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US 12,667,380 B2Granted
Surgical tool and assembly
AssigneeLivsmed Inc.
InventorsMatthew P. Weber, Zachary R. Zimmerman, Christopher Paul Huang Shu
Life of this patent
Estimating the term…
Abstract
Surgical tools and assemblies are employed for use in minimally invasive surgical (MIS) procedures. A handheld surgical tool assembly includes a handle assembly and a frame assembly, among other possible components. Intermediate bodies and joints are provided in certain handheld surgical tool assemblies and architectures. A yaw rotational degree of freedom is furnished between certain intermediate bodies, and a pitch rotational degree of freedom is furnished between certain intermediate bodies. Amid use, a mechanical advantage generated about the yaw rotational degree of freedom is unequal to a mechanical advantage generated about the pitch rotational degree of freedom.
Claims23
A handheld surgical tool assembly, comprising:
- a handle assembly;
- a frame assembly having a shaft, said shaft establishing a roll axis;
- an end-effector assembly;
- an articulation input joint established between said handle assembly and said frame assembly, said articulation input joint having a pitch mechanical path of motion transmission and a yaw mechanical path of motion transmission, said pitch mechanical path of motion transmission and said yaw mechanical path of motion transmission being independent with respect to each other;
- a first intermediate rigid body extending from said handle assembly;
- a second intermediate rigid body extending from said frame assembly;
- a third intermediate rigid body;
- a first joint residing between said first intermediate rigid body and said third intermediate rigid body, said first joint providing a first rotational degree of freedom of said first intermediate rigid body with respect to said third intermediate rigid body, said first rotational degree of freedom constituting the sole rotational degree of freedom between said first intermediate rigid body and said third intermediate rigid body;
- and
- a second joint residing between said second intermediate rigid body and said third intermediate rigid body, said second joint providing a second rotational degree of freedom of said third intermediate rigid body with respect to said second intermediate rigid body, said second rotational degree of freedom constituting the sole rotational degree of freedom between said third intermediate rigid body and said second intermediate rigid body;
- wherein a pitch mechanical advantage and a yaw mechanical advantage are unequal with respect to each other, and said roll axis intersects a user's hand when manipulating said handle assembly, intersects a user's wrist when manipulating said handle assembly, or intersects both the user's hand and the user's wrist when manipulating said handle assembly.
8 more elements
A handheld surgical tool assembly, comprising:
- a handle assembly;
- a frame assembly;
- an end-effector assembly;
- an articulation input joint established between said handle assembly and said frame assembly, said articulation input joint having a first body and a second body, at least one first connector spanning between said first body and said end-effector assembly, at least one second connector spanning between said second body and said end-effector assembly, said first body establishing a pitch articulation axis and said second body establishing a yaw articulation axis;
- a first intermediate rigid body extending from said handle assembly;
- a second intermediate rigid body extending from said frame assembly;
- and
- a third intermediate rigid body;
- wherein said second body is situated between said first intermediate rigid body and said third intermediate rigid body, said first body is situated between said second intermediate rigid body and said third intermediate rigid body, said articulation input joint includes a pitch articulation input joint established at said first body and a yaw articulation input joint established at said second body, said pitch articulation input joint and said yaw articulation input joint exhibiting a non-intersecting arrangement with respect to each other;
- wherein a pitch mechanical advantage and a yaw mechanical advantage are unequal with respect to each other;
- wherein said pitch articulation axis intersects a user's hand when manipulating said handle assembly, intersects a user's wrist when manipulating said handle assembly, or intersects both the user's hand and the user's wrist when manipulating said handle assembly;
- and
- wherein said yaw articulation axis intersects the user's hand when manipulating said handle assembly, intersects the user's wrist when manipulating said handle assembly, or intersects both the user's hand and the user's wrist when manipulating said handle assembly.
10 more elements
An assembly, comprising:
- an input body;
- a frame body;
- an articulation input joint established between said input body and said frame body, said articulation input joint establishing a first articulation axis and a second articulation axis, said articulation input joint having a pitch mechanical path of motion transmission and a yaw mechanical path of motion transmission, said pitch mechanical path of motion transmission and said yaw mechanical path of motion transmission being independent with respect to each other, wherein a pitch mechanical advantage and a yaw mechanical advantage are unequal with respect to each other;
- a grounding joint established between said input body and said frame body, said grounding joint effecting rigid body paths of motion transmission between said input body and said frame body, said grounding joint having a pitch degree of freedom axis and a yaw degree of freedom axis;
- a virtual center zone established at a location occupied by said input body, by a user's articulation input joint when manipulating said input body, or by both said input body and the user's articulation input joint when manipulating said input body, wherein said pitch articulation axis, said yaw articulation axis, said pitch degree of freedom axis, and said yaw degree of freedom axis pass through said virtual center zone;
- a first intermediate rigid body extending from said input body;
- a second intermediate rigid body extending from said frame body;
- a third intermediate rigid body;
- a first joint residing between said first intermediate rigid body and said third intermediate rigid body, said first joint providing a first rotational degree of freedom of said first intermediate rigid body with respect to said third intermediate rigid body, said first rotational degree of freedom constituting the sole rotational degree of freedom between said first intermediate rigid body and said third intermediate rigid body;
- and
- a second joint residing between said second intermediate rigid body and said third intermediate rigid body, said second joint providing a second rotational degree of freedom of said third intermediate rigid body with respect to said second intermediate rigid body, said second rotational degree of freedom constituting the sole rotational degree of freedom between said third intermediate rigid body and said second intermediate rigid body.
8 more elements
Dependencies are inferred from the claim text.