# US 11,896,334 B2 · Computer-assisted teleoperated surgery 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 11,896,334 B2 - Document ID: US11896334B2 - Status: Granted - Kind: B2 - Application number: 16/644,326 - Filed: 2018-08-31 - Published: 2021-01-28 - Granted: 2024-02-13 - Earliest claimed: 2017-09-05 - Assignees: Intuitive Surgical Operations, Inc. - Applicants: Intuitive Surgical Operations, Inc. - Inventors: Craig Keith Tsuji; Edward Paul Donlon - Web page: https://patentgrep.com/patent/US11896334B2 ## CPC - A61B 34/00: Computer-aided surgery; Manipulators or robots specially adapted for use in surgery - A61B 34/71: {Manipulators operated by drive cable mechanisms} - A61B 34/30: Surgical robots - A61B 34/35: for telesurgery - A61B 2017/00314: {Separate linked members} - A61B 2017/00327: {with actuating members moving in opposite directions} - A61B 2017/2927: {the angular position of the head being adjustable with respect to the shaft} - A61B 2034/305: {Details of wrist mechanisms at distal ends of robotic arms} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract Systems and methods for minimally invasive computer-assisted telesurgery are described. For example, this disclosure describes computer-assisted teleoperated surgery instruments with cable-actuated joint mechanisms Some such joint mechanisms include linkages that maintain the joints in operable configurations without relying on cable tension to do so. ## Claims ### Claim 1 A joint mechanism, comprising: a first end joint member; a middle joint member; a second end joint member; a first linkage member comprising a first annular band, the first linkage member pivotably coupled with the first end joint member and pivotably coupled with the middle joint member; and a second linkage member comprising a second annular band, the second linkage member pivotably coupled with the middle joint member and pivotably coupled with the second end joint member. ### Claim 2 (depends on 1) The joint mechanism of claim 1, wherein the first and second end joint members are constrained by the first and second linkage members to pivot in relation to the middle joint member along respective paths that are orthogonal to each other. ### Claim 3 (depends on 1) The joint mechanism of claim 1, wherein the first and second linkage members are each unitary components. ### Claim 4 (depends on 1) The joint mechanism of claim 1, wherein the first linkage member further comprises: a first pair of bosses that protrude from the first annular band; and a second pair of bosses that protrude from the first annular band, and wherein the second linkage member further comprises: a third pair of bosses that protrude from the second annular band; and a fourth pair of bosses that protrude from the second annular band. ### Claim 5 (depends on 4) The joint mechanism of claim 4, wherein each boss of the first pair of bosses, second pair of bosses, third pair of bosses, and fourth pair of bosses includes a feature to pivotably couple with a respective joint member of the first end joint member, middle joint member, and second end joint member. ### Claim 6 (depends on 5) The joint mechanism of claim 5, wherein the feature is a hole. ### Claim 7 (depends on 5) The joint mechanism of claim 5, wherein the feature is a protrusion. ### Claim 8 (depends on 1) The joint mechanism of claim 1, wherein the joint mechanism defines a passage extending through each of the first end joint member, the middle joint member, the second end joint member, the first linkage member, and the second linkage member. ### Claim 9 A surgical instrument, comprising: an elongate shaft; a joint mechanism, a first end of the joint mechanism coupled to a distal end of the elongate shaft, the joint mechanism comprising: a first end joint member; a middle joint member; a second end joint member; a first linkage member comprising a first annular band, the first linkage member pivotably coupled with the first end joint member and pivotably coupled with the middle joint member; and a second linkage member comprising a second annular band, the second linkage member pivotably coupled with the middle joint member and pivotably coupled with the second end joint member; and a surgical tool coupled to a second end of the joint mechanism. ### Claim 10 (depends on 9) The surgical instrument of claim 9, further comprising four cable portions extending along the elongate shaft and affixed to the second end joint member. ### Claim 11 (depends on 10) The surgical instrument of claim 10, further comprising two capstans disposed at a proximal end of the elongate shaft, wherein each of the cable portions is engaged with a respective one of the capstans. ### Claim 12 (depends on 10) The surgical instrument of claim 10, wherein each of the cable portions extends through passages defined by each one of the first end joint member and the middle joint member. ### Claim 13 (depends on 10) The surgical instrument of claim 10, wherein the joint mechanism remains intact while the four cable portions are not under any tension. ### Claim 14 (depends on 9) The surgical instrument of claim 9, wherein the surgical tool is a suction and irrigation device. ### Claim 15 (depends on 9) The surgical instrument of claim 9, wherein a passage is defined that extends through each of the elongate shaft, the first end joint member, the middle joint member, the second end joint member, the first linkage member, and the second linkage member. ### Claim 16 A joint mechanism, comprising: a first end joint member including a first pair of protrusions; a middle joint member including a second pair of protrusions and a third pair of protrusions; a second end joint member including a fourth pair of protrusions; a first linkage member comprising a first annular band and defining a first pair of holes and a second pair of holes, the first pair of holes pivotably mated with the first pair of protrusions, the second pair of holes pivotably mated with the second pair of protrusions; and a second linkage member comprising a second annular band and defining a third pair of holes and a fourth pair of holes, the third pair of holes pivotably mated with the third pair of protrusions, the fourth pair of holes pivotably mated with the fourth pair of protrusions. ### Claim 17 (depends on 16) The joint mechanism of claim 16, wherein the first linkage member further comprises: a first pair of bosses that protrude from the first annular band and that define the first pair of holes; and a second pair of bosses that protrude from the first annular band and that define the second pair of holes, and wherein the second linkage member further comprises: a third pair of bosses that protrude from the second annular band and that define the third pair of holes; and a fourth pair of bosses that protrude from the second annular band and that define the fourth pair of holes. ### Claim 18 (depends on 16) The joint mechanism of claim 16, wherein the first and second end joint members are constrained by the first and second linkage members to pivot in relation to the middle joint member along respective paths that are orthogonal to each other. ### Claim 19 (depends on 16) The joint mechanism of claim 16, wherein the joint mechanism defines a passage extending through each of the first end joint member, the middle joint member, the second end joint member, the first linkage member, and the second linkage member. ### Claim 20 (depends on 16) The joint mechanism of claim 16, wherein the first and second linkage members are each unitary components.