• 专利附录
  • 专利说明
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    • 专利摘要:
    The present invention relates to mechanisms, assemblies, systems, tools and methods that incorporate the use of a shifted drive shaft within an independently rotating member. An example mechanism includes a base and a main shaft mounted to rotate with respect to the base, a first drive shaft mounted inside the main shaft and a first drive feature fitted with the first drive shaft. The main axis includes a proximal end, a distal end and a rotational geometric axis of the main axis defined between them. The first drive axis is offset from the main axis rotational axis. A rotational geometry axis of the first transmission resource is defined for the first transmission resource and is fixed relative to the base as the main axis rotates. The first drive feature rotates the first drive shaft
    公开号:BR112012011435B1
    申请号:R112012011435-2
    申请日:2010-11-12
    公开日:2020-06-23
    发明作者:Gregory W. Dachs；Gregory W. Dachs Ii；Todd E. Murphy；William McDonald；Bruce M. Schena；William A. Burbank
    申请人:Intuitive Surgical Operations, Inc.；
    IPC主号:
    专利说明:

    CROSS REFERENCES TO RELATED ORDERS
    [001] The present application claims the benefit under 35 USC § 119 (e) of United States Patent Application No. 61 / 260,919 (filed on November 13, 2009, entitled "Motor Interface For Parallel Drive Shafts Within An Independent Rotating Member "), which is incorporated here by reference. This application is also related to United States Patent Application No. xx / xxx. xxx (simultaneously filed, entitled "Wrist Articulation By Linked Pull Rods") [Attorney's File No. ISRG 02320 / US], United States Patent Application No. xx / xxx, xxx (simultaneously filed; entitled "Double Universal Joint" ) [Attorney File No. ISRG 02340 / US], United States Patent Application No. xx / xxx, xxx (simultaneously filed, entitled "Surgical Tool Containing Two Degree of Freedom Wrist") [Attorney File No. ISRG 02350 / US], and United States Patent Application No. xx / xxx, xxx (simultaneously filed, entitled "End Effector With Redundant Closing Mechanisms") [Attorney Docket No. ISRG 02330 / US], all of which are incorporated herein through of reference. BACKGROUND
    [002] Minimally invasive surgical techniques are aimed at reducing the amount of foreign tissue that is damaged during diagnostic or surgical procedures, thus reducing the patient's recovery time, discomfort and harmful side effects. As a consequence, the average length of hospital stay for standard surgery can be significantly shortened, using minimally invasive surgical techniques. Also, patient recovery times, patient discomfort, surgical side effects and time away from work can also be reduced with minimally invasive surgery.
    [003] A common form of minimally invasive surgery is endoscopy and a common form of endoscopy is laparoscopy, which is inspection and minimally invasive surgery inside the abdominal cavity. In standard laparoscopic surgery, a patient's abdomen is insufflated with gas and cannula gloves are passed through small incisions (approximately half an inch or less) to provide entry holes for laparoscopic instruments.
    [004] Laparoscopic surgical instruments, in general, include an endoscope (for example, laparoscope) for viewing the surgical field and instruments for working in the surgical site. Work instruments are typically similar to those used in conventional (open) surgery, except that the working end or end effector of each instrument is separated from its handle by an extension tube (also known as, for example, a instrument axis or a main axis). The end effector can include, for example, a clamp, tweezers, scissors, stapler, precautionary instrument, linear cutter or needle holder.
    [005] To perform surgical procedures, the surgeon passes work instruments through cannula gloves to an internal surgical site and manipulates them on the outside of the abdomen. The surgeon sees the procedure from a monitor that shows an image of the surgical site taken from the endoscope. Similar endoscopic techniques are employed, for example, in arthroscopy, retroperitoneal microscope, pelviscopy, nephroscopy, cystoscopy, cisternoscopy, synoscopy, hysteroscopy, urethroscopy and the like.
    [006] Minimally invasive, telesurgical robotic systems are being developed to increase a surgeon's dexterity when working in an internal surgical location, as well as to allow a surgeon to operate on a patient from a remote location (outside the sterile field) ). In a tele-surgery system, the surgeon is often provided with an image of the surgical site on a control console. While viewing a three-dimensional image of the surgical site on a suitable viewfinder or screen, the surgeon performs the surgical procedures on the patient by manipulating master input or control devices from the control console. Each of the master input devices controls the movement of a servomechanically operated / articulated surgical instrument. During the surgical procedure, the telesurgical system can provide mechanical actuation and control of a variety of surgical instruments or tools having end effectors that perform different functions for the surgeon, for example, holding or triggering a needle, grasping a blood vessel, drying tissue or the like in response to manipulation of the master input devices.
    [007] The manipulation and control of these end effectors is a particularly beneficial aspect of robotic surgical systems. For this reason, it is desirable to provide surgical instruments that include mechanisms that provide three degrees of rotational movement of an end effector to mimic the natural action of a surgeon's wrist. These mechanisms will be appropriately sized for use in a minimally invasive procedure and relatively simple in design to reduce possible points of failure. In addition, these mechanisms will provide an adequate range of motion to allow the end effector to be manipulated in a wide variety of positions.
    [008] Linear, non-robotic, grasping, cutting and stapling devices have been used in many different surgical procedures. For example, this device can be used to resect cancerous or abnormal tissue in the gastrointestinal tract. Unfortunately, many known surgical devices, including linear grasping, cutting and stapling devices, often have opposite claws that can be difficult to maneuver within a patient. For known devices having opposite grips that are maneuverable within a patient, these devices may not generate sufficient clamping force for some surgical applications (eg, tissue tightening, tissue stapling, tissue cutting, etc.), which can reduce the effectiveness of the surgical device.
    [009] Thus, it is believed that there is a need for an improvement in the maneuverability of surgical end effectors, particularly with regard to minimally invasive surgery. In addition, it is believed that there is a need for surgical end effectors with high actuation force, for example, high gripping force. BRIEF SUMMARY
    [0010] Mechanisms, assemblies, systems, instruments and methods are provided, many of which incorporate the use of a displaced transmission shaft within an independently rotating member. These mechanisms, sets, systems, instruments and methods can be particularly beneficial for use in surgery, for example, in minimally invasive surgery, in minimally invasive robotic surgery, as well as other types of surgery. The combination of a displaced drive shaft mounted for rotation within an independently rotatable instrument axis allows significant actuation energy to be transferred to an end effector while leaving a central region of the instrument axis available for routing other components, for example , control cables, control wires, catheters or other such components. The drive shaft actuation can be used to articulate and / or orient an end effector, for example, in order to provide a desired relatively high clamping force, such as for cutting or stapling, optionally with a limited response rate . The cable actuation can be used for relatively lower articulation and / or force orientation of the end effector, when a higher response rate is desired, such as when grasping and manipulating tissues, telecirurgically. Exemplary cable / shaft actuated hybrid systems can selectively act on a single gripping / treatment jaw joint, using either a high-strength shaft transmission or a high-response cable transmission. Although the various modalities disclosed here are described mainly in relation to surgical applications, mechanisms, assemblies, systems, instruments and methods can find use in a wide variety of applications, inside and outside the human body, as well as in non-surgical applications.
    [0011] In a first aspect, a mechanism including a displaced transmission shaft mounted within a rotating main axis is provided. The mechanism includes a base, a main shaft and a first transmission feature fitted with the first transmission shaft. The main axis includes a proximal end, a distal end and a rotational geometric axis of the main axis. The rotational geometry axis of the first transmission feature is defined for the first transmission feature and is fixed relative to the base as the main axis rotates. The first drive feature rotates the first drive shaft.
