Pulley arrangement for articulating a surgical instrument
US10499891B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 9, 2016 |
| Grant date | Dec 10, 2019 |
| Priority date | — |
| Expiry date | Dec 8, 2037 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B2034/715
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A robotic surgical instrument comprising a shaft and end effector element connected by an articulation. The articulation comprises a first joint driveable by a first pair of driving elements. The first joint permits the end effector element to rotate about a first axis transverse to a longitudinal axis of the shaft, the rotation of the end effector element about the first axis bounded by an extreme rotation angle relative to the longitudinal axis. A second joint is driveable by a second pair of driving elements. A pulley arrangement constrains the second pair of driving elements, and comprises a first set of pulleys rotatable about the first axis, and a second set of pulleys located relative to the first set of pulleys such that at the extreme rotation angle the second pair of driving elements is retained in contact with both the first and second sets of pulleys.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.