US 12,446,983 B2
Articulation mechanisms for surgical instruments such as for use in robotic surgical systems
Zachary S. Heiliger, Nederland, CO (US); Russell W. Holbrook, Longmont, CO (US); William Whitney, Boulder, CO (US); Jason G. Weihe, Longmont, CO (US); Dylan R. Kingsley, Broomfield, CO (US); Crystal A. Adams, Westminster, CO (US); and Curtis M. Siebenaller, Frederick, CO (US)
Assigned to Covidien LP, Mansfield, MA (US)
Filed by Covidien LP, Mansfield, MA (US)
Filed on Sep. 8, 2020, as Appl. No. 17/014,426.
Prior Publication US 2022/0071724 A1, Mar. 10, 2022
Int. Cl. A61B 34/00 (2016.01); A61B 34/37 (2016.01)
CPC A61B 34/71 (2016.02) [A61B 34/37 (2016.02); A61B 34/74 (2016.02); A61B 2034/715 (2016.02)] 14 Claims
OG exemplary drawing
 
1. A surgical instrument, comprising:
a housing;
a shaft extending distally from the housing, the shaft including a proximal section defining a longitudinal axis and an articulating section extending distally from the proximal section;
an end effector assembly extending distally from the articulating section of the shaft, wherein the articulating section of the shaft is configured to articulate the end effector assembly relative to the proximal section of the shaft;
first and second articulation cables extending from the housing and through the proximal section of the shaft to or through the articulating section of the shaft, wherein tensioning the first articulation cable and slackening the second articulation cable articulates the end effector assembly in a first direction and wherein slackening the first articulation cable and tensioning the second articulation cable articulates the end effector assembly in a second, opposite direction; and
an articulation assembly disposed within the housing and including an articulation mechanism, the articulation mechanism including:
an active input shaft configured, in response to receipt of a first rotational input, to rotate in a first direction and, in response to receipt of a second, opposite rotational input, to rotate in a second direction opposite the first direction;
a first capstan operably coupled to the active input shaft and including a proximal end portion of the first articulation cable at least partially wound thereabout;
a passive input shaft operably coupled to the active input shaft so that rotation of the active input shaft in the first direction drives rotation of the passive input shaft in the first direction and so that rotation of the active input shaft in the second direction drives rotation of the passive input shaft in the second direction; and
a second capstan operably coupled to the passive input shaft and including a proximal end portion of the second articulation cable at least partially wound thereabout,
wherein, in response to rotation of the active input shaft in the first direction, the active input shaft drives rotation of:
the first capstan to wind up the proximal end portion of the first articulation cable about the first capstan to tension the first articulation cable, and
the passive input shaft to thereby drive rotation of the second capstan to unwind the proximal end portion of the second articulation cable from the second capstan to slacken the second articulation cable, and
wherein, in response to rotation of the active input shaft in the second direction, the active input shaft drives rotation of:
the first capstan to unwind the proximal end portion of the first articulation cable from the first capstan to slacken the first articulation cable, and
the passive input shaft to thereby drive rotation of the second capstan to wind the proximal end portion of the second articulation cable about the second capstan to tension the second articulation cable.