Force transmission for robotic surgical instrument

US8603077B2 · kind B2 · utility

Assignee

• INTUITIVE SURGICAL OPERATIONS, INC. · US

Inventors

• Thomas G. Cooper · Menlo Park, US
• Anthony K. McGrogan · San Jose, US
• Matthew R. Williams · Walnut Creek, US
• Eugene F. Duval · Menlo Park, US
• S. Christoper Anderson · San Francisco, US

Key dates

• Filing date: May 14, 2010
• Grant date: Dec 10, 2013
• Expiry date: Jul 19, 2032

Classification

• Technology area (CPC Y): Emerging Cross-Sectional Technologies
• CPC primary: Y10T74/20329
• WIPO field: Medical technology
• WIPO sector: Instruments

Abstract

A force transmission transmits a force received by an input gimbal plate having two degrees of freedom to an output gimbal plate. The input gimbal plate is coupled to a first end of least three lever arms supported by a pivot. The output gimbal plate is coupled to a second end of the lever arms. The output gimbal plate may be coupled to the lever arms by flexible cables. The cables may be substantially contained within a tube. The output gimbal plate may be substantially smaller than the input gimbal plate. The force transmission may include a secondary output gimbal plate coupled to secondary levers that are coupled to the lever arms. The secondary levers may be third class levers. The secondary output gimbal plate may move proportionately to movement of the output gimbal plate. The force transmission may control a surgical end effector in a robotic surgical instrument.