    [0012] Several approaches can be used to rotate the first drive shaft via the first drive feature. For example, the rotational geometry axis of the main axis and the rotational geometry axis of the first transmission feature can be coincident. The fit between the first drive feature and the first drive shaft can allow axial movement of the first drive shaft in relation to the base. The first drive feature can be fitted with the first drive shaft through an opening in the main shaft. The first drive shaft can include a second drive feature that projects through the opening of the main shaft and fits the first drive feature. The second transmission feature may include external gear teeth. The first transmission feature may include an inner ring gear.
    [0013] In many embodiments, the mechanism includes a third transmission feature to rotate the main shaft. For example, a third transmission feature, having a rotational geometry axis of the third transmission feature, can fit the main axis. The rotational geometry axis of the third transmission resource can be fixed in relation to the base 20, as the third transmission resource rotates the main axis.
    [0014] In many embodiments, a second drive shaft is mounted inside the main axis and displaced from the rotational geometric axis of the main axis. A fourth drive feature, having a rotational geometric axis of the fourth drive feature, can be fitted with the second drive shaft. A rotational geometry axis of the fourth transmission feature can be fixed relative to the base as the main axis rotates. The fourth drive feature can rotate the second drive shaft can be engaged with the second drive shaft through an opening in the main shaft.
    [0015] In many modalities, the support of the first transmission axis is integrated into the main axis. For example, the main shaft may include a recess configured to interface with a bearing supporting the first transmission shaft and the mechanism may also include the bearing that supports the first transmission shaft. The mechanism may also include a retaining ring to retain the bearing that supports the first transmission shaft.
    [0016] In many embodiments, an end effector is coupled with the distal end of the main axis. The end effector can be coupled with the first drive shaft and / or the second drive shaft. The end effector can be rotated by rotating the main shaft. A rotation of the first drive shaft and / or the second drive shaft can actuate the end effector.
    [0017] In many modalities, the mechanism still comprises a control cable transmission feature and a control cable fitted with the control cable transmission feature. The control cable can be routed within the main axis between the proximal and distal ends of the main axis. The mechanism may further comprise an end effector coupled with the control cable. A movement of the control cable can actuate the end effector.
    [0018] In another aspect, a robotic assembly, including a displaced transmission shaft, mounted within a rotating main shaft, is provided. The robotic set includes a base; a main shaft mounted to rotate with respect to the base; a drive shaft mounted inside the main shaft; an actuation set coupled with the main shaft and the transmission shaft; and an end effector coupled with the main shaft. The main axis includes a proximal end, a distal end and a rotational geometric axis of the main axis defined between them. The drive shaft is offset from the rotational axis of the main axis. The actuation set is operable to independently rotate the main axis in relation to the base and to rotate the transmission axis in relation to the main axis. The end effector includes a driven shaft mechanism coupled with the drive shaft.
    [0019] In many modalities, the robotic set still comprises a second transmission shaft mounted inside the main axis and displaced from the main axis rotational axis. The actuation set can still be operable to independently rotate the second drive axis in relation to the main axis. The end effector can further comprise a second actuated actuation mechanism, operatively coupled with the second transmission axis.
    [0020] In many modalities, the robotic assembly still comprises a control cable coupled with the end effector. The control cable can be routed within the main axis between the proximal and distal ends of the main axis. A movement of the control cable can actuate the end effector.
    [0021] In another aspect, a robotic assembly including a displaced transmission shaft mounted within the rotating main axis is provided. The robotic system includes a base; a main shaft mounted to rotate with respect to the base; a first drive shaft mounted inside the main shaft; a second drive shaft mounted inside the main shaft; an actuation set coupled with the main shaft, the first transmission shaft and the second transmission shaft; a controller; and an end effector coupled to the main shaft so that the end effector is rotated by rotating the main shaft. The main axis includes a proximal end, a distal end and a rotational geometric axis of the main axis defined between them. The first drive shaft and the second drive shaft are offset from the rotational axis of the main shaft. The controller includes an input and an output. The input is coupled with an input device to receive at least one input signal from the input device. The output is coupled with the actuation set to send at least one control signal to the actuation set. The controller includes a processor and a tangible medium containing instructions that, when executed, cause the processor to generate at the control signal in response to at least one input signal, so that the input device can be used by a user to rotate, independently the main axis in relation to the base, rotate the first transmission axis in relation to the main axis and rotate the second transmission axis in relation to the main axis. The end effector includes a mechanism driven by the first axis coupled with the first drive shaft and an actuation mechanism driven by the second axis, coupled with the second drive shaft.
    [0022] In many modalities, the performance set comprises additional components. For example, the actuation set can include a first motor coupled with the first drive shaft and the controller. The actuation set can include a second motor coupled with the second drive shaft and the controller. The actuation set can include a main shaft motor coupled with the main shaft and the controller. The actuation set can include a first encoder coupled with the first motor and the controller. The first encoder can send a first engine position signal to the controller in response to a first engine position. The actuation set can include a second encoder coupled with the second motor and the controller. The second encoder can send a second engine position signal to the controller in response to a second engine position. The actuation set can include a main shaft encoder coupled with the main shaft motor and the controller. The main axis encoder can send a main axis position signal to the controller in response to a main axis motor position.
    [0023] In many modalities, the robotic system still comprises a control cable coupled with the end effector. The control cable can be routed within the main axis between the proximal and distal ends of the main axis. A movement of the control cable can actuate the end effector.
    [0024] In another aspect, a robotic instrument, including a displaced transmission shaft, mounted within the rotating main shaft, is provided. The robotic instrument is configured for mounting on a manipulator having an instrument interface with first, second and third transmission capabilities. The robotic instrument includes a freely mountable proximal instrument chassis, at the instrument interface, a distal end effector, having a distal degree of freedom and an actuation mechanism driven by an axis; a main axis having a proximal end adjacent to the chassis, a distal end adjacent to the end effector, a hole extending between them and a lateral opening distally from the proximal end; and a hybrid cable / axis transmission system operatively coupling the transmission capabilities of the instrument interface to the end effector when the chassis is mounted on the instrument interface. The actuation of the first transmission feature rotates the main shaft and the end effector in relation to the chassis around a rotational geometric axis of the main shaft. Cables extending from the chassis distally into the main shaft hole couple the distal degree of release from the end effector to the second transmission feature. The first transmission shaft couples the actuation mechanism driven by the end effector shaft to the third transmission resource through the lateral opening on the main shaft. The first drive axis is offset from the main axis rotational axis.
    [0025] In another aspect, a method for transmitting torque through a displaced transmission shaft, routed within a rotatable main shaft, is provided. The method includes supporting a main axis to rotate in relation to a base, so that the main axis rotates around a rotational geometry axis of the main axis, supporting a transmission axis to rotate in relation to the main axis,. In such a way that the transmission axis rotates around a rotational axis of the transmission axis, which is displaced from the rotational axis of the main axis, fitting the transmission axis with a transmission resource, having a rotational geometric axis of transmission resource. transmission that is fixed in relation to the base, as the main axis rotates, rotating the main axis in relation to the base and rotating the transmission feature in relation to the main axis, in order to rotate the transmission axis in relation to the main axis . In many embodiments, the main axis rotates relative to the base and the drive axis rotates relative to the main axis, simultaneously.
    [0026] In another aspect, a minimally invasive surgical method is provided. The method includes introducing an end effector into an internal surgical site within a patient through a minimally invasive opening or natural orifice by manipulating a base, rotating the end effector in relation to the base and performing a surgical task so that the first transmission shaft acts on the end effector. In the method, the end effector is supported in relation to the base by an elongated instrument axis, the end effector is rotated in relation to the base by the rotation of the instrument axis in relation to the base around a rotational geometric axis of transmission of instrument and the rotational geometric axis of the first transmission axis which is displaced from the rotational geometric axis of the instrument axis. In many modalities, the method still comprises the action of the ex-tremor effector through the rotation of a second transmission axis in relation to the instrument axis, the second transmission axis rotating around a rotational geometric axis of the second axis of transmission, which is offset from the rotational geometric axis of the instrument axis.
