US 12,419,707 B2
Geared roll drive for medical instrument
Bram Gilbert Antoon Lambrecht, Redwood City, CA (US); and Thomas G. Cooper, Menlo Park, CA (US)
Assigned to Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed by Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed on Dec. 4, 2023, as Appl. No. 18/528,286.
Application 18/528,286 is a continuation of application No. 17/223,723, filed on Apr. 6, 2021, granted, now 11,864,851.
Application 17/223,723 is a continuation of application No. 16/317,211, abandoned, previously published as PCT/US2017/038805, filed on Jun. 22, 2017.
Claims priority of provisional application 62/362,340, filed on Jul. 14, 2016.
Prior Publication US 2024/0156551 A1, May 16, 2024
Int. Cl. A61B 34/30 (2016.01); A61B 17/00 (2006.01); A61B 90/50 (2016.01); F16H 55/17 (2006.01)
CPC A61B 34/30 (2016.02) [F16H 55/17 (2013.01); A61B 2017/00477 (2013.01); A61B 2034/302 (2016.02); A61B 90/50 (2016.02)] 19 Claims
OG exemplary drawing
 
1. A medical instrument, comprising:
an instrument shaft defining a first rotation axis;
an input shaft defining a second rotation axis, the first rotation axis being offset from the second rotation axis by an acute angle;
a beveloid gear positioned to transfer a rotation of the input shaft about the second rotation axis to the instrument shaft to rotate the instrument shaft about the first rotation axis; and
a spur gear mounted to a common shaft with the beveloid gear, the spur gear being positioned to receive the rotation of the input shaft.