Passive preload and capstan drive for surgical instruments
US9259274B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Sep 30, 2008 |
| Grant date | Feb 16, 2016 |
| Priority date | — |
| Expiry date | Jun 23, 2033 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B2034/715
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A robotic surgical system uses a passive preload system attached to a tendon that is wrapped around a capstan to control relaxed tension in the tendon. The passive preload system can employ a spring or other structure to apply tension to the tendon. The capstan can be driven by a motor when the tendon is needed to pull on a structural member of the instrument. For example, for the application of clamping pressure or movement of the structural member against resistance, capstan friction can produce the tendon tension that is many times the tension applied by the passive preload system. However, when the tendon is not needed to apply force to the member, the capstan can be freed, so that the spring system provides enough tension to prevent derailment or other malfunctions of the tendon. The low tension in relaxed tendons can reduce tendon friction, particularly in instruments with flexible shafts.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.