    [0027] For a better understanding of the nature and advantages of the present invention, reference will be made to the detailed and following description and the attached drawings. Other aspects, objectives and advantages of the invention will become evident from the drawings and the detailed description that follows. BRIEF DESCRIPTION OF THE DRAWINGS
    [0028] Figure 1 is a plan view of a minimally invasive robotic surgical system being used to perform surgery, according to many modalities.
    [0029] Figure 2 is a perspective view of a surgeon control console for a robotic surgery system, according to many modalities.
    [0030] Figure 3 is a perspective view of an electronic cart for a robotic surgical system, according to many modalities.
    [0031] Figure 4 illustrates, diagrammatically, a robotic surgical system, according to many modalities.
    [0032] Figure 5A is a front view of a trolley on the patient's side (surgical robot) of a robotic surgical system, according to many modalities.
    [0033] Figure 5B is a front view of a surgical instrument.
    [0034] Figure 6 illustrates, diagrammatically, a robotic assembly having two transmission axes displaced within a rotatable main axis, according to many modalities.
    [0035] Figure 7 illustrates diagrammatically the integration of components of the robotic set of figure 6 with a controller, according to many modalities.
    [0036] Figure 8 illustrates diagrammatically a robotic instrument and an associated robotic system, according to many modalities.
    [0037] Figure 9 is a perspective view of a robotic instrument that can be releasably mounted on a robotic instrument manipulator, according to many modalities.
    [0038] Figure 10 is a perspective view of the proximal end of a robotic instrument in Figure 9, showing a set of actions, according to many modalities.
    [0039] Figure 11 is a perspective view of a cross section of the actuation set of figure 10, illustrating components used to act on a first displaced internal transmission shaft, according to many modalities.
    [0040] Figure 12 is a perspective view illustrating components of the actuation set of figure 10 that are used to act a second internal displaced transmission axis, according to many modalities.
    [0041] Figure 13 is a perspective view of a cross section of the actuation set of figure 10, illustrating various components and the routing of end effector control cables, according to many modalities.
    [0042] Figure 14 is a cross-sectional view of the actuation set of figure 10, illustrating various components and the routing of the end effector control cables, according to many modalities.
    [0043] Figure 15A is a perspective view of a main shaft coupling assembly used to couple a rotatable main shaft with a proximal instrument chassis, showing openings through which displaced, internally mounted transmission shafts are driven and teeth. of external gear that are used to rotate the main shaft, according to many modalities.
    [0044] Figure 15B is a perspective view of an internal subset that includes two internal displaced transmission shafts and associated support assemblies, according to many modalities.
    [0045] Figure 15C is a perspective view showing the combination of the components of figures 15A and 15B, according to many modalities.
    [0046] Figure 16 is a perspective view of an actuation set having a reduced part count configuration, according to many modalities.
    [0047] Figure 17 is a cross-sectional perspective view of the set of action in Figure 16.
    [0048] Figures 18A and 18B are seen from proximal and distal ends, respectively, from the action set of figure 16.
    [0049] Figure 19 is an illustration in plan view of the integration of the set of action of figure 16 within a chassis of proximal instrument, according to many modalities.
    [0050] Figure 20 is a simplified diagrammatic illustration of a surgical set, according to many modalities.
    [0051] Figure 21 is a flow chart of a method for transmitting torque through a displaced transmission shaft routed within a rotatable main shaft, according to many modalities.
    [0052] Figure 22 is a flow chart of a minimally invasive surgical method, according to many modalities. DETAILED DESCRIPTION
    [0053] Mechanisms, assemblies, systems, instruments and methods incorporating the use of a displaced transmission shaft within an independently rotating member are provided. These mechanisms, sets, systems, instruments and methods can be particularly beneficial for use in surgery, for example, in minimally invasive surgery, minimally invasive robotic surgery, as well as other types of surgery. Although the various modalities disclosed here are described mainly in relation to surgical applications, mechanisms, assemblies, systems, instruments and methods can be used in a wide variety of applications, inside and outside the human body, as well as in non-surgical applications. Minimally Invasive Robotic Surgery
    [0054] Referring now to the drawings, in which similar reference numerals represent similar parts from all the different views, figure 1 is an illustration in plan view of a Minimally Invasive Robotic Surgical system (MIRS) 10, typically used for realization of a minimally invasive diagnostic or surgical procedure on a Patient 12, who is lying on an operating table 14. The system may include a Surgeon Console 16 for use by a surgeon 18 during the procedure. One or more Assistants 20 may also participate in the procedure. The MIRS 10 system can also include a Patient Side Cart 22 (surgical robot) and an Electronic Cart 24. The Patient Side Cart can handle at least one removably coupled instrument set 26 (hereinafter referred to, sim- simply as an "instrument") through a minimally invasive incision in the patient's body 12, while the surgeon 18 sees the surgical site through the console 16. An image of the surgical site can be obtained by an endoscope 28, such as a stereoscopic endoscope , which can be manipulated by the Patient Side Cart 22, in order to orient the endoscope 28. The Electronic Cart 24 can be used to process the images of the surgical site for subsequent exposure to Surgeon 18 via the Surgeon Console 16. The number of surgical instruments 26 used at one time, in general, will depend on the diagnostic or surgical procedure and space restrictions within the operating room, among other factors. If it is necessary to change one or more of the instruments 26 that are being used during a procedure, an Assistant 20 can remove the instrument 26 from the Patient Side Cart 22 and replace it with another instrument 26 from a tray 30 in the room. operations.
    [0055] Figure 2 is a perspective view of the Surgeon Console 16. The Surgeon Console 16 includes a viewfinder for left eye 32 and a viewfinder for right eye 34 to present Surgeon 18 with a coordinated stereo view of the site surgery, which allows depth perception. Console 16 also has one or more input control devices 36, which in turn makes the Patient Side Cart 22 (shown in figure 1) to manipulate one or more instruments. The entry control devices 36 will provide the same grains of freedom as their associated instruments 26 (shown in figure 1) in order to provide the Surgeon with tele-presence or the perception that the entry control devices 36 are integral with the instruments 26, so that the Surgeon has a strong sense of direct control of the instruments 26. For this purpose, sensors of position, force and tactile feedback (not shown) can be used to transmit position, strength and tactile sensations of the instruments 26 back into the Surgeon's hands through the input control devices 36.
    [0056] The Surgeon Console 16 is usually located in the same room as the patient, so that the Surgeon can directly monitor the procedure, be physically present, if necessary, and speak to an Assistant directly, instead of through the telephone or other means of communication. However, the Surgeon may be located in a different room, a completely different building, or another remote location for the Patient, allowing for remote surgical procedures (that is, operating outside the sterile field).
    [0057] Figure 3 is a perspective view of the Electronic Cart 24. The Electronic Cart 24 can be coupled with the endoscope 28 and can include a processor to process captured images for subsequent viewing, such as for a Surgeon on the Surgeon Console or on another suitable screen located locally and / or remotely. For example, where a stereoscopic endoscope is used, the Electronic Cart 24 can process the captured images in order to present coordinated stereo images of the surgical site to the Surgeon. This coordination may include alignment between opposite images and may include adjusting the stereo working distance of the stereoscopic endoscope. As another example, image processing may include the use of previously determined camera calibration parameters in order to compensate for image formation errors in the image capture device, such as optical aberrations.
