A robotic surgical tool includes an elongate shaft having a working end and a shaft axis, and a pair of linking arms each having a proximal end and a distal end. The proximal end is pivotally mounted on the working end of the shaft to rotate around a first pitch axis to produce rotation in first pitch. A wrist member has a proximal portion pivotally connected to the distal end of the linking arm to rotate around a second pitch axis to produce rotation in second pitch. An end effector is pivotally mounted on a distal portion of the wrist member to rotate around a wrist axis of the wrist member to produce rotation in distal roll. The wrist axis extends between the proximal portion and the distal portion of the wrist member. The elongate shaft is rotatable around the shaft axis to produce rotation in proximal roll. At about 90° pitch, the wrist axis is generally perpendicular to the shaft axis. The proximal roll around the shaft axis and the distal roll around the wrist axis do not overlap. The use of the linking arms allows the end effector to be bent back beyond 90° pitch. The ability to operate the end effector at about 90° pitch and to bend back the end effector renders the wrist mechanism more versatile and adaptable to accessing hard to reach locations, particularly with small entry points such as those involving spinal, neural, or rectal surgical sites.

Roll-pitch-roll surgical tool

An artificial dexterous hand is provided for grasping and manipulating objects. The hand includes left and right thumbs that are operatively connected to an engagement assembly which causes movement of the left and right thumbs. The left thumb has a left thumb base and is movable about three separate first left thumb axes which run through the left thumb base. Correspondingly, the right thumb has a right thumb base and is movable about three separate first right thumb axes which run through the right thumb base. The engagement assembly has a gear assembly which is operatively connected to a motor assembly. Upon actuation by the motor assembly, the gear assembly causes movement of the left and right thumbs about the first left thumb axes and first right thumb axes respectively. The hand can also have a center finger which is operatively connected to the engagement assembly and which is interposed between the left and right thumbs. The finger has a finger base and is movable about two separate first finger axes running through the finger base. Therefore, upon actuation by the motor assembly, the gear assembly will also cause movement of the finger about the first finger axes.

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Artificial dexterous hand

A surgical instrument is described that includes a surgical effector moving with N degrees of freedom for manipulation of objects at a surgical site during surgical procedures. The N degrees of freedom are manipulated by N+1 input controllers and a plurality of cables, the controllers and cables coupled to the surgical effector and configured to change the orientation of the surgical effector about the N degrees of freedom when actuated. In some embodiments, the N+1 input controllers and plurality of cables are further coupled to a pantograph, the pantograph configured to move in a reciprocal manner to the surgical effector when the input controllers and cables are actuated.

Length conservative surgical instrument

The electric actuator comprises a deep cup harmonic drive gear train member with an electric motor, brake, tachometer, and resolver disposed therein. The arrangement and coupling of the components provides a high torque-to-weight ratio actuator that is capable of more than 360° rotation.

Harmonic electric actuator

An instrument device manipulator (IDM) is attached to a surgical arm of a robotic system and comprises a surgical tool holder and an outer housing. The surgical tool holder includes an attachment interface that can secure a surgical tool in a front-mount configuration (where the attachment interface is on a face opposite of a proximal extension of the surgical tool) or a back-mount configuration (where the attachment interface is on the same face as the proximal extension of the surgical tool). The surgical tool holder may rotate continuously within the outer housing. In a back-mount configuration, the surgical tool holder may have a passage that receives the proximal extension of the tool and allows free rotation of the proximal extension about the rotational axis. A surgical drape separates the IDM and robotic arm from a tool, while allowing electrical and/or optical signals to pass therebetween.

Instrument device manipulator with roll mechanism

The manipulator arm is pivoted at its mid-point on a laterally displaced shoulder pin coupled to a rotatable body which has a horizontal axis on one side of said arm and serves to rotate the complete manipulator assembly about said axis. A drive-motor block which produces a continuous balancing action about the shoulder-pin axis is pivotally mounted on one end of the manipulator arm in laterally displaced relation thereto. A wide range of angular motion is thus imparted by cable-type transmission means to a fore-arm which is rotated about an elbow pin or in azimuth and to a tong unit which is subjected to movements of elevation, rotation and closure.

Vertut J

Papers

Manipulator with drive motors