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US 12,740,841 B2Granted
Computer-assisted teleoperated surgery systems and methods
AssigneeIntuitive Surgical Operations, Inc.
InventorsCraig Keith Tsuji, Edward Paul Donlon
Life of this patent
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Abstract
A joint mechanism includes a first end joint member; a middle joint member; a second end joint member; a first linkage member comprising a first annular band, the first linkage member pivotably coupled with the first end joint member and pivotably coupled with the middle joint member; and a second linkage member comprising a second annular band, the second linkage member pivotably coupled with the middle joint member and pivotably coupled with the second end joint member.
Claims20
A joint mechanism, comprising:
- a first joint member and a second joint member each defining a radial dimension and a longitudinal dimension,
- wherein the first joint member comprises:
- a first pair of joint features extending in the longitudinal dimension, the first pair of joint features located diametrically opposite each other,
- a second pair of joint features at a location along the radial dimension of the first joint member in alignment with the first pair of joint features, respectively, the second pair of joint features located diametrically opposite each other;
- wherein the second joint member comprises:
- a third pair of joint features extending in the longitudinal dimension, the third pair of joint features located diametrically opposite each other,
- a fourth pair of joint features located at a location along the radial dimension of the second joint member in alignment with the third pair of joint features, respectively, the fourth pair of joint features located diametrically opposite each other;
- and
- a linkage member pivotably coupled to each of the second pair and fourth pair of joint features,
- wherein the first pair of joint features and the third pair of joint features are complementary and in mating engagement with each other,
- wherein the first pair and third pair of joint features define an axis of rotation, and the first joint member and second joint member are configured to articulate relative to each other about the axis of rotation, and
- wherein the linkage member comprises an annular band encircling a region between the first joint member and the second joint member.
9 more elements
A surgical instrument, comprising:
- an elongate shaft;
- and
- a joint mechanism coupled to a distal end of the elongate shaft, the joint mechanism comprising:
- a first joint member and a second joint member each defining a radial dimension and a longitudinal dimension,
- wherein the first joint member comprises:
- a first pair of joint features extending in the longitudinal dimension and located diametrically opposite each other;
- and
- a second pair of joint features located along the radial dimension of the first joint member such that the second pair of joint features are aligned with the first pair of joint features, wherein the second pair of joint features are located diametrically opposite each other;
- wherein the second joint member comprises:
- a third pair of joint features extending in the longitudinal dimension and located diametrically opposite each other;
- and
- a fourth pair of joint features located along the radial dimension of the second joint member such that the fourth pair of joint features are aligned with the third pair of joint features, wherein the fourth pair of joint features are located diametrically opposite each other;
- and
- a linkage member pivotably coupled to each of the second pair and fourth pair of joint features, wherein the linkage member comprises an annular band encircling a region between the first joint member and the second joint member.
11 more elements
Dependencies are inferred from the claim text.