    [0058] Figure 4 diagrammatically illustrates a robotic surgical system 50 (such as the Ml RS 10 system in figure 1). As discussed above, a Surgeon Console 52 (such as Surgeon Console 16 in figure 1) can be used by a Surgeon to control a Patient Side Cart (surgical robot) 54 (such as a Patient Side Cart 22 in figure 1), during a minimally invasive procedure. Patient Side Cart 54 can use an imaging device, such as a stereoscopic endoscope, to capture images of the procedure site and send the captured images to an Electronic Cart 56 (such as Electronic Cart 24 in figure 1) . As discussed above, Electronic Cart 56 can process captured images in a variety of ways before any subsequent viewing. For example, Electronic Cart 56 can overlay captured images with a virtual control interface prior to displaying the combined images to the Surgeon via Surgeon Console 52. Patient Side Cart 54 can send captured images for processing on the out of Electronic Cart 56. For example, Patient Side Cart 54 can send captured images to a processor 58, which can be used to process captured images. The images can also be processed through a combination of the Electronic Cart 56 and the processor 58, which can be coupled together in order to process the captured images together, sequentially and / or other combinations thereof. One or more separate screens 60 can also be coupled with the processor 58 and / or the Electronic Cart 56 for local and / or remote viewing of images, such as images of the procedure site or other related images.
    [0059] Figures 5A and 5B show a Patient Side Cart 22 and a surgical instrument 62, respectively. Surgical instrument 62 is an example of surgical instruments 26. The Patient Side Cart 22 shown provides the manipulation of three surgical instruments 26 and an imaging device 28, such as a stereoscopic endoscope used to capture images of the site of the procedure. Manipulation is provided by robotic mechanisms having a number of robotic joints. The imaging device 28 and surgical instruments 26 can be positioned and manipulated through incisions in the patient, so that a remote kinematic center is maintained in the incision, in order to minimize the size of the incision. Images of the surgical site may include images of the distal ends of the surgical instruments 26, when they are positioned within the field of view of the imaging device 28. Drive Shaft (s) Offset Within Rotatable Shaft
    [0060] Figure 6 diagrammatically illustrates a robotic assembly 70 having two transmission axes displaced within a rotatable main axis, according to many modalities. The robotic assembly 70 includes an end effector 72 which is coupled with the distal end of a rotatable main shaft 74 and an actuation assembly 76 coupled with the main shaft 74 and end effector 72.
    [0061] The end effector 72 includes an end effector base, a first actuation mechanism 78, a second actuation mechanism 80 and control cable mechanism (s) 82. The stereoscopic endoscope base is articulated coupled to the shaft swiveling main 74. The first actuation mechanism 78 and the second actuation mechanism 80 are driven shafts and can be used to act and / or articulate a variety of end effector features and / or devices, for example, a tightening feature , a movable cutting feature, a cutting and stapling device or other suitable end effector device and / or device that can be actuated and / or articulated with an axis driven mechanism. Control cable mechanism (s) 82 can also be used to act and / or articulate a variety of end effector features and / or devices, particularly those where rapid response is desired , for example, a clamping feature, a main shaft for the end effector base pulse that is used to articulate the end effector base with respect to the main shaft or other suitable feature and / or device that can be actuated and / or articulated via one or more control cables.
    [0062] The base of the end effector is coupled with the rotatable main axis 74, so that a rotation of the main axis 74 around a rotational geometric axis of the main axis produces a corresponding rotation of the end effector base. As discussed above, the ability to independently rotate the main shaft 74 provides increased maneuverability of the end effector relative to a non-rotating main axis, which can be beneficial during certain surgical procedures, for example, during certain minimally invasive surgical procedures . The end effector base can also be coupled with the rotatable main shaft 74 with a suitable pulse mechanism 84 that provides additional end effector maneuverability.
    [0063] Two transmission shafts are used to drive the actuation mechanisms driven by the end effector shaft. A first drive shaft 86 is mounted for rotation about a rotational axis of the first drive axis, which is offset from the rotational axis of the main axis. The first drive shaft 86 is operatively coupled with the first actuation mechanism 78. Likewise, a second drive shaft 88 is mounted for rotation about a rotational axis of the second drive axis, which is offset from the rotational axis of the main axis. The second drive shaft 88 is operatively coupled with the second actuation mechanism 80.
    [0064] The actuation set 76 is coupled with the rotatable main shaft 74, the first drive shaft 86, the second drive shaft 88 and the control cable mechanism (s) 82. The rotatable main shaft 74 it is mounted for rotation in relation to a base of the actuation set 76. The actuation set 76 is operable to produce the rotation of the rotatable main axis 74 in relation to the base. The actuation set 76 is also operable to generate any combination of rotation of the rotatable main shaft 74 with respect to the base, rotation of the first drive shaft 86 with respect to the rotatable main shaft 74 and rotation of the second drive shaft 88 with respect to the axis swiveling main 74.
    [0065] The actuation set 76 is configured to provide the functionality described above in which the first drive shaft 86 and the second drive shaft 88 can be rotated independently from the rotatable main shaft 74, even during the rotation of the main shaft swivel 74 relative to the base. The actuation set 76 includes a main shaft motor 90 coupled with a main shaft encoder 92 and a main shaft interface 94, a first motor 96 coupled with a first encoder 98 and a first interface 100, a second motor 102 coupled with a second encoder 104 and a second interface 106 and a control cable motor (s) 108 coupled with a control cable encoder (s) 110 and a control cable interface (s) control 112. The main axis interface 94 is coupled with the rotatable main axis 74 in order to transfer rotational movement from the main axis motor 90 to the rotatable main axis 74. The main axis motor 90 can be fixedly coupled with the base so that the transferred rotational movement results in the rotation of the rotatable main axis 74 with respect to the base. The main shaft encoder 92 measures the orientation of the main shaft motor 90, the main shaft interface 94 and / or the rotatable main shaft 74 and can be coupled with a controller (not shown in figure 6) to provide the controller the measured orientation. The first interface 100 is coupled with the first drive shaft 86 so as to be operable to transfer rotational motion from the first motor 96 to the first drive shaft 86 during any orientation and / or rotational movement of the rotatable main shaft 74. The first encoder 98 measures the orientation of the first motor 96, the first interface 100 and / or the first drive shaft 86 and can be coupled with the controller in order to provide the controller with the measured orientation. The second interface 106 is coupled with the second drive shaft 88 so as to be operable to transfer rotational movement from the second motor 102 to the second drive shaft 88 during any orientation and / or rotational movement of the rotatable main shaft 74. The second encoder 104 measures the orientation of the second motor 102, the second interface 106 and / or the second drive shaft 88 and can be coupled with the controller in order to provide the controller with the measured orientation. Control cable interface (s) 112 are coupled with control cable (s) 114 which are operatively coupled with control cable mechanism (s) 82. The cable (s) control units 114 can be routed to tolerate a range of rotational orientations of the rotatable main axis 74, for example, when being routed in the vicinity of the rotational geometric axis of the main axis to minimize changes in the length of the control cable due to axis rotation swiveling main 74. and because they are configured to tolerate any twisting of control cable (s) and / or twisting between control cables that may result for some rotational orientations of main axis 74 (for example, having a construction that tolerates cable friction with cable). Control cable encoder (s) 110 measures the orientation of control cable motor (s) 108 and / or control cable interface (s) 112 and can be coupled with the controller in order to provide the controller with the measured orientation.
    [0066] Figure 7 is a block diagram illustrating the integration of components of the robotic assembly 70 with a controller 116, according to many modalities. Controller 116 includes at least one processor 118, which communicates with a number of peripheral devices via a bus subsystem 120. These peripheral devices typically include a storage subsystem 122.
    [0067] The storage subsystem 122 maintains the basic programming and data constructs that provide the functionality of controller 116. Software modules for implementing the functionality of the robotic assembly, discussed above are typically stored in storage subsystem 122. The storage subsystem 122 typically includes a memory subsystem 124 and a file storage subsystem 126.
