Driving arrangement for articulating a surgical instrument
US11129686B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Oct 6, 2017 |
| Grant date | Sep 28, 2021 |
| Priority date | — |
| Expiry date | May 27, 2038 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B2034/715
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A robotic surgical instrument comprising a shaft, a first end effector element, an articulation connecting the first end effector element to a distal end of the shaft, the first end effector element being movable relative to the articulation, and a drive mechanism at a proximal end of the shaft. The drive mechanism comprises a first actuator connected to the first end effector element by a first pair of driving elements. The first pair of driving elements are configured such that a tension force applied by the first actuator to a first one of the first pair of driving elements causes the first end effector element to move relative to the articulation in a first motion direction, and the tension force applied to a second one of the first pair of driving elements causes the first end effector element to move relative to the articulation in a second motion direction. The first one of the first pair of driving elements has a first path between the first actuator and the first end effector element, and the second one of the first pair of driving elements has a second path between the first actuator and the first end effector element. The first path has a lower tension force loss than th…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.