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US 12,708,471 B1Granted
Instrument adapter for robotic surgical instruments
AssigneeKarl Storz GmbH & Co. KG
InventorsPaul Wilhelm Schnur, Matthew Robert Penny, Kevin Andrew Hufford
Life of this patent
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Abstract
A surgical instrument has a shaft, an end effector on the distal end of the shaft, and an adapter at its proximal end that is mountable to the actuator assembly of a surgical robotic system. The adapter includes a first control input and a second control input, which are positioned on different faces of the adapter. Longitudinal movement of the first and second control inputs relative to the body of the adapter alters tensions in tendons operatively coupled to the first and second control inputs, resulting in movement of the end effector relative to the shaft.
Claims22
A surgical instrument for use with a robotic manipulator, the surgical instrument comprising:
- an elongate shaft and a surgical end effector at a distal end of the elongate shaft,
- a plurality of tendons operatively coupled to the end effector and extending through the elongate shaft, said plurality of tendons configured such that alteration of tension on at least one of said plurality of tendons causes movement of the end effector relative to the shaft;
- an adapter at a proximal end of the shaft, the adapter including
- an adapter body having a first face facing in a first, outward, direction and a second face facing in a second, outward, direction opposite to the first outward direction;
- at least one first control input exposed at the first face and operatively coupled to at least a first one of the plurality of tendons;
- and
- at least one second control input exposed at the second face and operatively coupled to at least a second one of the plurality of tendons
- a first carriage operatively coupled to said at least a first one of the plurality of tendons, wherein application of force against the first input in a proximal or distal direction results in movement of the first carriage in the proximal or distal direction relative to the adapter body;
- and
- a second carriage operatively coupled to said at least a second one of the plurality of tendons, wherein application of force against the second input in a proximal or distal direction results in movement of the second carriage in the proximal or distal direction relative to the adapter body.
7 more elements
A surgical instrument for use with a robotic manipulator, the surgical instrument comprising:
- an elongate shaft and a surgical end effector at a distal end of the elongate shaft, the elongate shaft having a longitudinal axis;
- a plurality of tendons operatively coupled to the end effector, the plurality of tendons including first, second, third and fourth tendon legs extending through the elongate shaft in a proximal direction;
- an adapter at a proximal end of the shaft, the adapter including
- an adapter body having a first face having a first portion facing in a first outward direction and a second face having a second portion facing in a second outward direction opposite to the first outward direction;
- a first control input and a second control input each exposed at the first portion of the first face, the first control input operatively coupled to the first tendon leg and the second control input operatively coupled to the second tendon leg;
- a third control input and a fourth control input each exposed at the second portion of the second face, the third control input operatively coupled to the third tendon leg and the fourth control input operatively coupled to the fourth tendon leg;
- wherein each of the first, second, third, and fourth control inputs is moveable relative to the adapter body in a direction parallel to the longitudinal axis and wherein the first, second, third and fourth control inputs are independently moveable relative to the adapter body to vary tension on the first, second, third and fourth tendon legs, respectively, to cause movement of the end effector relative to the shaft.
4 more elements
A surgical instrument for use with a robotic manipulator, the surgical instrument comprising:
- an elongate shaft and a surgical end effector at a distal end of the elongate shaft,
- a plurality of tendons operatively coupled to the end effector and extending through the elongate shaft, said plurality of tendons configured such that alteration of tension on at least one of said plurality of tendons causes movement of the end effector relative to the shaft;
- an adapter at a proximal end of the shaft, the adapter including
- an adapter body having a first face facing in a first, outward, direction and a second face facing in a second, outward, direction opposite to the first outward direction;
- at least one first control input exposed at the first face and operatively coupled to at least a first one of the plurality of tendons;
- and
- at least one second control input exposed at the second face and operatively coupled to at least a second one of the plurality of tendons,
- wherein the elongate shaft has a longitudinal axis, and wherein each of the first control input and the second control input is moveable relative to the adapter body in a direction parallel to the longitudinal axis.
5 more elements
Dependencies are inferred from the claim text.