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US 11,950,863 B2Granted
Shielding for wristed instruments
AssigneeAuris Health, Inc.
InventorsErica Ding Chin, Travis Michael Schuh
Life of this patent
Estimating the term…
Abstract
Certain aspects relate to systems and apparatuses with shielded wrists, and methods of actuating instruments with wrists. In one aspect, an instrument includes a shaft, an end effector, and a wrist connecting the shaft to the end effector. For example, the wrist may include a proximal clevis, a distal clevis, and an intermediary frame positioned between the proximal clevis and the distal clevis.
Claims21
An instrument, comprising:
- a shaft;
- an end effector;
- a wrist connecting the shaft to the end effector and including a proximal clevis and a distal clevis, the proximal clevis being in contact with the distal clevis via one or more proximal teeth defined by the proximal clevis and in mated engagement with one or more distal teeth defined by the distal clevis, the proximal clevis and the distal clevis forming a rolling joint as the wrist articulates ;
- and
- an intermediary frame positioned between the proximal and distal clevises and including:
- first and second joint posts each having opposing ball ends engageable with corresponding sockets defined in the proximal and distal clevises;
- and
- a plurality of distally and proximally extending stop posts angularly offset from the first and second joint posts by 90° and engageable with the proximal and distal clevises when the wrist articulates.
5 more elements
An instrument, comprising:
- a shaft;
- a wrist operatively coupled to the shaft and including a proximal clevis and a distal clevis, the proximal clevis defining one or more proximal teeth and the distal clevis defining one or more distal teeth in mated engagement with the one or more proximal teeth to form a rolling joint as the wrist articulates;
- and
- an intermediary frame positioned between the proximal and distal clevises and including a central body that defines a central aperture and provides first and second joint posts extending from the central body, each joint post having opposing ball ends engageable with corresponding sockets defined in the proximal and distal clevises,
- wherein the one or more proximal teeth and the one or more distal teeth extend through the central aperture, and
- wherein the rolling joint defines parallel proximal and distal pitch axes.
3 more elements
An instrument, comprising:
- a shaft;
- an end effector;
- a wrist connecting the shaft to the end effector and including a proximal clevis and a distal clevis that are in contact with each other during rotational movement of the wrist, the proximal clevis defining one or more proximal teeth and the distal clevis defining one or more distal teeth in mated engagement with the one or more proximal teeth to form a rolling joint as the wrist articulates, wherein the proximal clevis defines a proximal pitch axis and the distal clevis defines a distal pitch axis parallel to the proximal pitch axis;
- and
- an intermediary frame interposed between the proximal clevis and the distal clevis and including a central body that provides a plurality of distally and proximally extending stop posts extending from the central body and engageable with, the proximal clevis and the distal clevis upon overrotation during the rotational movement of the wrist and thereby serve as a mechanical stop to limit a pitch angle between the proximal clevis and the distal clevis;
- a sheath that extends over the proximal clevis and the distal clevis, wherein the plurality of distally and proximally extending stop posts block the sheath from being pinched between surfaces of the proximal clevis and the distal clevis as the wrist articulates.
3 more elements
Dependencies are inferred from the claim text.