US 11,744,661 B2
Robotic surgical tools with torsion cable actuation
Andrew T. Beckman, Cincinnati, OH (US); Charles J. Scheib, Loveland, OH (US); Travis Michael Schuh, Los Altos, CA (US); Benjamin David Dickerson, Cincinnati, OH (US); and Steven G. Hall, Lebanon, OH (US)
Assigned to Cilag GmbH International, Zug (CH)
Filed by Cilag GmbH International, Zug (CH)
Filed on Jun. 18, 2020, as Appl. No. 16/946,370.
Prior Publication US 2021/0393355 A1, Dec. 23, 2021
Int. Cl. A61B 34/37 (2016.01); A61B 34/00 (2016.01); B25J 9/10 (2006.01); B25J 9/16 (2006.01); A61B 17/295 (2006.01); A61B 34/30 (2016.01); A61B 17/29 (2006.01); A61B 17/068 (2006.01)
CPC A61B 34/71 (2016.02) [A61B 17/295 (2013.01); A61B 34/37 (2016.02); A61B 34/74 (2016.02); B25J 9/102 (2013.01); B25J 9/1612 (2013.01); A61B 17/068 (2013.01); A61B 2017/2902 (2013.01); A61B 2017/2923 (2013.01); A61B 2034/301 (2016.02); A61B 2034/302 (2016.02); A61B 2034/305 (2016.02); A61B 2034/715 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A robotic surgical tool, comprising:
a drive housing having a first end, a second end, and a lead screw extending between the first and second ends;
a carriage movably mounted to the lead screw at a carriage nut secured to the carriage;
an activating mechanism including a drive gear rotatably mounted to the carriage and rotatable to actuate the activating mechanism; and
a torsion cable extending between the drive gear and a drive input arranged at the first end, wherein rotating the drive input rotates the torsion cable and thereby transmits a torsional load along the torsion cable to the drive gear to actuate the activating mechanism.