US 11,896,202 B2
Articulation mechanisms for robotic surgical tools
Andrew T. Beckman, Cincinnati, OH (US); Charles J. Scheib, Loveland, OH (US); and Neil Markwardt, Redwood City, CA (US)
Assigned to Cilag GmbH International, Zug (CH)
Filed by Cilag GmbH International, Zug (CH)
Filed on Jun. 18, 2020, as Appl. No. 16/946,363.
Prior Publication US 2021/0393340 A1, Dec. 23, 2021
Int. Cl. A61B 1/00 (2006.01); A61B 34/30 (2016.01); A61B 34/20 (2016.01); A61B 17/072 (2006.01); A61B 17/29 (2006.01); A61B 17/3201 (2006.01); A61B 17/128 (2006.01); A61B 18/14 (2006.01); A61B 17/00 (2006.01); F16H 57/00 (2012.01); F16H 1/20 (2006.01); F16H 25/20 (2006.01); F16H 25/18 (2006.01); B25J 15/00 (2006.01); B25J 17/02 (2006.01); B25J 9/10 (2006.01); A61B 90/50 (2016.01); A61B 18/00 (2006.01); A61B 18/12 (2006.01)
CPC A61B 1/00149 (2013.01) [A61B 1/00009 (2013.01); A61B 17/00234 (2013.01); A61B 17/072 (2013.01); A61B 17/1285 (2013.01); A61B 17/29 (2013.01); A61B 17/3201 (2013.01); A61B 18/1442 (2013.01); A61B 34/20 (2016.02); A61B 34/30 (2016.02); A61B 90/50 (2016.02); B25J 9/102 (2013.01); B25J 15/0019 (2013.01); B25J 17/0241 (2013.01); F16H 1/20 (2013.01); F16H 25/186 (2013.01); F16H 25/20 (2013.01); F16H 57/0025 (2013.01); A61B 2018/0063 (2013.01); A61B 2018/126 (2013.01); A61B 2034/2051 (2016.02); A61B 2034/301 (2016.02); A61B 2034/302 (2016.02); A61B 2217/005 (2013.01); A61B 2217/007 (2013.01); F16H 2025/2059 (2013.01); F16H 2025/2081 (2013.01)] 11 Claims
OG exemplary drawing
 
1. A robotic surgical tool, comprising:
a drive housing having a first end and a second end;
at least one spline extending between the first and second ends and including a drive gear that rotates with rotation of the at least one spline;
a carriage movably mounted to the at least one spline;
an elongate shaft having a proximal end coupled to the carriage and extending from the carriage through the first end;
an end effector arranged at a distal end of the elongate shaft;
a wrist that interposes the end effector and the distal end of the shaft; and
an activating mechanism housed in the carriage and operatively coupled to the drive gear such that rotation of the drive gear correspondingly actuates the activating mechanism and thereby causes the wrist to articulate the end effector in at least one plane, wherein the activating mechanism comprises:
first and second carriers extending at least partially about the shaft, the first carrier being operatively coupled to a first drive member extending to the wrist, and the second carrier being operatively coupled to a second drive member extending to the wrist;
a first transfer gear extending about the shaft and defining internal threads, the first carrier radially interposing the shaft and the first transfer gear and defining external threads matable with the internal threads of the first transfer gear; and
a second transfer gear extending about the shaft and defining internal threads, the second carrier radially interposing the shaft and the second transfer gear and defining external threads matable with the internal threads of the second transfer gear,
wherein actuation of the activating mechanism causes the first carrier and the first drive member to move along the shaft in a first axial direction and further causes the second carrier and the second drive member to move along the shaft in a second axial direction, wherein the first and second axial directions are equal and opposite,
wherein the first and second transfer gears are matable with the drive gear such that rotation of the drive gear simultaneously rotates the first and second transfer gears, and
wherein the internal threads of the first and second transfer gears are threaded in opposite directions such that rotating the first and second transfer gears causes the first and second carriers to move in equal but opposite axial directions along the shaft.