US 12,402,961 B2
Surgical robotic system comprising spherical wrist
Raimondo Cau, Son (NL); and Cornelis Van Giessen, Son (NL)
Assigned to MICROSURE B.V., Son (NL)
Appl. No. 17/996,432
Filed by MICROSURE B.V., Son (NL)
PCT Filed Apr. 13, 2021, PCT No. PCT/EP2021/059598
§ 371(c)(1), (2) Date Oct. 17, 2022,
PCT Pub. No. WO2021/213851, PCT Pub. Date Oct. 28, 2021.
Claims priority of application No. 20171161 (EP), filed on Apr. 23, 2020.
Prior Publication US 2023/0233273 A1, Jul. 27, 2023
Int. Cl. A61B 34/00 (2016.01); A61B 17/29 (2006.01); A61B 34/30 (2016.01)
CPC A61B 34/30 (2016.02) [A61B 17/29 (2013.01); A61B 34/71 (2016.02); A61B 2034/305 (2016.02)] 12 Claims
OG exemplary drawing
 
1. A surgical robotic system, comprising:
a spherical wrist comprising a surgical instrument, wherein the spherical wrist comprises a yaw axis, a pitch axis and a roll axis to provide the surgical instrument with three rotational degrees of freedom, the three rotational degrees of freedom including a roll rotation about a longitudinal axis of the surgical instrument;
an elongated shaft, wherein the spherical wrist is attached to a distal end of the elongated shaft, wherein a drive assembly is attached to a proximate end of the elongated shaft, wherein the elongated shaft is configured to transmit actuation forces from the drive assembly to the spherical wrist to actuate rotation of the spherical wrist, and wherein the elongated shaft is a tube assembly comprising a concentric arrangement of at least three tubes, wherein each respective tube is configured to transmit a respective actuation force from the drive assembly to the spherical wrist to affect a rotation about a respective axis;
wherein the surgical instrument is a hinged surgical instrument comprising jaws, wherein the jaws are biased in a normally open position by a resilient biasing element, wherein the surgical instrument is actuatable by the drive assembly towards a closed position by a string which runs from the drive assembly through the elongated shaft and the spherical wrist to the surgical instrument, and wherein the string is preloaded to preload the surgical instrument and the spherical wrist, and wherein said preloading of the string applies an axial tension on the tube assembly, wherein the spherical wrist is actuatable by the tube assembly to rotate about the roll axis via a roll bevel gear and about the pitch axis via a pitch bevel gear, wherein the string runs over a pitch bevel gear shaft so as to apply a lateral force on said shaft to preload the pitch bevel gear onto a yaw bevel gear and the roll bevel gear.