US 12,329,486 B2
Drive cable accumulation systems for robotic surgical tools
Andrew T. Beckman, Cincinnati, OH (US); Spencer James Witte, San Francisco, CA (US); Charles J. Scheib, Loveland, OH (US); Benjamin D. Dickerson, San Francisco, CA (US); Travis Michael Schuh, Los Altos, CA (US); Eric N. Johnson, Maineville, OH (US); and Jason Alan Hill, Loveland, OH (US)
Assigned to Cilag GmbH International, Zug (CH)
Filed by Cilag GmbH International, Zug (CH)
Filed on Jan. 20, 2021, as Appl. No. 17/153,026.
Prior Publication US 2022/0226056 A1, Jul. 21, 2022
Int. Cl. A61B 34/00 (2016.01); A61B 17/295 (2006.01); B25J 9/10 (2006.01); B25J 15/00 (2006.01)
CPC A61B 34/71 (2016.02) [A61B 17/295 (2013.01); B25J 9/1035 (2013.01); B25J 9/1045 (2013.01); B25J 15/0028 (2013.01); A61B 2034/715 (2016.02)] 14 Claims
OG exemplary drawing
 
1. A robotic surgical tool, comprising:
a handle providing a drive input;
an elongate shaft extendable through the handle and having an end effector arranged at a distal end of the shaft;
an accumulator system housed within the handle and operatively coupled to the drive input such that actuation of the drive input operates the accumulator system, the accumulator system including:
a beveled pinion gear coupled to the drive input;
a bevel gear arranged to intermesh with the beveled pinion gear and rotatable about an axle;
a center accumulator pulley rotatably mounted to the bevel gear at the axle;
one or more outer accumulator pulleys rotatably mounted to the bevel gear near an outer periphery of the bevel gear; and
at least one drive cable threaded through the accumulator system and extending distally along the shaft,
wherein operation of the accumulator system alters at least one of a length or a force in the at least one drive cable to affect operation of the end effector.