US 12,220,196 B2
Surgical tool, surgery support system, and surgical operating unit
Kazuhito Wakana, Tokyo (JP)
Assigned to SONY GROUP CORPORATION, Tokyo (JP)
Appl. No. 17/753,527
Filed by SONY GROUP CORPORATION, Tokyo (JP)
PCT Filed Aug. 24, 2020, PCT No. PCT/JP2020/031905
§ 371(c)(1), (2) Date Mar. 7, 2022,
PCT Pub. No. WO2021/049286, PCT Pub. Date Mar. 18, 2021.
Claims priority of application No. 2019-166763 (JP), filed on Sep. 13, 2019.
Prior Publication US 2022/0331036 A1, Oct. 20, 2022
Int. Cl. A61B 34/00 (2016.01); A61B 17/29 (2006.01); A61B 34/37 (2016.01); B25J 17/02 (2006.01); A61B 34/30 (2016.01)
CPC A61B 34/71 (2016.02) [A61B 17/29 (2013.01); A61B 34/37 (2016.02); B25J 17/02 (2013.01); A61B 2017/2938 (2013.01); A61B 2034/305 (2016.02); A61B 2034/715 (2016.02)] 10 Claims
OG exemplary drawing
 
1. A surgical tool, comprising:
a shaft;
a wrist connected to an end of the shaft, wherein the wrist is rotatable about a first axis;
a first jaw member;
a second jaw member, wherein each of the first jaw member and the second jaw member is rotatable about a second axis with respect to the wrist;
a set of first forward and backward cables configured to
transmit a first force to turn the first jaw member about the second axis;
a set of second forward and backward cables configured to
transmit a second force to turn the second jaw member about the second axis;
a set of third forward and backward cables;
a first drive capstan;
a second drive capstan;
a third drive capstan;
a first actuator configured to:
rotate the first drive capstan; and
pull the set of first forward and backward cables;
a second actuator configured to:
rotate the second drive capstan; and
pull the set of second forward and backward cables, wherein each of the first actuator, the first drive capstan, the second actuator, and the second drive capstan is secured to the shaft;
a third actuator configured to:
rotate the third drive capstan;
pull the set of third forward and backward cables;
generate a turning motion of the wrist about the first axis; and
adjust, based on the generated turning motion of the wrist about the first axis, a pre-tension of the set of first forward and backward cables and a pre-tension of the set of second forward and backward cables,
wherein the pre-tension of the set of first forward and backward cables and the pre-tension of the set of second forward and backward cables does not change based on the adjustment;
a wrist capstan on the wrist, wherein
the wrist capstan has a first rotation axis that is the first axis, and
the set of third forward and backward cables is wound around the wrist capstan;
a first jaw capstan on the first jaw member, wherein
the first jaw capstan has a second rotation axis that is the second axis, and
the set of first forward and backward cables is wound around the first jaw capstan;
a second jaw capstan on the second jaw member, wherein
the second jaw capstan has a third rotation axis that is the second axis, and
the set of second forward and backward cables is wound around the second jaw capstan;
a first idler pulley unit configured to switch the set of first forward and backward cables to a specific direction, wherein the specific direction is substantially parallel to a longitudinal axis of the shaft; and
a second idler pulley unit configured to switch the set of second forward and backward cables to the specific direction.