Low-friction medical tools having roller-assisted tension members
AssigneeIntuitive Surgical Operations, Inc.
InventorAlain Sadaka
Life of this patent
Estimating the term…
Abstract
A low-friction medical device is provided having roller-assisted tension members and a friction-reducing curved guide path. The device includes a first link, a second link, and a tension member. A proximal end portion of the first link is coupled to an instrument shaft. A proximal end portion of the second link is rotatably coupled to a distal end portion of first link about a first axis. The second link defines a curved guide path and a cable extends from the first link through the curved guide path to a distal end of the second link and couples with a tool member. A roller having a roller surface is coupled to the second link such that the roller surface is aligned with a portion of the curved path and contacts the cable therein. The curved guide surface has a small fleet angle.
Claims18
An apparatus, comprising:
- an instrument shaft;
- a link operably coupled between the instrument shaft and a tool member;
- a ball captively coupled to the link, the ball positioned to at least partially define a curved guide path within the link;
- and
- a tension member operably coupled to the tool member, the tension member including a first portion and a second portion, wherein:
- the first portion is within the guide path,
- on a condition that the link is in a first orientation relative to the instrument shaft, the first portion of the tension member is in contact with the ball,
- the second portion is coupled to the tool member, and
- a movement of the tension member along the guide path urges the tool member to rotate relative to the link.
An apparatus, comprising:
- an instrument shaft;
- a tool member including a pulley portion;
- a link operably coupled between the instrument shaft and the tool member, the link including a guide surface at least partially defining a curved guide path;
- and
- a tension member operably coupled to the tool member, the tension member including a first portion and a second portion, wherein:
- the first portion is within the guide path,
- the second portion is coupled to the tool member,
- the tension member defines a fleet angle between the guide surface of the link and the pulley portion of the tool member,
- the fleet angle is less than about 10 degrees, and
- a movement of the tension member along the guide path urges the tool member to rotate relative to the link.
Dependencies are inferred from the claim text.