Double universal joint

Abstract

Surgical tools having a two degree-of-freedom wrist, wrist articulation by linked tension members, mechanisms for transmitting torque through an angle, and minimally invasive surgical tools incorporating these features are disclosed. An elongate intermediate wrist member is pivotally coupled with a distal end of an instrument shaft so as to rotate about a first axis transverse to the shaft, and an end effector body is pivotally coupled with the intermediate member so as to rotate about a second axis that is transverse to the first axis. Linked tension members interact with attachment features to articulate the wrist. A torque-transmitting mechanism includes a coupling member, coupling pins, a drive shaft, and a driven shaft. The drive shaft is coupled with the driven shaft so as to control the relative orientations of the drive shaft, the coupling member, and the driven shaft.

Description

CROSS-REFERENCES TO RELATED APPLICATIONS[0001]The present application claims the benefit of U.S. Provisional Application No. 61 / 260,903, entitled “WRIST ARTICULATION BY LINKED TENSION MEMBERS,” filed on Nov. 13, 2009, (Attorney Docket No. ISRG02320PROV); U.S. Provisional Application No. 61 / 260,910, entitled “DOUBLE UNIVERSAL JOINT,” filed on Nov. 13, 2009, (Attorney Docket No. ISRG02340PROV); and U.S. Provisional Application No. 61 / 260,915, entitled “SURGICAL TOOL WITH A TWO DEGREE OF FREEDOM WRIST,” filed on Nov. 13, 2009, (Attorney Docket No. ISRG02350PROV), the full disclosures of which are incorporated herein by reference. The present application is related to U.S. Provisional Application No. 61 / 260,907, entitled “END EFFECTOR WITH REDUNDANT CLOSING MECHANISMS,” filed on Nov. 13, 2009, (Attorney Docket No. ISRG02330PROV); and U.S. Provisional Application No. 61 / 260,919, entitled “MOTOR INTERFACE FOR PARALLEL DRIVE SHAFTS WITHIN AN INDEPENDENTLY ROTATING MEMBER,” filed on Nov. 13...

AI Technical Summary

Benefits of technology

The patent describes a surgical tool with a two degree-of-freedom wrist that can mimic the natural action of a surgeon's wrist. This allows for better maneuverability and access in minimally invasive surgery. The tool has an intermediate wrist member pivotally coupled with the instrument shaft and the end effector body, and an actuation system extending through the instrument shaft to orient the end effector body. The intermediate member has an elongate shape, and the actuation system includes internal passages for guiding control cables. The tool can also include a torque transmission mechanism to apply high force to tissues through a narrow shaft. The patent also describes a mechanism for transmitting torque to the end effector through a two degree-of-freedom wrist. Overall, the patent provides a surgical tool with improved maneuverability and access for minimally invasive surgery.

Problems solved by technology

Unfortunately, it can be challenging to transmit the desired telesurgical end effector forces through known tool wrists, particularly while retaining the response time, precision, flexibility, and reliability in the tool that is desired for telesurgical tasks.

Unfortunately, many known surgical tools, including known linear clamping, cutting, and stapling tools, lack the ability to transmit desired torques (e.g., tissue clamping torque) or forces (e.g., staple firing force) across a compact articulated wrist, which may reduce the effectiveness of the surgical tool.

Alternative tools with a shaft driven clamping mechanism also fail to provide rotational movement of an end effector to mimic the natural action of a surgeon's wrist.

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