US 12,390,287 B2
Surgical tool for robotic surgery and robotic surgical assembly
Massimiliano Simi, Calci (IT); Giuseppe Maria Prisco, Calci (IT); and Giorgio Lazzari, Calci (IT)
Assigned to MEDICAL MICROINSTRUMENTS, INC., Wilmington, DE (US)
Filed by MEDICAL MICROINSTRUMENTS, INC., Wilmington, DE (US)
Filed on Dec. 22, 2020, as Appl. No. 17/130,710.
Application 17/130,710 is a continuation in part of application No. 15/768,525, granted, now 11,141,233, previously published as PCT/EP2016/074808, filed on Oct. 14, 2016.
Claims priority of application No. 102015000062500 (IT), filed on Oct. 16, 2015.
Prior Publication US 2021/0106393 A1, Apr. 15, 2021
Int. Cl. A61B 34/30 (2016.01); B25J 9/10 (2006.01); A61B 17/062 (2006.01)
CPC A61B 34/30 (2016.02) [B25J 9/1075 (2013.01); A61B 17/062 (2013.01)] 22 Claims
OG exemplary drawing
 
1. A robotic surgery assembly comprising a medical instrument comprising:
a frame;
a jointed device having a rotational joint and a terminal member attached to the rotational joint, the jointed device defining a degree of freedom with respect of said frame; and
at least one tendon made of polyethylene fibers for actuating said degree of freedom, wherein said at least one tendon slides while in contact with at least one portion of said jointed device to actuate said rotational joint;
wherein said tendon comprises a tendon endpoint connected to the jointed device to exert a tensile load for actuating said degree of freedom, wherein said tendon endpoint is secured to the terminal member of the jointed device; and
wherein tendon stiffness varies along the length of said at least one tendon;
wherein the terminal member comprises a winding surface onto which the tendon is wrapped around, wherein said winding surface is a ruled surface formed by a plurality of portions of straight lines, and wherein all of the straight lines are parallel to a rotational axis of the rotational joint.