    [0068] Memory subsystem 124 typically includes a number of memories including a main random access memory (RAM) 128 for storing instructions and data during program execution and a read-only memory (ROM) 130, where fixed instructions are stored.
    [0069] The file storage subsystem 126 provides persistent (non-volatile) storage for program and data files and can include a hard disk drive, a disk drive or other non-volatile memory, such as a flash memory. An input device, for example, a disk drive, can be used to input the software modules discussed above. Alternatively, other known structures, alternatively, can be used to introduce the software modules, for example, a USB port.
    [0070] In this context, the term "bus subsystem" is used generically to include any mechanism for letting the various components and subsystems communicate with each other, as intended. The bus subsystem 120 is shown schematically as a single bus, but a typical system has a number of buses, such as a local bus and one or more expansion buses (for example, ADB, SCSI, ISA, EISA, MCA, NuBus or PCI), as well as serial and parallel ports.
    [0071] Controller 116 controls components of robotic assembly 70 in response to the various signals received, including signals from input control device (s) 36 (shown in figure 2), as well as from main axis encoder 92, the first encoder 98, the second encoder 104 of the control cable encoder (s) 110. The controlled components include the main shaft motor 90, the first motor 96, the second motor 102 and the motor (s) ( and) of control cable 108. Additional components (not shown), such as digital / analog converters, can be used to interface components with controller 116.
    [0072] Figure 8 is a simplified block diagram, illustrating the integration of a robotic surgical instrument 132 within a robotic surgical system 132, according to many modalities. Instrument 132 includes a proximal instrument chassis 134, configured to be releasably mountable on a manipulator 136 having an instrument interface, configured to interface with proximal instrument 134. Instrument 132 also includes an elongated main axis 74, which is mounted to rotate relative to the proximal instrument chassis 134, when rotated by a main shaft motor, as discussed above. An end effector 140 is coupled to a distal end of the main axis 74 so as to rotate together with the main axis. A main control system 142 is operatively coupled with manipulator 136. A main control system 142 can also be operatively coupled with manipulator 136. The combination of main control system 142 and auxiliary control system 144 can be used to control all possible articulations of the instrument 132 via the manipulator 136. For example, the auxiliary control system 144 can control the drive motors for rotation of the first transmission axis and rotation of the second transmission axis. The main control system 142 can control a drive motor for rotation of the main shaft and one or more drive cable drive motors. This auxiliary controller can be used to supplement existing configurations of robotic surgery, in order to allow the use of the robotic instruments presently disclosed, having one or more displaced transmission axes routed within an independently rotating main axis.
    [0073] Figure 9 is a perspective view of a robotic surgical instrument 132, according to many modalities. As discussed above, the instrument 132 includes a proximal instrument chassis 134, configured to be releasably mountable on an instrument manipulator 136. The rotatable main shaft 74 couples the end effector 140 with the proximal instrument chassis 134.
    [0074] Figure 10 is a perspective view of the proximal instrument chassis 134 of figure 9 (without the cover), showing an actuation set 142, according to many modalities. The actuation set 142 includes a first motor 96 for actuation of a displaced first transmission shaft and a second motor 102 for actuation of a displaced second transmission axis. The various encoders discussed above (for example, the main axis encoder 92 , the first encoder 98, the second encoder 104 and the control cable encoder (s) 110) can be integrated within actuation assembly 142. The first motor 98 is coupled with a set of electrical connection pins 144 , configured to couple with the corresponding electrical connector that is coupled with a controller to selectively drive the first motor 96. Likewise, the second motor 102 is coupled with a set of electrical connection pins 146, configured to couple with an electrical connector corresponding, which is coupled with the controller to selectively drive the second motor 102.
    [0075] Figure 11 is a perspective view of a cross section of the actuation assembly 142 of figure 10, illustrating components used to act a first displaced internal transmission shaft, according to many modalities. The first motor 96 is rotationally coupled with a first motor gear 148. The first motor gear 148 engages and drives a proximal gear of the first coupling shaft 150, which drives a first coupling shaft 152. The coupling shaft 152, for example in turn, a first coupling shaft distal gear 154 engages a first annular gear 156, which includes outer gear teeth 158, which fit the first coupling shaft distal gear 154 and inner ring endoscope teeth 160. The first ring gear 156 is mounted to rotate around the center line of the rotatable main shaft 74 via a first ring gear bearing 162. The first drive shaft 86 is mounted around a rotational geometry axis of the first drive shaft which is displaced from the rotational geometric axis of rotatable main axis. The first drive shaft 86 is mounted on the main shaft via two support bearings of the first drive shaft 164. The first drive shaft 86 is coupled with a first drive shaft 166, which includes protruding external gear teeth CE an opening in a main shaft coupling assembly 168 so as to fit the inner gear teeth 160 of the first annular gear 156. In operation, the rotation of the first motor 96 rotates the first motor gear 148, which rotates the proximal gear first coupling shaft 150, which rotates coupling shaft 162, which rotates distal first coupling shaft 154, which rotates first coupling shaft 166, which rotates first transmission shaft 85 with respect to the shaft principal 74.
    [0076] In many embodiments, actuation assembly 142 is intended to accommodate an axial movement range of the first drive shaft 86, for example, through the projection of the first annular gear 156 and the opening in the main shaft coupling assembly 168 for a range of axial movement of the first drive shaft 86 (for example, by increasing the size of the aperture and annular gear 156 in the direction of the axial movement of the first drive shaft 86 through a size sufficient to accommodate the gear teeth designers of the first gear shaft 166 thus allowing the first gear shaft 166 to slide axially with respect to the inner ring gear teeth of the first annular gear 156). This axial movement of the first drive shaft 86 can occur during articulation of an end effector base with respect to the main axis where the ex-tremor effector base rotates about a pulse axis that is displaced from the center line of the first axis transmission 86.
    [0077] Figure 11 also illustrates actuation components used to act on the second internal transmission shaft 88, according to many modalities. The second drive shaft 88 is mounted to rotate about a second drive shaft rotational axis which is offset from the rotatable main axis rotational axis. The second drive shaft 88 is mounted on the main shaft via second driveshaft support bearings 170. The second drive shaft 88 is coupled with a second drive shaft gear 172, which includes external gear teeth that protrude an opening in a main shaft coupling assembly 168 so as to fit inner ring gear teeth of a second annular gear 174. The second annular gear 174 is mounted to rotate around the center line of the rotatable main shaft 74 via one second ring gear bearing 175. As discussed above with respect to the first drive shaft, actuation assembly 142 can also be designed to accommodate an axial movement range of the second drive shaft 88, for example, by projecting the second ring gear 174 and the opening in the main shaft coupling assembly 158 for an axial movement range of the second drive shaft 88.
    [0078] Figure 12 is a perspective view illustrating components of actuation assembly 142 of figure 10 that are used to actuate a second internal displaced transmission shaft, according to many modalities. Second motor 102 is rotationally coupled with a second motor gear 176. The second motor gear 176 engages and drives a proximal gear of second coupling shaft 178, which drives a second coupling shaft 180. The second coupling shaft 180, in turn, rotates a distal gear second coupling shaft 182. The second coupling shaft distal gear 182 engages the second annular gear 174, which includes outer gear teeth that mate the second coupling shaft distal gear 182 and the inner ring gear teeth. The second ring gear 174 is mounted to rotate around the center line of the rotatable main shaft via a second ring gear bearing. In operation, rotation of the second motor 102 rotates the second motor gear 176, which rotates the proximal second gear shaft 182, which rotates the second ring gear 174., which rotates the second gear shaft 172, which rotates the second drive shaft88 relative to the rotatable main shaft 74.
