Apparatus and method for controlling an end-effector assembly
AssigneeTitan Medical Inc.
InventorsEric Butt, Jeff Ransden, Alexander Shvartsberg, Reiza Rayman
Life of this patent
Estimating the term…
Abstract
An apparatus for controlling an end-effector assembly is provided. The apparatus includes a elongated element configured to engage the end-effector assembly and a drive assembly. A first motion transfer mechanism is disposed at an end of the elongated element. The first motion transfer mechanism is configured to transfer a rotational motion of the elongated element to a motion of the end-effector assembly. A second motion transfer mechanism is disposed at the second end of the elongated element. The second motion transfer mechanism is configured to transfer a motion of the drive assembly to the rotational motion of the elongated element.
Claims18
A robotic surgical instrument, comprising:
- an end-effector assembly comprising a working member configured to pivot about a first axis;
- an elongated element extending between a proximal end and a distal end, the distal end being affixed with respect to the end effector assembly to hold the first axis perpendicular to the elongated element;
- a second elongated element extending between a second proximal end and a second distal end, the second distal end of the second elongated element being coupled with the end effector assembly so that rotation of the second elongated element about a second axis pivots the working member about the first axis;
- and
- a drive assembly comprising a first drive member coupled to the proximal end of the elongated element and a second drive member coupled to the second proximal end of the second elongated element, the drive assembly configured to selectively operate the first drive member to rotate the elongated element and configured to selectively operate the second drive member to rotate the second elongated element,
- wherein the elongated element and second elongated element are nested together, and wherein the elongated element is a first tube, the second elongated element is a second tube, and the elongated element and second elongated element are nested together so that one of the first tube and the second tube is disposed within the other of the first tube and the second tube.
A robotic surgical system, comprising:
- a support arm;
- and
- a surgical instrument coupled to the support arm, the surgical instrument comprising:
- an end-effector assembly comprising a working member configured to pivot about a first axis,
- an elongated element extending between a proximal end and a distal end, the distal end being affixed with respect to the end effector assembly to hold the first axis perpendicular to the elongated element,
- a second elongated element extending between a second proximal end and a second distal end, the second distal end of the second elongated element being coupled with the end effector assembly so that rotation of the second elongated element about a second axis pivots the working member about the first axis, and
- a drive assembly comprising a first drive member coupled to the proximal end of the elongated element and a second drive member coupled to the second proximal end of the second elongated element, the drive assembly configured to selectively operate the first drive member to rotate the elongated element and configured to selectively operate the second drive member to rotate the second elongated element,
- wherein the elongated element and second elongated element are nested together, and wherein the elongated element is a first tube, the second elongated element is a second tube, and the elongated element and second elongated element are nested together so that one of the first tube and the second tube is disposed within the other of the first tube and the second tube.
Dependencies are inferred from the claim text.