US 12,390,294 B2
Robotic surgical assemblies including surgical instruments having articulatable wrist assemblies
Zachary S. Heiliger, Nederland, CO (US)
Assigned to Covidien LP, Mansfield, MA (US)
Filed by Covidien LP, Mansfield, MA (US)
Filed on Nov. 2, 2022, as Appl. No. 17/979,105.
Claims priority of provisional application 63/289,361, filed on Dec. 14, 2021.
Prior Publication US 2023/0181274 A1, Jun. 15, 2023
Int. Cl. A61B 34/30 (2016.01); A61B 34/00 (2016.01)
CPC A61B 34/71 (2016.02) [A61B 34/70 (2016.02); A61B 34/30 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A surgical instrument of a surgical robotic system, the surgical instrument comprising:
a housing;
a first transmission disposed within the housing and including:
a rotatable first input shaft;
first and second output shafts configured to rotate in response to a rotation of the first input shaft; and
a first differential gear mechanism operably coupling the first input shaft to the first and second output shafts and the first and second output shafts to one another;
a shaft extending distally from the housing;
an end effector pivotably coupled to a distal end portion of the shaft; and
first and second articulation cables each having a proximal end portion operably coupled to the respective first and second output shafts, and a distal end portion secured to the end effector, such that the first and second articulation cables move axially in opposing directions at a different rate from one another to articulate the end effector relative to the shaft in response to the rotation of the first input shaft.