US 12,082,894 B2
Motor interface for parallel drive shafts within an independently rotating member
Gregory W. Dachs, II, San Francisco, CA (US); Todd E. Murphy, Palo Alto, CA (US); William A. Burbank, Sandy Hook, CT (US); William A. McDonald, II, Santa Clara, CA (US); and Bruce Michael Schena, Menlo Park, CA (US)
Assigned to Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed by Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed on Apr. 19, 2023, as Appl. No. 18/136,749.
Application 15/677,782 is a division of application No. 14/144,510, filed on Dec. 30, 2013, granted, now 9,763,740, issued on Sep. 19, 2017.
Application 14/144,510 is a division of application No. 12/945,461, filed on Nov. 12, 2010, granted, now 8,640,788, issued on Feb. 4, 2014.
Application 18/136,749 is a continuation of application No. 16/998,838, filed on Aug. 20, 2020, granted, now 11,660,152.
Application 16/998,838 is a continuation of application No. 15/677,782, filed on Aug. 15, 2017, granted, now 10,779,896, issued on Sep. 22, 2020.
Claims priority of provisional application 61/260,919, filed on Nov. 13, 2009.
Prior Publication US 2023/0372033 A1, Nov. 23, 2023
Int. Cl. A61B 17/072 (2006.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01); A61B 17/00 (2006.01); A61B 17/068 (2006.01); A61B 17/115 (2006.01); A61B 17/29 (2006.01); H04W 84/12 (2009.01)
CPC A61B 34/30 (2016.02) [A61B 17/07207 (2013.01); A61B 34/71 (2016.02); A61B 2017/00477 (2013.01); A61B 17/068 (2013.01); A61B 17/072 (2013.01); A61B 2017/07214 (2013.01); A61B 17/115 (2013.01); A61B 2017/2902 (2013.01); A61B 2017/2927 (2013.01); A61B 2034/302 (2016.02); H04W 84/12 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A robotic surgery system comprising:
a surgical tool manipulator; and
a surgical tool comprising a proximal chassis, a main shaft, a wrist mechanism, an end effector, a drive shaft, a main shaft actuation mechanism, a drive shaft actuation mechanism, and an end effector articulation mechanism, wherein:
the proximal chassis is adapted to be detachably mounted to the surgical tool manipulator,
the main shaft has a proximal end portion coupled with the proximal chassis,
the wrist mechanism is coupled with a distal end portion of the main shaft,
the end effector comprises an end effector base and an end effector drive shaft driven actuation mechanism,
the main shaft actuation mechanism is operable to rotate the main shaft relative to the proximal chassis around a main shaft axis that is fixed relative to the proximal chassis,
the drive shaft is mounted within the main shaft and drivingly coupled to the end effector drive shaft driven actuation mechanism,
the drive shaft actuation mechanism is operable to rotate the drive shaft relative to the main shaft,
the end effector articulation mechanism is operable to reorient the end effector base relative to the main shaft, and
the end effector drive shaft driven actuation mechanism is operable to actuate a feature of the end effector.