US 10,888,387 B2
Articulation mechanisms for surgical instruments such as for use in robotic surgical systems
Kurt J. Anglese, Lafayette, CO (US)
Assigned to Covidien LP, Mansfield, MA (US)
Filed by COVIDIEN LP, Mansfield, MA (US)
Filed on Feb. 15, 2019, as Appl. No. 16/276,826.
Prior Publication US 2020/0261167 A1, Aug. 20, 2020
Int. Cl. A61B 34/30 (2016.01); A61B 34/00 (2016.01); A61B 17/29 (2006.01); A61B 90/50 (2016.01); A61B 18/14 (2006.01); A61B 17/00 (2006.01)
CPC A61B 34/30 (2016.02) [A61B 17/29 (2013.01); A61B 34/71 (2016.02); A61B 18/1442 (2013.01); A61B 90/50 (2016.02); A61B 2017/00398 (2013.01); A61B 2017/00473 (2013.01); A61B 2017/00477 (2013.01); A61B 2017/2927 (2013.01); A61B 2034/305 (2016.02)] 20 Claims
OG exemplary drawing
 
1. An articulation assembly for a surgical instrument, comprising:
first, second, third, and fourth lead screw assemblies, each lead screw assembly including a lead screw and a collar operably engaged about the lead screw such that rotation of the lead screw translates the collar about the lead screw,
first, second, third and fourth articulation cables operably coupled to the collars of the first, second, third, and fourth lead screw assemblies, respectively, such that proximal movement of one of the collars about the respective lead screw tensions the corresponding articulation cable and such that distal movement of one of the collars about the respective lead screw de-tensions the corresponding articulation cable;
first, second, third and fourth proximal gear assemblies coupled to the lead screws of the first, second, third, and fourth lead screw assemblies, respectively;
a first coupling gear coupling the first and third proximal gear assemblies with one another to maintain a pre-tension on the first and third articulation cables; and
a second coupling gear coupling the second and fourth proximal gear assemblies with one another to maintain a pre-tension on the second and fourth articulation cables.