# US 11,896,202 B2 · Articulation mechanisms for robotic surgical tools

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- Number: US 11,896,202 B2
- Document ID: US11896202B2
- Status: Granted
- Kind: B2
- Application number: 16/946,363
- Filed: 2020-06-18
- Published: 2021-12-23
- Granted: 2024-02-13
- Earliest claimed: 2020-06-18
- Assignees: Cilag GmbH International
- Applicants: Cilag GmbH International
- Inventors: Andrew T. Beckman; Charles J. Scheib; Neil Markwardt
- Web page: https://patentgrep.com/patent/US11896202B2

## CPC

- A61B 1/00149: {using articulated arms}
- A61B 1/00006: {of control signals}
- A61B 1/00009: {of image signals during a use of endoscope}
- A61B 1/0016: {using motor drive units}
- A61B 17/00234: {for minimally invasive surgery (A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence)}
- A61B 17/072: for applying a row of staples in a single action, e.g. the staples being applied simultaneously
- A61B 17/07207: {the staples being applied sequentially}
- A61B 17/1285: {for minimally invasive surgery}
- A61B 17/29: Forceps for use in minimally invasive surgery
- A61B 17/3201: Scissors (for biopsy A61B10/02)
- A61B 18/1442: {Probes having pivoting end effectors, e.g. forceps}
- A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B 34/30: Surgical robots
- A61B 34/37: Leader-follower robots (A61B34/35 takes precedence)
- A61B 34/71: {Manipulators operated by drive cable mechanisms}
- A61B 90/50: Supports for surgical instruments, e.g. articulated arms
- A61G 13/04: tiltable around transverse or longitudinal axis
- A61G 13/10: Parts, details or accessories (surgical drape sheets A61B46/00)
- B25J 9/102: {Gears specially adapted therefor, e.g. reduction gears (gearings in general F16H)}
- B25J 15/0019: {End effectors other than grippers}
- B25J 17/0241: {One-dimensional joints}
- F16H 1/20: involving more than two intermeshing members
- F16H 1/227: {comprising two or more gearwheels in mesh with the same internally toothed wheel}
- F16H 25/186: {with reciprocation along the axis of oscillation}
- F16H 25/20: Screw mechanisms (with automatic reversal F16H25/12)
- F16H 57/0025: {with gearing elements rigidly connected to a shaft, e.g. securing gears or pulleys by specially adapted splines, keys or methods}
- A61B 1/2676: {Bronchoscopes}
- A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)}
- A61B 2017/07285: {characterised by its cutter}
- A61B 2018/0063: {Sealing}
- A61B 2018/126: {bipolar}
- A61B 2034/105: {Modelling of the patient, e.g. for ligaments or bones}
- A61B 2034/2051: {Electromagnetic tracking systems}
- A61B 2034/2059: {Mechanical position encoders}
- A61B 2034/2061: {using shape-sensors, e.g. fiber shape sensors with Bragg gratings}
- A61B 2034/2065: {Tracking using image or pattern recognition}
- A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes}
- A61B 2034/302: {specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities}
- A61B 2090/066: {for measuring torque}
- A61B 2090/306: {using optical fibres}
- A61B 2090/309: {using white LEDs}
- A61B 2090/376: {using X-rays, e.g. fluoroscopy}
- A61B 2217/005: with suction drainage system
- A61B 2217/007: with irrigation system
- F16H 2025/2059: {Common movement by two screws or two nuts, e.g. two connected screws with opposite thread direction}
- F16H 2025/2081: {Parallel arrangement of drive motor to screw axis}
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- A61G: TRANSPORT, PERSONAL CONVEYANCES OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS (appliances for aiding patients or disabled persons to walk A61H3/00); OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES (embalming corpses A01N1/00)
- 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})
- F16H: GEARING

## Abstract

A robotic surgical tool includes a drive housing having a first end and a second end, at least one spline extending between the first and second ends and including a drive gear that rotates with rotation of the spline, and a carriage movably mounted to the spline. An elongate shaft extends from the carriage and through the first end, an end effector is arranged at a distal end of the elongate shaft, and a wrist interposes the end effector and the distal end of the shaft. An activating mechanism is housed in the carriage and operatively coupled to the drive gear such that rotation of the drive gear correspondingly actuates the activating mechanism and thereby causes the wrist to articulate the end effector in at least one plane.

