Instrument roll control
AssigneeAuris Health, Inc.
InventorsAkira Bryan Ueda, Adrian Tyler Hairrell, Andre J. Castillo
Life of this patent
Estimating the term…
Abstract
A medical instrument includes an elongate shaft defining a roll axis and a handle coupled to the elongate shaft. The handle includes a robotic drive input operable to rotate the elongate shaft with respect to the handle about the roll axis and a lockout mechanism movable between an engaged position in which the lockout mechanism impedes rotation of the elongate shaft with respect to the handle about the roll axis, and a disengaged position in which the lockout mechanism permits rotation of the elongate shaft with respect to the handle about the roll axis.
Claims19
A medical instrument comprising:
- an elongate shaft defining a roll axis;
- and
- a handle coupled to the elongate shaft, the handle comprising:
- a robotic drive input operable to rotate the elongate shaft with respect to the handle about the roll axis;
- an axle actuatable by the robotic drive input;
- and
- an axle-retention structure disposed at least partially over the axle and configured to limit rotation of the axle, the axle-retention structure comprising:
- a first open annular channel;
- and
- one or more first stopper surfaces exposed within the first open annular channel and configured to limit rotation of the axle.
A robotic system comprising:
- a robotic manipulator assembly comprising one or more drive outputs and a boss;
- and
- an instrument comprising a handle mountable to the robotic manipulator assembly and an elongate shaft insertable into a patient, the handle comprising:
- a plurality of drive inputs;
- an axle actuatable by one of the plurality of drive inputs;
- and
- an axle-retention structure disposed at least partially over the axle and configured to limit rotation of the axle, the axle-retention structure comprising:
- a first open annular channel;
- and
- one or more first stopper surfaces exposed within the first open annular channel and configured to limit rotation of the axle.
A medical instrument comprising:
- an elongate shaft;
- a handle coupled to a proximal portion of the elongate shaft;
- an axle coupled with the handle, the axle being configured such that rotation of the axle causes the elongate shaft to rotate about an axis of the elongate shaft;
- and
- an axle-retention structure disposed at least partially over the axle and configured to limit rotation of the axle, the axle-retention structure comprising:
- a first open annular channel;
- and
- one or more first stopper surfaces exposed within the first open annular channel and configured to limit rotation of the axle.
Dependencies are inferred from the claim text.