US 11,957,428 B2
Medical instruments including wrists with hybrid redirect surfaces
Travis Michael Schuh, Los Altos, CA (US)
Assigned to Auris Health, Inc., Redwood City, CA (US)
Filed by Auris Health, Inc., Redwood City, CA (US)
Filed on Aug. 17, 2021, as Appl. No. 17/404,694.
Application 17/404,694 is a continuation of application No. 16/910,578, filed on Jun. 24, 2020, granted, now 11,109,928.
Claims priority of provisional application 62/868,808, filed on Jun. 28, 2019.
Prior Publication US 2021/0369372 A1, Dec. 2, 2021
Int. Cl. A61B 34/00 (2016.01); A61B 17/29 (2006.01); A61B 18/14 (2006.01); A61B 34/30 (2016.01); A61B 34/37 (2016.01); B25J 9/10 (2006.01); B25J 9/16 (2006.01)
CPC A61B 34/71 (2016.02) [A61B 34/37 (2016.02); B25J 9/1045 (2013.01); B25J 9/1612 (2013.01); A61B 2017/2932 (2013.01); A61B 18/1442 (2013.01); A61B 2034/301 (2016.02); A61B 2034/305 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A medical instrument, comprising:
a shaft extending between a proximal end and a distal end;
a wrist positioned at the distal end of the shaft, the wrist comprising:
a proximal clevis connected to the distal end of the shaft,
a distal clevis including a first support leg and a second support leg, wherein the first and second support legs are pivotally connected to the proximal clevis, the distal clevis configured to rotate about a pitch axis,
a plurality of proximal pulleys including a first inner proximal pulley and a first outer proximal pulley, wherein the first inner proximal pulley is positioned between the first and second support legs, and wherein each of the first inner proximal pulley and the first outer proximal pulley are configured to rotate about the pitch axis, and
a plurality of distal pulleys configured to rotate about a yaw axis;
an end effector connected to the plurality of distal pulleys;
a plurality of pull wires engaged with the plurality of proximal pulleys and the plurality of distal pulleys and configured to articulate the wrist and actuate the end effector, wherein the plurality of pull wires includes a first pull wire segment;
a conductive cable extending through the wrist to the end effector; and
a first redirect surface extending along the first support leg of the distal clevis and positioned between the first outer proximal pulley and the second support leg, wherein the conductive cable extends over the first redirect surface of the distal clevis, wherein the conductive cable is directly mechanically coupled to the first pull wire segment with a coupling such that the coupling is configured to facilitate feeding the conductive cable through the wrist.