## Claims

### Claim 1

A robotic surgical tool, comprising:
a drive housing having a first end and a second end;
at least one spline extending between the first and second ends and including a drive gear that rotates with rotation of the at least one spline;
a carriage movably mounted to the at least one spline;
an elongate shaft having a proximal end coupled to the carriage and extending from the carriage through the first end;
an end effector arranged at a distal end of the elongate shaft;
a wrist that interposes the end effector and the distal end of the shaft; and
an activating mechanism housed in the carriage and operatively coupled to the drive gear such that rotation of the drive gear correspondingly actuates the activating mechanism and thereby causes the wrist to articulate the end effector in at least one plane, wherein the activating mechanism comprises:
first and second carriers extending at least partially about the shaft, the first carrier being operatively coupled to a first drive member extending to the wrist, and the second carrier being operatively coupled to a second drive member extending to the wrist;
a first transfer gear extending about the shaft and defining internal threads, the first carrier radially interposing the shaft and the first transfer gear and defining external threads matable with the internal threads of the first transfer gear; and
a second transfer gear extending about the shaft and defining internal threads, the second carrier radially interposing the shaft and the second transfer gear and defining external threads matable with the internal threads of the second transfer gear,
wherein actuation of the activating mechanism causes the first carrier and the first drive member to move along the shaft in a first axial direction and further causes the second carrier and the second drive member to move along the shaft in a second axial direction, wherein the first and second axial directions are equal and opposite,
wherein the first and second transfer gears are matable with the drive gear such that rotation of the drive gear simultaneously rotates the first and second transfer gears, and
wherein the internal threads of the first and second transfer gears are threaded in opposite directions such that rotating the first and second transfer gears causes the first and second carriers to move in equal but opposite axial directions along the shaft.

### Claim 2 (depends on 1)

The robotic surgical tool of claim 1, further comprising:
a drive input arranged at the first end and operatively coupled to the at least one spline such that rotation of the drive input correspondingly rotates the at least one spline and the drive gear,
wherein the robotic surgical tool is capable of engaging an instrument driver arranged at an end of a robotic arm and matable with the drive housing at the first end, the instrument driver providing a drive output matable with the drive input such that rotation of the drive output correspondingly rotates the drive input and thereby actuates the activating mechanism.

### Claim 3 (depends on 2)

The robotic surgical tool of claim 2, wherein the shaft extends through the instrument driver via a central aperture defined longitudinally through the instrument driver.

### Claim 4 (depends on 1)

The robotic surgical tool of claim 1, wherein the carriage comprises at least a first layer and a second layer arranged in series, and wherein the drive gear is arranged between portions of the first and second layers and slidably disposed about the at least one second spline.

### Claim 5 (depends on 1)

The robotic surgical tool of claim 1, wherein distal ends of the first and second drive members antagonistically operate at the end effector to articulate the end effector in the at least one plane.

### Claim 6 (depends on 1)

The robotic surgical tool of claim 1, wherein a gap is provided between the first and second carriers to allow the first and second carriers to move toward and away from each other during actuation of the activating mechanism.

### Claim 7 (depends on 1)

The robotic surgical tool of claim 1, wherein the end effector is selected from the group consisting of a surgical stapler, a tissue grasper, surgical scissors, an advanced energy vessel sealer, a clip applier, a needle driver, a babcock including a pair of opposed grasping jaws, bipolar jaws, a suction irrigator, an endoscope, a laparoscope, and any combination thereof.

### Claim 8

A method, comprising:
locating a robotic surgical tool adjacent a patient, the robotic surgical tool comprising:
a drive housing having opposing first and second ends and at least one spline extending between the first and second ends and including a drive gear that rotates with rotation of the at least one spline;
a carriage movably mounted to the at least one spline;
an elongate shaft having a proximal end coupled to the carriage and extending from the carriage and penetrating the first end;
an end effector arranged at a distal end of the elongate shaft;
a wrist that interposes the end effector and the distal end of the shaft; and
an activating mechanism housed in the carriage and operatively coupled to the drive gear, the activating mechanism including
a first carrier extending at least partially about the shaft and operatively coupled to a first drive member that extends to the wrist;
a second carrier extending at least partially about the shaft and operatively coupled to a second drive member that extends to the wrist;
a first transfer gear extending about the shaft and defining internal threads, the first carrier radially interposing the shaft and the first transfer gear and defining external threads matable with the internal threads of the first transfer gear; and
a second transfer gear extending about the shaft and defining internal threads, the second carrier radially interposing the shaft and the second transfer gear and defining external threads matable with the internal threads of the second transfer gear;
rotating the at least one spline and the drive gear by actuating a drive input arranged at the first end and operatively coupled to the at least one spline and thereby actuating the activating mechanism as the drive gear rotates;
causing the first carrier and the first drive member to move along the shaft in a first axial direction;
causing the second carrier and the second drive member to move along the shaft in a second axial direction, where the first and second axial directions are equal and opposite;
mating the drive gear with the first and second transfer gears;
rotating the drive gear and thereby simultaneously rotating the first and second transfer gears, wherein the internal threads of the first and second transfer gears are threaded in opposite directions; and
causing the first and second carriers to move in equal but opposite axial directions along the shaft as the first and second transfer gears rotate.

### Claim 9 (depends on 8)

The method of claim 8, further comprising:
mating an instrument driver with the drive housing at the first end, the instrument driver being arranged at an end of a robotic arm;
mating a drive output of the instrument driver with the drive input as the instrument driver is mated to the drive housing; and
actuating the drive output to rotate the drive input and thereby actuate the activating mechanism.

### Claim 10 (depends on 9)

The method of claim 9, wherein mating the instrument driver with the drive housing at the first end comprises extending the shaft, the end effector, and the wrist through a central aperture defined longitudinally through the instrument driver.

### Claim 11 (depends on 8)

The method of claim 8, further comprising antagonistically operating distal ends of the first and second drive members at the end effector and thereby articulating the end effector in at least one plane.