    [0079] In many embodiments, the main shaft coupling assembly 168 includes external gear teeth 184 fitted with a main shaft interface 94 (not shown) that is driven by the main shaft motor 90 (shown). The main shaft interface 94 and the main shaft motor 90 can be located on an instrument manipulator 136 (shown in figure 8) in order to be coupled with the main shaft coupling assembly 168, when the proximal instrument chassis 134 is mounted on an instrument manipulator 136.
    [0080] Figure 13 is a perspective view of a cross section of components of the actuation set of figure 10, illustrating various components and the routing of end effector control cables, according to many modalities. The proximal instrument chassis 134 includes a base 186 that provides a mounting base for various components. The main shaft coupling assembly 168 is mounted to rotate with respect to the base 186 via two bearings 188. The main shaft coupling assembly 168 supports the epg68 supports the rotatable main shaft 74. The main shaft 74 has an axial bore 20 through from which the first drive shaft 86, the second drive shaft 88 and two pairs of control cables 144 are routed. The first drive shaft 86 and the second drive shaft 88 are displaced from the center line of the main shaft coupling assembly 168 and the rotatable main shaft 74, which allows control cables 114 to be routed along the axis of the shaft. main. In many embodiments, the rotation of the main axis in relation to the base produces the twisting of the control cables 114 due to the corresponding rotation of the end effector base in relation to the proximal chassis base 186. The routing of the control cables 114 along the centerline of the main shaft can help reduce harmful impacts to the operation of the control cables that can occur in connection with this twist, for example, by reducing cable friction forces with cable and / or by reducing cable stretching of associated control.
    [0081] In many modalities, a pair of control cables is actuated by a common actuation mechanism, for example, by a capstan around which the pair of control cables is wrapped. This common actuation mechanism can be used to retract a control cable from a pair of control cables while the other control cable from the pair is let out by a corresponding amount. Figure 13 illustrates a first drive shaft 190 for driving a first pair of control cables and a second drive shaft 192 for driving a second pair of control cables.
    [0082] In many embodiments, the first drive shaft 86 is rotationally coupled with a first drive shaft extension 200 via a first coupling 194 that engages a distal end of the first drive shaft 86 with a proximal end of the first shaft extension of transmission 200. The first splined coupling 194 can also provide for the accommodation of an axial movement range of the extension of the first transmission shaft 200, which, as discussed above, may result during the articulation of the end effector base in relation to the axis main, due to the extension 200 of the first drive shaft 200 being displaced from the center line of the main shaft. Also, a second splined coupling 196 can be used in connection with the displaced second drive shaft 88 and can provide similar benefits.
    [0083] Figure 14 is a cross-sectional view of components of the actuation set of figure 10, still illustrating several components and the routing of the control cables of the end effector, according to many modalities. The inner ring gear teeth of the first annular gear 156 interact with the first gear shaft 166 so that rotation of the first annular gear 156 relative to the main shaft coupling assembly produces a corresponding rotation of the first transmission shaft 86 in relation to the main shaft coupling assembly. The inner ring gear teeth of the second annular gear 174 in relation to the main shaft coupling assembly produces a corresponding rotation of the second drive shaft 88 with respect to the main shaft coupling assembly.
    [0084] Figure 15A is a perspective view of the main shaft coupling assembly 168, according to many modalities. The main shaft coupling assembly 168 includes a number of openings, slots, fastener holes, as well as external gear teeth. A first opening 206 accommodates the gear teeth protruding from the second drive shaft gear 172. A third opening 210 accommodates a projecting feature of a drive shaft bearing bracket assembly, used to support the proximal end of the second shaft transmission. A number of fastener holes 212 are provided that accommodate transmission shaft support bearing assembly features. In many embodiments, the main shaft coupling assembly 168 includes symmetrical features to enable reversible installation of the first and second driveshafts. Outer gear teeth 184 are used to rotate the main shaft coupling assembly 168 relative to the base of the proximal instrument chassis. Two slots 214 accommodate the first splined coupling 194 and the second splined coupling 196.
    [0085] Figure 15B is a perspective view of an internal subset that includes the two internal displaced transmission shafts and support bearing assembly components, according to many modalities. The proximal portion of the first driveshaft 198 and the proximal portion of the second driveshaft 202 are received within the bearings which are supported by four internal support assemblies 216. The four internal support assemblies 216 are held in position within the assembly of main shaft coupling 168 via four external support assemblies 218, which are coupled with internal support assemblies 216 via two fasteners 220 per assembly pair.
    [0086] Figures 15C and 15D are seen showing the combination of the components of figures 15A and 15B, according to many modalities. Figure 15C is a perspective view of the combination and Figure 15D shows an end view showing fasteners 220, external gear teeth 184, an external support assembly 218, first gear shaft 166, gear second drive shaft 172, two inner support assemblies 216 and a retaining ring 222 used to secure the proximal end of the second drive shaft relative to an inner support assembly 216. a central space 224 located between adjacent inner support assemblies 216 accommodates the routing of control cables (not shown).
    [0087] Alternative approaches can be used to support an internal displaced drive shaft. For example, figure 16 is a perspective view of an actuation assembly 230 having a reduced part count configuration. The actuation set 230 provides independent actuation of the two displaced drive shafts 86, 88 described above, but eliminates some of the components described above used to support the two displaced drive shafts 86, 88. The actuation set 230 includes some of the components described above, for example, the first drive shaft 86 (hidden from view), the second drive shaft 88, the first ring gear 156 and the second ring gear 174. The actuation assembly 230 includes a main shaft coupling assembly 168A which is configured with integrated support for the shaft support bearings. Similar to the main shaft coupling assembly 168 described above, the main shaft coupling assembly 168A includes external gear teeth 184 for fitting with the main shaft interface 94 described above (not shown).
    [0088] Figure 17 is a cross sectional view of the actuation set 230, illustrating details of the support integration for the transmission shaft bearings in the main shaft coupling assembly 168A. The main shaft coupling assembly 168A is configured with externally accessible recesses 232, 234, 236 that interface with first shaft support bearings 164A, 164B and second shaft support bearings 170A, 170B. retainer rings 244, 246 are used to retain the support bearings 164A, 164B within the recess 234. Retaining rings 240, 242 are used to retain the support bearings 170A, 170B within the recess 236. The recessed arrangement 232 is shaped to accommodate the distal end of the first drive shaft 86. The distally arranged recess 232 is shaped to accommodate the distal end of the first drive shaft 86. The proximally arranged recess 234 is shaped to support the proximally arranged support bearings 164A, 164B and accommodate the proximal end of the first drive shaft 86. The main shaft coupling assembly 168A includes a bore 238 configured to slide and accommodate the first drive shaft 86. The distally arranged recess 236 is shaped to support the support bearings 170A, 170B and accommodate the second drive shaft 88.
    [0089] The first drive shaft 86 can be mounted on the actuation set 230 using the following assembly sequence. First, the 164A support bearing is placed in its installed position. The retaining ring 244 is then moved from the proximal end of the main shaft coupling assembly 168A to its installed position. A subset comprising the first ring gear 156 and the first ring gear bearing 162 is then moved from the proximal end of the main shaft coupling assembly 168A to its installed position. A subset comprising the first ring gear 156 and the first ring gear bearing 162 is then moved from the proximal end of the main shaft coupling assembly 168a to its installed position. The first drive shaft 86 is then installed by screwing the distal end of the first drive shaft 86 through the support bearing 164A and through the hole 238. The support bearing 164B is then slid along the recess. 234 to its installed position. Finally, retaining ring 246 is then moved from the proximal end of main shaft coupling assembly 168A to its installed position. A similar sequence can be used for the installation of the second drive shaft 88 in the actuation assembly 230.
