Surgical instrument articulation
US10624703B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 9, 2016 |
| Grant date | Apr 21, 2020 |
| Priority date | — |
| Expiry date | Mar 23, 2038 |
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 first and second joints, driveable by first and second pairs 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. A pulley arrangement comprises a first set of pulleys rotatable about the first axis and a redirecting pulley between the first set of pulleys and the second joint, both of which constrain the second pair of driving elements. The redirecting pulley is rotatable about a redirecting pulley axis which is angled to the first axis so as to cause the redirecting pulley to redirect a first one of the second pair of driving elements from a take-off point of a first pulley of the first set of pulleys to a pick-up point of the second joint.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.