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US 2021/0196416 A1Published application
Surgical instrument
AssigneeMedicaroid Corporation
InventorsShota BETSUGI, Yu USUKI
Life of this patent
Estimating the term…
Abstract
A surgical instrument according to an embodiment may include a first pulley and a second pulley. A shaft-side pulley, which is provided at a position closest to the shaft among a plurality of pulleys including the first pulley and the second pulley, has a groove width greater than groove widths of the other pulleys.
Claims20
A surgical instrument comprising:
- an end effector;
- a first support body that supports the end effector rotatably about a first shaft;
- an elongate element for operating the end effector;
- a second support body that supports the first support body rotatably about a second shaft;
- a first pulley that is provided rotatably about a third shaft at a position between the first shaft and the second shaft and to which the elongate element is suspended;
- a second pulley that is provided rotatably about the second shaft and to which the elongate element is suspended;
- and
- a shaft connected to the second support body,
- wherein a groove width of a shaft-side pulley, which is a pulley that is provided at a position closest to the shaft among a plurality of pulleys including the first pulley and the second pulley, is greater than groove widths of the other pulleys among the plurality of pulleys.
6 more elements
A surgical instrument, wherein
- a housing to be attached to a robot arm;
- an end effector;
- a first support body that supports the end effector rotatably about a first shaft;
- an elongate element for operating the end effector;
- a second support body that supports the first support body rotatably about a second shaft;
- a first pulley that is provided rotatably about a third shaft at a position between the first shaft and the second shaft and to which the elongate element is suspended;
- a second pulley that is provided rotatably about the second shaft and to which the elongate element is suspended;
- a shaft connected to the second support body;
- and
- a third pulley that is provided rotatably about a fourth shaft at a position between the shaft and the second shaft and to which the elongated element is suspended,
- wherein a groove width of the third pulley is greater than groove widths of the first pulley and the second pulley.
8 more elements
A surgical instrument comprising:
- a housing to be attached to a robot arm;
- an end effector;
- a first support body that supports the end effector rotatably about a first shaft;
- an elongate element for operating the end effector;
- a second support body that supports the first support body rotatably about a second shaft;
- a first pulley that is provided rotatably about a third shaft at a position between the first shaft and the second shaft and to which the elongate element is suspended;
- a second pulley that is provided rotatably about the second shaft and to which the elongate element is suspended;
- and
- a shaft connected to the second support body,
- wherein a groove width of the second pulley is greater than a groove width of the first pulley.
7 more elements
Dependencies are inferred from the claim text.