    [0090] Figures 18a and 18B are seen from proximal and distal ends, respectively, of the actuation set 230. Figure 18A shows the support bearing located proximally 164B in relation to the proximal recess 234 and the first transmission axis 86. The retaining rings 240, 242, 244, 246 are locally molded to accommodate the support bearings 170A, 170B, 164A, 164B, respectively. Figure 18B shows the distal ends of the first drive shaft 86 and the second drive shaft 88, of the associated recesses 234, 236 in the main shaft coupling assembly 168A, as well as the support bearing 170A disposed in the recess 236.
    [0091] Figure 19 is an illustration in plan view of the integration of actuation set 230 within a proximal instrument chassis 250, according to many modalities. In addition to supporting and acting the actuation set 230, the proximal instrument chassis 250 also includes actuating and routing components for three pairs of control cables that are routed within the rotatable main axis.
    [0092] Figure 20 is a diagrammatic illustration in simplified perspective view of a 260 surgical set, according to many modalities. Surgical assembly 260 includes a proximal actuating mechanism 262, a rotatable main shaft 264, an end effector 266 and a pulse mechanism 268. End effector 266 may include one or more axis driven mechanisms (for example, an clamping mechanism, linear cutting mechanism, stapling mechanism). Surgical assembly 260 may also include one or more cable-operated mechanisms, for example, a cable actuation mechanism that articulates an end effector base in relation to the main axis via the 268 pulse mechanism and / or an actuation mechanism cable, which articulates a portion of the end effector in relation to the end effector base. The proximal actuation mechanism 262 can include the actuation mechanism discussed above for the assembly and actuation of one or more displaced driveshafts prorated within the rotatable main axis 264. The proximal actuation mechanism 262 can be configured for use in a variety applications, for example, as a portable device with manual and / or automated actuation for the rotation of the main axis 264 and / or one or more internal transmission axes. As such, surgical set 260 may have applications in addition to minimally invasive robotic surgery, for example, minimally invasive non-robotic surgery, non-minimally invasive robotic surgery, non-minimally invasive non-robotic surgery, as well as other applications where the use of one or more transmission shafts displaced within a rotatable external axis could be beneficial.
    [0093] Figure 21 is a simplified flow diagram of a method 270 for transmitting torque through a displaced transmission shaft routed within a rotatable main shaft, according to many modalities. In step 272, a main axis is supported to rotate with respect to a base. In step 274, a drive shaft is supported to rotate with respect to the main axis about a conveyor belt rotational axis that is offset from the main axis rotational axis. in step 276, the displaced transmission shaft is engaged with a transmission resource having a rotational geometric axis that is fixed in relation to the base. In step 278, the main axis is rotated with respect to the base. In step 280, the transmission axis is rotated with respect to the main axis by rotating the transmission feature in relation to the main axis. The steps of method 270 can be performed, for example, using the modalities discussed above with respect to figures 6 to 19.
    [0094] Figure 22 is a simplified diagram of a minimally invasive surgical method 290, according to many modalities. In step 292, an end effector of a surgical instrument is introduced into a surgical site, for example, an internal surgical site, via a minimally invasive opening or natural body orifice. The end effector is mounted on a distal end of an elongated instrument axis mounted to rotate with respect to a base, so that the end effector can be rotated with the instrument axis relative to the base. The end effector is operatively coupled with a first drive shaft so that the rotation of the first drive shaft in relation to the instrument shaft acts a first end effector mechanism, the first drive shaft being mounted to rotate with respect to the instrument axis around a rotational axis of the first transmission axis that is offset from the rotational axis of the instrument axis that is offset from the rotational axis of the instrument. In step 294, the end effector is rotated by rotating the instrument shaft. In step 296, a surgical task is performed with the end effector by activating the first end effector mechanism.
    [0095] In many modalities, method 290 involves the use of an end effector that is actuated by two transmission shafts. A wide range of end effector mechanisms can be actuated per transmission shaft. For example, the end effector may include a tightening feature actuated by the first drive shaft. The end effector can include a movable cutting feature actuated by the second drive shaft. The surgical task may include clamping tissue with clamping feature and cutting tissue with movable clamping feature. The second drive shaft can be mounted to rotate with respect to the axis of the instrument about a rotational axis of the second drive axis, which is offset from the rotational axis of the instrument axis. The end effector can include a cutting and stapling device supported by the second drive shaft. The surgical task may include tightening tissue with the tightening feature, stapling tissue with the cutting and stapling device and cutting tissue with the cutting and stapling device ..
    [0096] It should be understood that the examples and modalities described herein are for illustrative purposes and that various modifications or changes in light of them will be suggested to persons skilled in the art and should be included within the spirit and scope of this application and the scope of attached claims. Numerous different combinations are possible and these combinations should be considered to be part of the present invention.
    权利要求:
    Claims (19)
    [0001]
    Mechanism of surgical instrument characterized by the fact that it comprises:
    a surgical instrument base (186);
    a main axis of the surgical instrument (74, 168A, 264) mounted to rotate with respect to the base of the surgical instrument (186) and comprising a proximal end, a distal end and a rotational axis of the main axis between the proximal end and the end distal, and on which the main axis of the surgical instrument (74, 168A, 264) rotates;
    a first transmission shaft (86, 198) mounted inside the main axis of a surgical instrument (74, 168A, 264) and displaced from the main axis rotational axis; and
    a first transmission resource (156) fitted with the first transmission shaft (86, 198), in which:
    a first rotational geometry axis of the transmission resource on which the first transmission resource (156) rotates is defined for the first transmission resource (156) and is fixed in relation to the base of the surgical instrument (186) as the axis main of surgical instrument (74, 168A, 264) rotates and the first axis of rotation of the transmission resource is coincident with the axis of rotation of the main axis; and
    the first transmission resource (156) rotates the first transmission axis (86, 198) independently of the rotation of the surgical instrument main axis (74, 168A, 264);
    a control cable transmission feature (190) coupled to the base of the surgical instrument (186); and
    a control cable (114) engaged with the control cable feature, the control cable (114) being routed within the main axis of the surgical instrument (74, 168A, 264) between the proximal and distal ends of the main axis of the surgical instrument (74, 168A, 264).
    [0002]
    Mechanism of surgical instrument, according to claim 1, characterized by the fact that the rotational geometric axis of the main axis and the rotational geometric axis of the first transmission feature (156) are coincident.
    [0003]
    Surgical instrument mechanism according to claim 1, characterized by the fact that it additionally comprises a first transmission shaft extension (200), in which the fit between the first transmission shaft extension (200) and the first transmission shaft (200) The transmission (86, 198) allows an axial movement of the extension of the first transmission axis (86, 198) in relation to the base of the surgical instrument (186).
    [0004]
    Surgical instrument mechanism, according to claim 1, characterized by the fact that the first transmission resource (156) is fitted with the first transmission axis (86, 198) through an opening (206) in the main axis of the instrument surgical (74, 168A, 264).
    [0005]
    Surgical instrument mechanism according to claim 4, characterized by the fact that the first transmission shaft (86, 198) comprises a second transmission resource (166) that projects through the opening (206) in the main axis of the instrument surgical (74, 168A, 264) and fits the first transmission feature (156).
    [0006]
    Mechanism of surgical instrument, according to claim 5, characterized by the fact that:
    the second transmission resource (166) comprises external gear teeth; and
    the first transmission feature (156) comprises an inner ring gear (160).
    [0007]
    Mechanism of surgical instrument, according to claim 1, characterized by the fact that it still comprises a second transmission resource (184), in which:
    a rotational geometry axis of the second transmission resource is defined for the second transmission resource (166);
    the second transmission feature (166) is fitted with the main axis of the surgical instrument (74, 168A, 264); and
    the rotational geometric axis of the second transmission resource remains fixed in relation to the base of the surgical instrument (186), while the second transmission resource (166) rotates the main axis of the surgical instrument (74, 168A, 264).
