Patent · US Active

Decoupling instrument shaft roll and end effector actuation in a surgical instrument

US8992565B2 · kind B2 · utility

1,462Cited by

14References

10Claims

0Family size

Assignee

INTUITIVE SURGICAL OPERATIONS, INC. · US

Inventors

Gabriel F. Brisson · Albany, US
William A. Burbank · Sandy Hook, US

Key dates

Filing date	Nov 15, 2011
Grant date	Mar 31, 2015
Priority date	—
Expiry date	May 11, 2033

Classification

Technology area (CPC A)Human Necessities
CPC primaryA61B2090/067
WIPO fieldMedical technology
WIPO sectorInstruments

Abstract

Surgical assemblies and related methods are disclosed that provide for decoupling of instrument shaft roll and end effector actuation. A surgical assembly includes a base, an instrument shaft rotationally mounted to the base, an end effector supported at a distal end of the instrument shaft and including an actuation mechanism driven by a rotational motion, a drive shaft rotationally coupled with the actuation mechanism and configured to provide the rotational motion to the actuation mechanism, and a differential rotationally coupled to the drive shaft and receiving a first input motion and a second input motion. The differential combines the first and second input motions to generate an output motion that rotates the drive shaft. The first input motion is rotationally coupleable to an actuation source. The second input motion is coupled to rotation of the instrument shaft relative to the base.

Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.