US 12,472,021 B2
Surgical tool for robotic surgery and robotic surgical assembly
Massimiliano Simi, Pisa (IT); and Giuseppe Maria Prisco, Pisa (IT)
Assigned to MEDICAL MICROINSTRUMENTS INC., Wilmington, DE (US)
Filed by MEDICAL MICROINSTRUMENTS, INC., Wilmington, DE (US)
Filed on Aug. 27, 2021, as Appl. No. 17/459,338.
Application 17/459,338 is a continuation of application No. 15/768,525, granted, now 11,141,233, previously published as PCT/EP2016/074808, filed on Oct. 14, 2016.
Prior Publication US 2021/0386495 A1, Dec. 16, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/37 (2016.01); A61B 1/313 (2006.01); A61B 10/04 (2006.01); A61B 17/00 (2006.01); A61B 17/062 (2006.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01); A61B 34/35 (2016.01); A61B 90/00 (2016.01); A61B 90/20 (2016.01); A61B 90/25 (2016.01); B25J 3/04 (2006.01); B25J 9/10 (2006.01); B25J 9/16 (2006.01); B25J 15/00 (2006.01); G05B 19/402 (2006.01); A61B 17/29 (2006.01); A61B 17/32 (2006.01); A61B 17/3211 (2006.01); A61B 17/34 (2006.01); A61B 34/20 (2016.01)
CPC A61B 34/37 (2016.02) [A61B 1/3132 (2013.01); A61B 10/04 (2013.01); A61B 17/00234 (2013.01); A61B 17/062 (2013.01); A61B 34/30 (2016.02); A61B 34/35 (2016.02); A61B 34/71 (2016.02); A61B 34/72 (2016.02); A61B 90/20 (2016.02); A61B 90/25 (2016.02); A61B 90/361 (2016.02); B25J 3/04 (2013.01); B25J 9/1015 (2013.01); B25J 9/1669 (2013.01); B25J 15/0052 (2013.01); G05B 19/402 (2013.01); A61B 2017/00345 (2013.01); A61B 17/29 (2013.01); A61B 17/320016 (2013.01); A61B 17/3211 (2013.01); A61B 17/34 (2013.01); A61B 2034/2048 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/301 (2016.02); A61B 2034/715 (2016.02); A61B 2090/061 (2016.02); A61B 2090/064 (2016.02); G05B 2219/45117 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A medical instrument comprising:
a frame; and
a jointed device comprising:
a first link;
a second link;
a rotational joint defining an axis of rotation, the rotation joint connecting said first link and said second link; and
at least one tendon for pulling said second link with respect to said first link;
wherein at least one of said first link and said second link comprises in a single piece, at least one sliding surface, on which said at least one tendon slides for pulling said second link with respect to said first link;
said sliding surface is a convex, ruled surface formed by a plurality of generator lines;
said generator lines are portions of straight generator lines and all of said generator lines are parallel to each other;
wherein mechanical properties and/or composition of one of said at least one tendon vary in different portions of the one of said at least one tendon.