    [0008]
    Mechanism of surgical instrument, according to claim 7, characterized by the fact that it still comprises:
    a second drive shaft (88) mounted inside the main axis of the surgical instrument (74, 168A, 264) and displaced from the rotational geometric axis of the main axis; and
    a third transmission resource (174) fitted with the second transmission shaft, in which:
    a rotational geometry axis of the third transmission resource is defined for the third transmission resource (174),
    the rotational geometric axis of the third transmission feature is fixed in relation to the base of the surgical instrument (186), as the main axis of the surgical instrument (74, 168A, 264) rotates; and
    the third drive feature (174) rotates the second drive shaft (88).
    [0009]
    Mechanism of surgical instrument, according to claim 1, characterized by the fact that it still comprises:
    a second drive shaft (88, 202) mounted inside the main axis of the surgical instrument (74, 168A, 264) and displaced from the rotational geometric axis of the main axis; and
    a second transmission resource (166) fitted with the second transmission shaft (88, 202), in which:
    a rotational geometry axis of the second transmission resource is defined for the second transmission resource (166),
    the rotational geometric axis of the second transmission feature (166) is fixed in relation to the base of the surgical instrument (186), as the main axis of the surgical instrument (74, 168A, 264) rotates; and
    the second drive feature (166) rotates the second drive shaft (88, 202).
    [0010]
    Surgical instrument mechanism according to claim 9, characterized by the fact that the second transmission resource (166) is fitted with the second transmission shaft (88, 202) through an opening (208) in the main shaft.
    [0011]
    Surgical instrument mechanism, according to claim 1, characterized by the fact that the main axis of the surgical instrument (168A) comprises a recess (234) configured to interface with a bearing (164A, 164B) supporting the first axis of transmission (86, 198) and the surgical instrument mechanism still comprises the bearing (164A, 164B) supporting the first transmission axis (86, 198).
    [0012]
    Surgical instrument mechanism according to claim 11, characterized by the fact that it still comprises a retaining ring (244, 246) to retain the bearing (164A, 164B) that supports the first transmission shaft (86, 198).
    [0013]
    Surgical instrument mechanism, according to claim 1, characterized by the fact that it still comprises an end effector of the surgical instrument (72, 266) coupled with the distal end of the main axis of the surgical instrument (74,168A, 264) and the first drive shaft (86, 198), where:
    the end effector of the surgical instrument (72, 266) is rotated by a rotation of the main axis of the surgical instrument (74, 168A, 264); and
    a rotation of the first transmission axis (86, 198) in relation to the main axis of the surgical instrument (74, 168A, 264) acts on the end effector of the surgical instrument (72, 266).
    [0014]
    Surgical instrument mechanism, according to claim 1, characterized by the fact that it still comprises an end effector of the surgical instrument (72, 266) coupled with the control cable (114), in which a movement of the control cable ( 114) the end effector of the surgical instrument (72, 266) acts.
    [0015]
    Robotic set of surgical instrument, characterized by the fact that it comprises:
    a surgical instrument mechanism as defined in claim 1;
    an actuation set (76) coupled with the main axis of the surgical instrument (74, 168A, 264) and the transmission shaft (89,198), the actuation set (76) operable to independently rotate the main axis of the surgical instrument (74, 168A, 264) in relation to the base of the surgical instrument (186); and
    rotate the transmission shaft (89, 198) in relation to the main axis of the surgical instrument (74, 168A, 264); and
    an end effector of the surgical instrument (72, 266) coupled with the main axis of the surgical instrument (74, 264), the end effector of the surgical instrument (72, 266) comprising an actuating mechanism driven by an axis (78) coupled with the first drive shaft (86, 198).
    [0016]
    Robotic surgical instrument set, according to claim 15, characterized by the fact that it still comprises a second transmission shaft mounted inside the main axis of the surgical instrument (74, 168A, 264) and displaced from the rotational geometric axis of the main axis , in which the actuation set is still operable to independently rotate the second transmission axis in relation to the main axis of the surgical instrument (74, 168A, 264) and in which the end effector of the surgical instrument (72, 266) it also comprises an actuation mechanism driven by a second axis coupled with the second transmission axis.
    [0017]
    Robotic surgical instrument system, characterized by the fact that it comprises:
    a surgical instrument mechanism as defined in claim 1;
    a second drive shaft (88) mounted inside the main axis of the surgical instrument (74, 168A, 264) and displaced from the rotational geometric axis of the main axis;
    an actuation set (76) coupled with the main axis of the surgical instrument (74, 168A, 264), the first transmission axis (86, 198) and the second transmission axis (88);
    a controller (116) comprising an input and an output, the input coupled with an input device (36) to receive at least one input signal from the input device (36), the output coupled with the actuation set (76) to send at least one control signal to the actuation set (76), the controller (116) comprising a processor (118) and a tangible medium (122) containing instructions which, when executed, cause the processor (118) to generate at least a control signal in response to at least one input signal, so that the input device (36) can be used by a user to independently rotate the main axis of the surgical instrument (74, 168A, 264) relative to at the base of the surgical instrument (186), rotate the first transmission axis (86, 198) in relation to the main axis of the surgical instrument (74, 168A, 264) and rotate the second transmission axis (88) in relation to the main axis the surgical instrument (74, 168A, 264); and
    an end effector of the surgical instrument (72, 266) coupled with the main axis of the surgical instrument (74, 168A, 264) so that the end effector (72, 266) is rotated by a rotation of the main axis of the surgical instrument (74, 168A, 264), the end effector of the surgical instrument (72, 266) comprising:
    an actuation mechanism driven by the first shaft (78), coupled with the first transmission shaft (86, 198) and
    an actuation mechanism driven by a second drive shaft (80) coupled with the second drive shaft (88);
    wherein a movement of the control cable (114) drives the end effector (72, 266).
    [0018]
    Robotic surgical instrument system, according to claim 17, characterized by the fact that the actuation set (76) comprises:
    a first motor coupled with the first drive shaft (86, 198) and the controller (116);
    a second motor coupled with the second drive shaft (88) and the controller (116); and
    a main shaft motor coupled with the main shaft of the surgical instrument (74, 168A, 264) and the controller (116).
    [0019]
    Robotic surgical instrument system, according to claim 18, characterized by the fact that the actuation set (76) still comprises:
    a first encoder coupled with the first motor and the controller (116), the first encoder sending a first motor position signal to the controller (116) in response to a position of the first motor;
    a second encoder coupled with the second motor and the controller (116), the second encoder sending a second motor position signal to the controller (116) in response to a position of the second motor; and
    a mainshaft encoder coupled with the mainshaft motor and controller (116), the mainshaft encoder sending a mainshaft position signal to the controller (116) in response to a mainshaft motor position.
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    法律状态:
    2018-03-27| B15K| Others concerning applications: alteration of classification|Ipc: A61B 34/30 (2016.01) |
    2019-01-08| B06F| Objections, documents and/or translations needed after an examination request according art. 34 industrial property law|
    2019-07-16| B06T| Formal requirements before examination|
    2019-11-26| B07A| Technical examination (opinion): publication of technical examination (opinion)|
    2020-04-22| B09A| Decision: intention to grant|
    2020-06-23| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 12/11/2010, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
    申请号 | 申请日 | 专利标题
    US26091909P| true| 2009-11-13|2009-11-13|
    US61/260,919|2009-11-13|
    PCT/US2010/056610|WO2011060318A1|2009-11-13|2010-11-12|Motor interface for parallel drive shafts within an independently rotating member|
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