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US 2010/0160929 A1Published application
Roll joint and method for a surgical apparatus
AssigneeIntuitive Surgical Operations, Inc.
InventorsTheodore W. Rogers, Matthew R. Williams
Life of this patent
Estimating the term…
Abstract
A roll joint utilizes at least one tendon guide surface to guide actuator tendons for distal roll off and on their respective drums on a central shaft of the roll joint. The tendon guide surface turns the actuator tendon in an axial direction in a more compact space than might be required for a pair of pulleys, while using fewer parts with larger features more easily formed on a small scale.
Claims20
A roll joint comprising:
- a shaft including a distal end and a proximal end, wherein a proximal direction is defined from the distal end to the proximal end;
- a guide structure, positioned around said shaft, comprising a tendon guide surface;
- and
- an actuator tendon coupled to the shaft distal of the guide structure wherein said actuator tendon wraps in a first direction around the shaft, extends from the shaft over the tendon guide surface, and extends from the tendon guide surface in said proximal direction.
1 more element
A method for providing distal roll in a wrist of a surgical instrument comprising:
- creating a difference in tension in a first actuator tendon and a second actuator tendon,
- wherein a tail of said first actuator tendon is coupled to a shaft having a distal end and a proximal end;
- a tail of said second actuator tendon is coupled to said shaft;
- and
- said shaft is rotatably mounted in a housing and further wherein a proximal direction is defined from the distal end to the proximal end;
- unwrapping, in response to said difference in tension, said first actuator tendon from said shaft, in a first direction, over a tendon guide surface of a guide structure positioned around said shaft wherein said tendon guide structure changes a direction of motion of said first actuator tendon;
- and
- wrapping, in response to said difference in tension, said second actuator tendon around said shaft in said first direction.
5 more elements
A roll joint comprising:
- a) a first actuator tendon;
- b) a second actuator tendon;
- c) a housing;
- and
- d) a shaft assembly rotatably mounted in said housing, said shaft assembly including:
- i) a shaft;
- ii) a first tendon guide structure, mounted about said shaft, comprising a first tendon guide surface wherein said tendon guide surface guides said first actuator tendon onto a drum region of said shaft;
- and
- iii) a second tendon guide structure, different from said first tendon guide structure and mounted about said shaft, comprising a second tendon guide surface where said second tendon guide surface guides said second actuator tendon onto another drum region of said shaft, wherein
- said first actuator tendon wraps around said first drum in a first direction;
- and
- said second actuator tendon wraps around said second drum in a second direction, wherein said first direction is opposite to said second direction.
9 more elements
Dependencies are inferred from the claim text.