion wrapped in a third direction around the drive pulley, extending to the driven pulley, and wrapped in a fourth direction around the driven pulley, the third direction being opposite the first direction, and the fourth direction being opposite the second direction; and an actuation member having a first end and a second end opposite the first end, the first end being pivotally coupled to the driven pulley, and the second end being engaged with a movable component at a distal end of the instrument. ### Claim 21 (depends on 20) The instrument of claim 20, wherein a rotational axis of the drive pulley and a rotational axis of the driven pulley are perpendicular.