# US 12,758,339 B2 · Force transmission systems using planetary gear assembly, and related devices and methods > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,758,339 B2 - Document ID: US12758339B2 - Status: Granted - Kind: B2 - Application number: 18/702,489 - Filed: 2022-10-18 - Published: 2024-12-19 - Granted: 2026-10-13 - Earliest claimed: 2021-10-19 - Assignees: Intuitive Surgical Operations, Inc. - Applicants: Intuitive Surgical Operations, Inc. - Inventors: Liliann Mueller; Ronald G. Litke; Adam J. Ross - Web page: https://patentgrep.com/patent/US12758339B2 ## CPC - A61B 34/37: Leader-follower robots (A61B34/35 takes precedence) - F16H 13/06: with members having orbital motion - A61B 2017/00327: {with actuating members moving in opposite directions} - F16H 2025/2059: {Common movement by two screws or two nuts, e.g. two connected screws with opposite thread direction} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - F16H: GEARING ## Abstract An instrument includes a shaft, a moveable component coupled to the shaft, and an actuation member drive assembly coupled to the shaft. The actuation member drive assembly may include a rotatable drive member, a ring gear operably coupled to the rotatable drive member and configured to rotate in response to rotation of the rotatable drive member, and a planet gear meshed with the ring gear. The instrument further includes an actuation member extending through the shaft and operably coupled to the moveable component and the planet gear. The actuation member is moveable in translation in response to rotation of the planet gear. Devices and methods relate to actuation member drive assemblies. ## Claims ### Claim 1 An instrument, comprising: a shaft; a moveable component coupled to the shaft; an actuation member drive assembly coupled to the shaft and comprising: a rotatable drive member, a ring gear operably coupled to the rotatable drive member and configured to rotate in response to rotation of the rotatable drive member, and a planet gear meshed with the ring gear and comprising a bore with internal threads; an actuation member extending through the shaft and operably coupled to the moveable component and the planet gear; and a lead screw coupled to the actuation member and engaged with the internal threads in the bore of the planet gear, wherein the actuation member is moveable in translation in response to rotation of the planet gear. ### Claim 2 (depends on 1) The instrument of claim 1, wherein: the planet gear is a first planet gear; the actuation member is a first actuation member; the first actuation member is movable in translation in a first direction in response to rotation of the first planet gear; and the instrument further comprises: a second planet gear meshed with the ring gear, and a second actuation member operably coupled to the moveable component and to the second planet gear, wherein the second actuation member is movable in translation in response to rotation of the second planet gear. ### Claim 3 (depends on 2) The instrument of claim 2, wherein, in response to rotation of the ring gear, the first actuation member is movable in a first direction, and the second actuation member is movable in a second direction, wherein the second direction is opposite the first direction. ### Claim 4 (depends on 1) The instrument of claim 1, wherein the moveable component comprises an articulable component configured to articulate in pitch and yaw. ### Claim 5 (depends on 1) The instrument of claim 1, wherein the moveable component comprises an end effector. ### Claim 6 An instrument comprising: a shaft; an articulable component coupled to the shaft and configured to articulate relative to the shaft; a force transmission system coupled to the shaft and comprising: a ring gear, a first planet gear meshed with the ring gear, a second planet gear meshed with the ring gear, a first lead screw comprising left-hand screw threading in threaded engagement with the first planet gear, and a second lead screw comprising right-hand screw threading in threaded engagement with the second planet gear; a first actuation member extending through the shaft and operably coupled to the articulable component and the first lead screw; and a second actuation member extending through the shaft and operably coupled to the articulable component and the second lead screw. ### Claim 7 (depends on 6) The instrument of claim 6, wherein the ring gear is operably coupled to a drive input of the force transmission system by one or more idler gears. ### Claim 8 (depends on 6) The instrument of claim 6, wherein the first planet gear comprises a first planet gear inner member and a first planet gear outer member. ### Claim 9 (depends on 8) The instrument of claim 8, wherein the first planet gear inner member and the first planet gear outer member are rotationally coupled to rotate together. ### Claim 10 (depends on 9) The instrument of claim 9, wherein: the first planet gear inner member comprises a material having a first ductility; the first planet gear outer member comprises a material having a second ductility; and the first ductility is less than the second ductility. ### Claim 11 (depends on 6) The instrument of claim 6, wherein the first lead screw comprises features configured to prevent rotation of the first lead screw relative to the shaft. ### Claim 12 (depends on 6) The instrument of claim 6, wherein: the instrument further comprises: a roll gear coupled to the shaft to rotate the shaft in response to a roll input received at the force transmission system, and the ring gear, the first planet gear, the second planet gear, the first lead screw, the second lead screw, the first actuation member, and the second actuation member are components of an actuation member drive assembly configured to rotate with the shaft in response to the roll input. ### Claim 13 (depends on 12) The instrument of claim 12, wherein the actuation member drive assembly is removable from the force transmission system. ### Claim 14 A method of tensioning first and second actuation members coupled to an articulable structure of a medical instrument, the method comprising: applying a first tensile force to a first actuation member coupled to a first lead screw by driving the first lead screw; applying a second tensile force to a second actuation member coupled to a second lead screw by driving the second lead screw; maintaining the first tensile force in the first actuation member by coupling the first lead screw with a first planet gear and meshing the first planet gear to a ring gear; and maintaining the second tensile force in the second actuation member by engaging the second lead screw with a second planet gear and meshing the second planet gear to the ring gear. ### Claim 15 (depends on 14) The method of claim 14, wherein coupling the first lead screw with the first planet gear comprises: engaging a first planet gear inner member with the first lead screw; and engaging a first planet gear outer member with the first planet gear inner member and with the ring gear. ### Claim 16 (depends on 15) The method of claim 15, wherein engaging the first planet gear outer member with the first planet gear inner member comprises pressing the first planet gear outer member onto the first planet gear inner member. ### Claim 17 (depends on 14) The method of claim 14, wherein applying a first tensile force to a first actuation member coupled to a first lead screw by driving the first lead screw comprises rotating a first planet gear inner member engaged with the first lead screw in a first rotational direction. ### Claim 18 (depends on 17) The method of claim 17, wherein applying a second tensile force to a second actuation member coupled to a second lead screw by driving the second lead screw comprises rotating a second planet gear inner member engaged with the second lead screw in a second rotational direction opposite the first rotational direction.