US 11,051,794 B2
Apparatus for pitch and yaw rotation
Thomas G. Cooper, Menlo Park, CA (US); Daniel T. Wallace, Redwood City, CA (US); Stacey Chang, Sunnyvale, CA (US); S. Christopher Anderson, San Francisco, CA (US); and Dustin Williams, Mountain View, CA (US)
Assigned to Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed by Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed on Oct. 17, 2018, as Appl. No. 16/162,652.
Application 12/782,833 is a division of application No. 10/980,119, filed on Nov. 1, 2004, granted, now 7,736,356, issued on Jun. 15, 2010.
Application 10/980,119 is a division of application No. 10/187,248, filed on Jun. 28, 2002, granted, now 6,817,974, issued on Nov. 16, 2004.
Application 16/162,652 is a continuation of application No. 15/624,344, filed on Jun. 15, 2017, granted, now 10,105,128.
Application 15/624,344 is a continuation of application No. 14/536,899, filed on Nov. 10, 2014, granted, now 9,717,486, issued on Aug. 1, 2017.
Application 14/536,899 is a continuation of application No. 13/414,445, filed on Mar. 7, 2012, granted, now 8,911,428, issued on Dec. 16, 2014.
Application 13/414,445 is a continuation of application No. 12/782,833, filed on May 19, 2010, granted, now 8,142,421, issued on Mar. 27, 2012.
Claims priority of provisional application 60/327,702, filed on Oct. 5, 2001.
Claims priority of provisional application 60/301,967, filed on Jun. 29, 2001.
Prior Publication US 2019/0046173 A1, Feb. 14, 2019
Int. Cl. A61B 17/00 (2006.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01); A61B 17/29 (2006.01); A61B 1/005 (2006.01); A61B 1/008 (2006.01)
CPC A61B 17/00234 (2013.01) [A61B 34/30 (2016.02); A61B 34/71 (2016.02); A61B 34/72 (2016.02); A61B 1/008 (2013.01); A61B 1/0055 (2013.01); A61B 1/0057 (2013.01); A61B 2017/0069 (2013.01); A61B 2017/00314 (2013.01); A61B 2017/2908 (2013.01); A61B 2017/2929 (2013.01); A61B 2017/2936 (2013.01); A61B 2034/304 (2016.02); A61B 2034/305 (2016.02); A61B 2034/306 (2016.02)] 6 Claims
OG exemplary drawing
 
1. A tendon actuating assembly for a surgical instrument, wherein the instrument includes a shaft-like member having a distal working end for insertion into a patient's body through an aperture, the working end including at least one distal moveable member arranged to be actuated by at least one of a plurality of movable tendon elements, the actuating assembly comprising:
an actuator including a plurality of tendon engagement portions, each engagement portion receiving at least one of the plurality of tendons; and
a drive mechanism drivingly coupled to the actuator so as to controllably pivot the actuator in the at least one degree of freedom, so as to move at least one of the tendons relative to the shaft-like member so as to actuate the distal moveable member;
wherein the actuator is pivotable about a pitch axis and a yaw axis; and
the drive mechanism is configured to controllably pivot the actuator selectably about each of the pitch and yaw axes, so that movement of the actuator about either of the axes moves at least one tendon relative to the shaft-like member so as to actuate the at least one distal moveable member.