US 12,138,003 B2
Medical instruments including wrists with hybrid redirect surfaces
Travis Michael Schuh, Los Altos, CA (US)
Assigned to Auris Health, Inc., Redwood City, CA (US)
Filed by Auris Health, Inc., Redwood City, CA (US)
Filed on Jun. 23, 2020, as Appl. No. 16/909,172.
Claims priority of provisional application 62/866,205, filed on Jun. 25, 2019.
Prior Publication US 2020/0405423 A1, Dec. 31, 2020
Int. Cl. A61B 34/00 (2016.01); A61B 17/00 (2006.01); A61B 17/29 (2006.01); A61B 18/00 (2006.01); A61B 18/12 (2006.01); A61B 18/14 (2006.01); A61B 34/30 (2016.01)
CPC A61B 34/71 (2016.02) [A61B 17/29 (2013.01); A61B 18/1442 (2013.01); A61B 34/30 (2016.02); A61B 2017/00327 (2013.01); A61B 2018/00595 (2013.01); A61B 2018/126 (2013.01); A61B 2034/301 (2016.02); A61B 2034/302 (2016.02); A61B 2034/303 (2016.02); A61B 2034/305 (2016.02); A61B 2218/002 (2013.01); A61B 2218/007 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A medical instrument, comprising:
(a) a shaft extending between a proximal end and a distal end;
(b) a wrist positioned at the distal end of the shaft, the wrist comprising:
(i) a proximal clevis connected to the distal end of the shaft and including a first proximal pulley configured to rotate in a first plane,
(ii) a distal clevis pivotally connected to the proximal clevis and including a first distal pulley configured to rotate in a second plane, wherein the second plane is orthogonal to the first plane,
(iii) a static redirect surface, wherein the static redirect surface is positioned between the first proximal pulley and the first distal pulley,
(iv) a first redirect pulley including a dynamic redirect surface,
(v) an axle pivotally connecting the proximal clevis to the distal clevis, wherein the first proximal pulley is mounted on the axle, and
(vi) a second proximal pulley mounted on the axle,
wherein the axle extends through a first support leg of the distal clevis, and
wherein the first support leg of the distal clevis is positioned between the first proximal pulley and the second proximal pulley;
(c) an end effector connected to the distal clevis of the wrist; and
(d) a plurality of pull wires extending through the shaft and the wrist and engaged with the end effector, wherein:
(i) the plurality of pull wires is configured to actuate the wrist and the end effector,
(ii) a first pull wire segment of the plurality of pull wires engages the static redirect surface, and
(iii) a second pull wire segment of the plurality of pull wires engages the dynamic redirect surface,
wherein the static redirect surface receives the first pull wire segment thereagainst such that the first pull wire segment extends from the first proximal pulley, across the static redirect surface, and to the first distal pulley for directing the first pull wire segment from the proximal clevis toward the distal clevis.