Surgical robotic systems including surgical instruments with articulation
AssigneeCovidien LP
InventorJacob Baril
Life of this patent
Estimating the term…
Abstract
A surgical instrument includes a shaft, an end effector, and an articulation mechanism. The end effector is movable between a first position where the end effector is aligned with a longitudinal axis of the shaft, and a second position where the end effector is disposed at an angled relative to the longitudinal axis. The articulation mechanism includes a proximal gear disposed in mechanical cooperation with the shaft, a distal gear disposed in mechanical cooperation with the end effector, a first lateral gear disposed in contact with the proximal gear and the distal gear, and a second lateral gear disposed in contact with the proximal gear and the distal gear.
Claims19
A surgical instrument, comprising:
- a shaft defining a longitudinal axis;
- an effector disposed adjacent a distal end of the shaft and defining a respective longitudinal axis;
- and
- an articulation mechanism disposed in mechanical cooperation with the shaft and the end effector, the articulation mechanism configured to allow the end effector to move between a first position where at least a portion of the end effector defining the longitudinal axis thereof is aligned with the longitudinal axis and a second position where the portion of the end effector defining the longitudinal axis thereof is disposed at an angle relative to the longitudinal axis of the shaft, the articulation mechanism including:
- a proximal gear disposed in mechanical cooperation with the shaft;
- a distal gear disposed in mechanical cooperation with the end effector;
- a first lateral gear disposed in contact with the proximal gear and the distal gear;
- and
- a second lateral gear disposed in contact with the proximal gear and the distal gear, wherein the first lateral gear has a smaller diameter than the second lateral gear.
A surgical instrument, comprising:
- a shaft defining a longitudinal axis;
- an effector disposed adjacent a distal end of the shaft and defining a respective longitudinal axis;
- an articulation mechanism disposed in mechanical cooperation with the shaft and the end effector, the articulation mechanism configured to allow the end effector to move between a first position where at least a portion of the end effector defining the longitudinal axis thereof is aligned with the longitudinal axis and a second position where the portion of the end effector defining the longitudinal axis thereof is disposed at an angle relative to the longitudinal axis of the shaft, the articulation mechanism including:
- a proximal gear disposed in mechanical cooperation with the shaft;
- a distal gear disposed in mechanical cooperation with the end effector;
- a first lateral gear disposed in contact with the proximal gear and the distal gear;
- and
- a second lateral gear disposed in contact with the proximal gear and the distal gear;
- and
- a tube extending through a central aperture of the proximal gear and through a central aperture of the distal gear.
An articulation mechanism for use with a surgical instrument, the articulation mechanism comprising:
- a proximal bevel gear disposed in mechanical cooperation with a shaft of the surgical instrument;
- a distal bevel gear disposed in mechanical cooperation with an end effector of the surgical instrument;
- a first lateral gear disposed in contact with the proximal bevel gear and the distal bevel gear;
- and
- a second lateral gear disposed in contact with the proximal bevel gear and the distal bevel gear, wherein the first lateral gear has a smaller diameter than the second lateral gear.
Dependencies are inferred from the claim text.