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US 2022/0022943 A1Published application
Medical instrument electrically energized using drive cables
AssigneeIntuitive Surgical Operations, Inc.
InventorsScott E. MANZO, William A. BURBANK, Richard D. GRESHAM
Life of this patent
Estimating the term…
Abstract
An electrically energized medical instrument uses one or more drive cables to both actuate mechanical components of a wrist mechanism or an effector and to electrically energize the effector. Electrical isolation can be achieved using an insulating main tube through which drive cables extend from a backend mechanism to the effector, an insulating end cover that leaves only the desired portions of the effector exposed, and one or more seals to prevent electrically conductive liquid from entering the main tube. Component count and cost may be further reduced using a pair of pulleys that are shared by four drive cables.
Claims20
An apparatus, comprising:
- a shaft comprising a distal end portion and a proximal end portion;
- a wrist mechanism coupled to the distal end portion of the shaft, actuation of the wrist mechanism producing movement of a distal portion of the wrist mechanism relative to a proximal portion of the wrist mechanism, the wrist mechanism having a wrist cable path;
- an end effector coupled to the distal portion of the wrist mechanism, actuation of the end effector producing movement of the end effector relative to the distal portion of the wrist mechanism;
- a cable pair routed through the wrist cable path, a first end of the cable pair being coupled to the end effector;
- and
- a transmission coupled to a portion of the shaft, the transmission comprising an input connection, an input shaft, a transmission cable path, and an adjustment mechanism,
- the input connection being configured to be driven by an actuator of a control mechanism, the input shaft operatively coupled to the input connection and being configured to move a portion of the cable pair to actuate the end effector via rotation of the input connection, the cable pair being routed through the transmission cable path within the transmission between the input shaft and the shaft,
- the adjustment mechanism being between the input connection and the proximal end portion of the shaft and having a guide portion in contact with the cable pair, the guide portion being configured to move to change a length of the transmission cable path.
5 more elements
An apparatus, comprising:
- a shaft comprising a distal end portion and a proximal end portion;
- a wrist mechanism coupled to the distal end portion of the shaft, actuation of the wrist mechanism producing movement of a distal portion of the wrist mechanism relative to a proximal portion of the wrist mechanism, the wrist mechanism having a wrist cable path;
- an end effector coupled to the distal portion of the wrist mechanism, actuation of the end effector producing movement of the end effector relative to the distal portion of the wrist mechanism;
- a cable pair routed through the wrist cable path, a first end of the cable pair being coupled to the end effector;
- and
- a transmission coupled to a portion of the shaft, the transmission comprising an input connection, an input shaft, a transmission cable path, and an adjustment mechanism,
- the input connection being configured to be driven by an actuator of a control mechanism, the input shaft operatively coupled to a second end of the cable pair and configured to move the second end of the cable pair, the cable pair being routed through the transmission cable path within the transmission between the input shaft and the shaft,
- the adjustment mechanism having a guide portion in contact with a portion of the cable pair, the guide portion having a link that rotates between a first position and a second position to change a length of the transmission cable path, wherein a portion of the link is closer to the input connection in the first position than in the second position.
5 more elements
An apparatus, comprising:
- a shaft comprising a distal end portion and a proximal end portion;
- a wrist mechanism coupled to the distal end portion of the shaft, actuation of the wrist mechanism producing movement of a distal portion of the wrist mechanism relative to a proximal portion of the wrist mechanism;
- an end effector coupled to the distal portion of the wrist mechanism, actuation of the end effector producing movement of the end effector relative to the distal portion of the wrist mechanism;
- a first cable comprising a first end and a second end, the first end of the first cable routed to the distal end portion of the shaft;
- a second cable comprising a first end and a second end, the first end of the second cable routed to the distal end portion of the shaft;
- and
- a transmission coupled to a portion of the shaft, the transmission comprising an input connection, an input shaft, a first transmission cable path, a second transmission cable path, and an adjustment mechanism,
- the input connection being configured to be driven by an actuator of a control mechanism, the input shaft operatively coupled to a second end of the first cable and configured to move the second end of the first cable, the first cable being routed through the first transmission cable path within the transmission between the input shaft and the shaft,
- the adjustment mechanism having a first arm portion with a first guide mounted thereon, the first guide being in contact with a portion of the first cable, the first arm portion being movable such that movement of the first guide changes a first transmission cable path length, and
- the adjustment mechanism having a second arm portion with a second guide mounted thereon, the second guide being in contact with a portion of the second cable, the second arm portion being movable such that movement of the second guide changes a second transmission cable path length.
7 more elements
Dependencies are inferred from the claim text.