# US 11,432,836 B2 · Joint assemblies with cross-axis flexural pivots

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- Number: US 11,432,836 B2
- Document ID: US11432836B2
- Status: Granted
- Kind: B2
- Application number: 16/332,515
- Filed: 2017-09-13
- Published: 2020-01-09
- Granted: 2022-09-06
- Earliest claimed: 2016-09-14
- Assignees: Intuitive Surgical Operations, Inc.
- Applicants: Intuitive Surgical Operations, Inc.
- Inventors: Jason Dearden; Clayton Grames; Larry L. Howell; Brian D. Jensen; Spencer P. Magleby
- Web page: https://patentgrep.com/patent/US11432836B2

## CPC

- A61B 17/29: Forceps for use in minimally invasive surgery
- B25J 15/0233: {actuated by chains, cables or ribbons}
- A61B 2017/00309: {Cut-outs or slits}
- A61B 2017/2927: {the angular position of the head being adjustable with respect to the shaft}
- A61B 2017/2939: {Details of linkages or pivot points}
- A61B 2034/305: {Details of wrist mechanisms at distal ends of robotic arms}
- F16C 11/12: incorporating flexible connections, e.g. leaf springs
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})
- F16C: SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS

## Abstract

The embodiments described herein can be used in a variety of grasping, cutting, and manipulating operations. In some embodiments, an apparatus includes a first joint member, a second joint member, and a flexure. The first joint member includes a first connection portion and a contact surface. The second joint member including a second connection portion. A first end portion of the flexure is coupled to the first connection portion, and a second end portion of the flexure is coupled to the second connection portion. The flexure is configured to deform elastically when the first joint member and the second joint member move from a first configuration to a second configuration. When in the first configuration, the central portion of the flexure is spaced apart from the contact portion. When in the second configuration, the central portion of the flexure contacting the contact portion.

## Claims

### Claim 1

An apparatus, comprising:
a first joint member;
a second joint member;
a third joint member between the first joint member and the second joint member;
a first flexure comprising a first end portion and a second end portion, the first end portion of the first flexure being coupled to the first joint member, the second end portion of the first flexure being coupled to the third joint member, and the first flexure being configured to deform elastically when the second joint member rotates relative to the first joint member about a first axis of rotation; and
a second flexure comprising a first end portion and a second end portion, the first end portion of the second flexure being coupled to the second joint member, the second end portion of the second flexure being coupled to the third joint member, the second flexure being configured to deform elastically when the second joint member rotates relative to the first joint member about a second axis of rotation, and the second axis of rotation intersects and is nonparallel to the first axis of rotation,
at least one of the first joint member and the third joint member comprises a contact surface;
the first flexure comprises a central portion between the first end portion of the first flexure and the second end portion of the first flexure;
the first flexure is configured to transition between a first configuration and a second configuration when the second joint member rotates relative to the first joint member about the first axis of rotation,
the central portion of the first flexure is spaced apart from the contact surface when the first flexure is in the first configuration, and
the central portion of the first flexure is in contact with the contact surface when the first flexure is in the second configuration.

### Claim 2 (depends on 1)

The apparatus of claim 1, wherein:
the first joint member, the second joint member, and the third joint member define a longitudinal axis when the first joint member, the second joint member, and the third joint member are in a first configuration; and
the first axis of rotation and the second axis of rotation are each normal to the longitudinal axis.

### Claim 3 (depends on 1)

The apparatus of claim 1, wherein:
the first joint member comprises a connection portion;
the third joint member comprises a connection portion;
the first end portion of the first flexure is coupled to the connection portion of the first joint member;
the second end portion of the second flexure is coupled to the connection portion of the third joint member; and
a plane defined by the connection portion of the first joint member is substantially coplanar with a plane defined by the connection portion of the third joint member.

### Claim 4 (depends on 1)

The apparatus of claim 1, wherein the first joint member, the first flexure, and the third joint member are monolithically formed.

### Claim 5

An apparatus, comprising:
a first joint member;
a second joint member;
a third joint member between the first joint member and the second joint member;
a first flexure comprising a first end portion and a second end portion, the first end portion of the first flexure being coupled to the first joint member, the second end portion of the first flexure being coupled to the third joint member, and the first flexure being configured to deform elastically when the second joint member rotates relative to the first joint member about a first axis of rotation; and
a second flexure comprising a first end portion and a second end portion, the first end portion of the second flexure being coupled to the second joint member, the second end portion of the second flexure being coupled to the third joint member, the second flexure being configured to deform elastically when the second joint member rotates relative to the first joint member about a second axis of rotation, and the second axis of rotation intersects and is nonparallel to the first axis of rotation,
at least one of the second joint member and the third joint member comprises a contact surface;
the second flexure comprises a central portion between the first end portion of the second flexure and the second end portion of the second flexure,
the second flexure is configured to transition between a first configuration and a second configuration when the second joint member rotates relative to the first joint member about the second axis of rotation,
the central portion of the second flexure is spaced apart from the contact surface when the second flexure is in the first configuration, and
the central portion of the second flexure is in contact with the contact surface when the second flexure is in the second configuration.

### Claim 6 (depends on 5)

The apparatus of claim 5, wherein:
the first joint member, the second joint member, and the third joint member define a longitudinal axis when the first joint member, the second joint member, and the third joint member are in a first configuration; and
the first axis of rotation and the second axis of rotation are each normal to the longitudinal axis.

### Claim 7 (depends on 5)

The apparatus of claim 5, wherein:
the first joint member comprises a connection portion;
the third joint member comprises a connection portion;
the first end portion of the first flexure is coupled to the connection portion of the first joint member;
the second end portion of the second flexure is coupled to the connection portion of the third joint member; and
a plane defined by the connection portion of the first joint member is substantially coplanar with a plane defined by the connection portion of the third joint member.

### Claim 8 (depends on 5)

The apparatus of claim 5, wherein the first joint member, the first flexure, and the third joint member are monolithically formed.