US 2025/0049524 A1Published application

Surgical instrument

AssigneeMedicaroid Corporation

InventorsKaoru TAKAHASHI, Gen KURIHARA

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Abstract

A surgical instrument may include: a wrist joint connected to a shaft and including first and second joints; an end effector connected to the wrist joint; an elongate element connected to the end effector; at least four drive shafts; and a lever configured to move the elongate element. The at least four drive shafts comprise a first drive shaft configured to roll the shaft, second and third drive shafts configured to pitch the first joint and yaw the second joint, and a fourth drive shaft configured to move the elongate element, and the lever includes an arm, an engagement portion provided to one side of the arm and engaged with the elongate element, and a shaft portion that is provided to the other side of the arm and is rotatably arranged on the base so as to move the engagement portion by a driving force from the fourth drive shaft.

Claims20

Dependent claims

A surgical instrument comprising:

a housing including a base that is to be attached to a robot arm,
a shaft including a proximal end connected to the base;
a wrist joint connected to a distal end side of the shaft, the wrist joint including a first joint configured to perform a pitch joint movement about a first rotation axis intersecting a longitudinal direction of the shaft and a second joint configured to perform a yaw joint movement about a second rotation axis intersecting the longitudinal direction and the first rotation axis;
an end effector connected to a distal end of the wrist joint;
an elongate element extending in the longitudinal direction of the shaft, the elongate element including a distal end thereof connected to the end effector;
at least four drive shafts provided to the base and configured to driven to rotate by driving forces from motors provided to the robot arm;
and
a lever configured to move the elongate element in the longitudinal direction, wherein
the at least four drive shafts comprise a first drive shaft configured to roll the shaft about an axis along the longitudinal direction of the shaft, a second drive shaft and a third drive shaft configured to pitch the first joint and yaw the second joint, and a fourth drive shaft configured to move the elongate element in the longitudinal direction of the shaft, and
the lever includes an arm, an engagement portion provided to one side of the arm and engaged with the elongate element, and a shaft portion that is provided to the other side of the arm and is rotatably arranged on the base so as to move the engagement portion by a driving force from the fourth drive shaft.

7 more elements

A surgical instrument comprising:

a housing including a base that is to be attached to a robot arm,
a shaft including a proximal end connected to the base;
a wrist joint connected to a distal end side of the shaft, the wrist joint including a first joint configured to perform a pitch joint movement about a first rotation axis intersecting a longitudinal direction of the shaft and a second joint configured to perform a yaw joint movement about a second rotation axis intersecting the longitudinal direction and the first rotation axis;
an end effector connected to a distal end of the wrist joint;
and
at least four drive shafts provided to the base and configured to be driven to rotate by driving forces from motors provided to the robot arm, wherein
the at least four drive shafts comprise a first drive shaft configured to roll the shaft about an axis along the longitudinal direction of the shaft, a second drive shaft and a third drive shaft configured to pitch the first joint and yaw the second joint, and a fourth drive shaft configured to drive the end effector,
the wrist joint includes a first joint component and a second joint component that is adjacent to the first joint component and provided on a distal side of the first joint component and is rotatable relative to the first joint component,
the first joint component includes a first meshing portion and a second meshing portion provided to be opposed to the first meshing portion in a radial direction orthogonal to the longitudinal direction of the shaft,
the second joint component includes a third meshing portion that meshes with the first meshing portion, and a fourth meshing portion that is provided to be opposed to the third meshing portion in the radial direction and meshes with the second meshing portion,
the first meshing portion and the second meshing portion have different shapes from each other, and
the third meshing portion and the fourth meshing portion have different shapes from each other.

9 more elements

Dependencies are inferred from the claim text.