Patent · US Active

Dexterous wrists for surgical intervention

US9687303B2 · kind B2 · utility

1Cited by

67References

18Claims

0Family size

Assignee

VANDERBILT UNIVERSITY · US

Inventors

Nabil Simaan · Nashville, US
Roger E. Goldman · New York, US
Andrea Bajo · Palo Alto, US

Key dates

Filing date	Apr 19, 2013
Grant date	Jun 27, 2017
Priority date	—
Expiry date	Nov 23, 2033

Classification

Technology area (CPC A)Human Necessities
CPC primaryA61B2034/305
WIPO fieldMedical technology
WIPO sectorInstruments

Abstract

A rotatable wrist connecting a gripper tool to the distal end of a continuum robot shaft. The rotatable wrist includes a wrist hub that is non-rotatably connected to the distal end of the shaft. A wrist capstan is rotatably connected to the wrist hub and non-rotatably connected to the gripper. A flexible wire loop extends through the wrist hub and partially contacts the wrist capstan. Linear movement of the flexible wire loop through the shaft of the continuum robot causes rotation of the wrist capstan due to friction between the flexible wire loop and the wrist capstan. The wrist also supports selective detachability and control of roll, pitch and roll, pitch yaw and roll according to different embodiments.

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