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US 2023/0405804 A1Published application
Robotic surgical assemblies including surgical instruments having articulatable wrist assemblies
AssigneeCovidien LP
InventorZachary S. Heiliger
Life of this patent
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Abstract
A surgical instrument for use in a robotic surgical system includes an end effector, a housing configured to be operably coupled to an instrument drive unit, a shaft extending distally from the housing, a tensegrity wrist assembly movably coupling the end effector to a distal end portion of the shaft, and articulation cables that adjust the pitch and yaw of the end effector relative to the shaft.
Claims20
A surgical instrument of a surgical robotic system, the surgical instrument comprising:
- a housing;
- a shaft extending distally from the housing;
- an end effector pivotably coupled to a distal end portion of the shaft;
- a first pair of first and second articulation cables each having a proximal end portion operably coupled to an actuator, and a distal end portion secured to the end effector, such that the first pair of first and second articulation cables articulate the end effector relative to the shaft;
- and
- a tensegrity wrist assembly including:
- a proximal coupler secured to the distal end portion of the shaft and having an extension extending distally relative to the distal end portion of the shaft;
- a distal coupler secured to the end effector and having an arm extending proximally relative to the end effector;
- and
- a link coupled to and extending between the extension of the proximal coupler and the arm of the distal coupler, wherein the link is configured to apply opposing axial forces on the proximal and distal couplers.
7 more elements
A surgical robotic system, comprising:
- a surgical robotic arm;
- an instrument drive unit configured to be supported on the surgical robotic arm;
- and
- a surgical instrument configured to be coupled to and driven by the instrument drive unit, the surgical instrument including;
- a housing configured to be attached to the instrument drive unit;
- a shaft extending distally from the housing;
- an end effector movably coupled to a distal end portion of the shaft;
- a first pair of first and second articulation cables each having a proximal end portion operably coupled to an actuator of the instrument drive unit, and a distal end portion secured to the end effector, such that the first pair of first and second articulation cables articulate the end effector relative to the shaft;
- and
- a tensegrity wrist assembly including:
- a proximal coupler secured to the distal end portion of the shaft and having a pair of first and second arms extending distally relative to the distal end portion of the shaft;
- a distal coupler secured to the end effector and having an arm extending proximally relative to the end effector;
- and
- a link including a proximal end secured to a proximal end of the arm of the distal coupler, and a distal end secured to a distal end of each of the first and second arms of the proximal coupler, wherein the link is configured to apply opposing axial forces on the proximal and distal couplers.
11 more elements
A surgical instrument of a surgical robotic system, the surgical instrument comprising:
- a housing;
- a shaft extending distally from the housing;
- an end effector pivotably coupled to a distal end portion of the shaft;
- and
- a tensegrity wrist assembly including:
- a proximal coupler including:
- a hub secured to the distal end portion of the shaft;
- and
- an extension extending distally from the hub;
- a distal coupler including:
- a hub secured to the end effector;
- and
- an arm extending proximally from the hub of the distal coupler;
- and
- a link including a proximal end secured to a proximal end of the arm of the distal coupler, and a distal end secured to a distal end of the extension of the proximal coupler, the proximal end of the link being prevented from moving distally relative to the arm of the distal coupler and the distal end of the link being prevented from moving proximally relative to the extension of the proximal coupler such that the link is configured to maintain an axial separation between the proximal and distal couplers.
12 more elements
Dependencies are inferred from the claim text.