US5797900A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Wrist mechanism for surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity
Assignee: Intuitive Surgical Operations Inc
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Filing: 1997-05-16
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Granted: 1998-08-25
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Expires: 2017-05-16
Abstract
Abstract An articulated surgical instrument for enhancing the performance of minimally invasive surgical procedures. The instrument has a high degree of dexterity, low friction, low inertia and good force reflection. A unique cable and pulley drive system operates to reduce friction and enhance force reflection. A unique wrist mechanism operates to enhance surgical dexterity compared to standard laparoscopic instruments. The system is optimized to reduce the number of actuators required and thus produce a fully functional articulated surgical instrument of minimum size.
Inventors
- 👤 Akhil J. Madhani
- 👤 J. Kenneth Salisbury
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 15:22
CPC Classifications
B; B25; B25J; B25J3/00; B25J3/04; A; A61; A61B; A61B34/00; A61B34/30; A61B34/35; A61B34/70; A61B34/71; A61B34/76; A61B34/77; A61B17/00; A61B17/28; A61B17/29; A61B2017/2926; A61B2017/2927; A61B2017/2929; A61B2017/2932; A61B2017/2939; A61B2034/305; A61B2034/715; Y; Y10; Y10T; Y10T74/00; Y10T74/20; Y10T74/20207; Y10T74/20305; Y10T74/20329; Y10T74/20335
Claims Analysis
Total Claims: 31
Claim 1
Independent Claim
291 words
An articulated surgical instrument for minimally invasive surgery comprising an elongate support member, a wrist member, first and second capstans, first and second work members; first, second, third and fourth intermediate idler pulleys; and first, second, third and fourth cables wherein: the elongate support member has a proximal end and a distal end and a support axis running longitudinally along the elongate support member from the proximal end to the distal end; the wrist member has a proximal end and a distal end and a wrist axis running longitudinally along the wrist member from the proximal end to the distal end; the proximal end of the wrist member is attached to the distal end of the support member by a wrist joint such that the wrist member can pivot about a joint axis perpendicular to the support axis and perpendicular to the wrist axis; the first and second capstans are rotatably mounted to the distal portion of the wrist member by respective first and second capstan joints such that the axis of rotation of each of the first and second capstan joints is perpendicular to the wrist axis and perpendicular to the joint axis; the first and second opposed work members are coupled to the respective first and second capstans; the first, second, third and fourth intermediate idler pulleys are rotatably mounted to the wrist member about the wrist joint; each intermediate idler pulley is engaged by one of the first, second, third and fourth cables; and each capstan is drivingly engaged by two of the first, second, third and fourth cables; whereby selective actuation of the cables operates to pivot the wrist member about the joint axis and pivot the work members independently of each other about the capstan joints.
Claim 2
Dependent Claim
291 words
An articulated surgical instrument for minimally invasive surgery comprising an elongate support member, a wrist member, first and second capstans, first and second work members; first, second, third and fourth intermediate idler pulleys; and first, second, third and fourth cables wherein: the elongate support member has a proximal end and a distal end and a support axis running longitudinally along the elongate support member from the proximal end to the distal end; the wrist member has a proximal end and a distal end and a wrist axis running longitudinally along the wrist member from the proximal end to the distal end; the proximal end of the wrist member is attached to the distal end of the support member by a wrist joint such that the wrist member can pivot about a joint axis perpendicular to the support axis and perpendicular to the wrist axis; the first and second capstans are rotatably mounted to the distal portion of the wrist member by respective first and second capstan joints such that the axis of rotation of each of the first and second capstan joints is perpendicular to the wrist axis and perpendicular to the joint axis; the first and second opposed work members are coupled to the respective first and second capstans; the first, second, third and fourth intermediate idler pulleys are rotatably mounted to the wrist member about the wrist joint; each intermediate idler pulley is engaged by one of the first, second, third and fourth cables; and each capstan is drivingly engaged by two of the first, second, third and fourth cables; whereby selective actuation of the cables operates to pivot the wrist member about the joint axis and pivot the work members independently of each other about the capstan joints.
Claim 3
Dependent Claim
45 words
The articulated surgical instrument of claim 1 wherein the first cable is coupled to a first actuator, the second cable is coupled to a second actuator, the third cable is coupled to a third actuator and the fourth cable is coupled to a fourth actuator.
Claim 4
Dependent Claim
49 words
The articulated surgical instrument of claim 2 wherein the first and second actuators drive respective first and second cables in unison in opposition to the third and fourth cables driven in unison by respective third and fourth actuators in order to rotate the wrist member about the joint axis.
Claim 5
Dependent Claim
31 words
The articulated surgical instrument of claim 2 wherein the first actuator drives the first cable in opposition to the second cable driven by the second actuator to rotate the first capstan.
Claim 6
Dependent Claim
31 words
The articulated surgical instrument of claim 4 wherein the third actuator drives the third cable in opposition to the fourth cable driven by the fourth actuator to rotate the second capstan.
Claim 7
Dependent Claim
50 words
The articulated surgical instrument of claim 5 wherein the first and second actuators drive the respective first and second cables in unison in opposition to the third and fourth cables driven in unison by respective third and fourth actuators in order to rotate the wrist member about the joint axis.
Claim 8
Dependent Claim
37 words
The articulated surgical instrument of claim 2 wherein the first, second, third and fourth actuators drive respective first, second, third and fourth cables in unison in order to move the elongate support member along the support axis.
Claim 9
Dependent Claim
37 words
The articulated surgical instrument of claim 6 wherein the first, second, third and fourth actuators drive respective first, second, third and fourth cables in unison in order to move the elongate support member along the support axis.
Claim 10
Dependent Claim
34 words
The articulated surgical instrument of claim 1 further comprising fifth, sixth, seventh and eighth intermediate idler pulleys wherein each intermediate idler pulley is engaged by one of the first, second third and fourth cables.
Claim 11
Dependent Claim
16 words
The articulated surgical instrument of claim 6 wherein the first and second capstans have different diameters.
Claim 12
Independent Claim
179 words
A method of operating an articulated surgical instrument for minimally invasive surgery comprising the steps of: providing an articulated surgical instrument which has an elongate support member having a proximal end and a distal end, a wrist member having a distal end and a proximal end which is connected by a wrist joint to the distal end of the elongate support member for pivotal motion about a wrist axis, first and second capstans each mounted on the distal end of the wrist member for rotation about an axis perpendicular to the wrist axis, first and second work members coupled to the first and second capstans; and first, second, third and fourth intermediate idler pulleys mounted about the wrist joint; providing a cable drive system comprising first, second, third and fourth actuators coupled to respective first, second, third and fourth cables; engaging the first, second third and fourth intermediate idler pulleys with respective first, second, third and fourth cables; drivingly engaging the first capstan with the first and second cables and the second capstan with the third and fourth cables.
Claim 13
Independent Claim
179 words
A method of operating an articulated surgical instrument for minimally invasive surgery comprising the steps of: providing an articulated surgical instrument which has an elongate support member having a proximal end and a distal end, a wrist member having a distal end and a proximal end which is connected by a wrist joint to the distal end of the elongate support member for pivotal motion about a wrist axis, first and second capstans each mounted on the distal end of the wrist member for rotation about an axis perpendicular to the wrist axis, first and second work members coupled to the first and second capstans; and first, second, third and fourth intermediate idler pulleys mounted about the wrist joint; providing a cable drive system comprising first, second, third and fourth actuators coupled to respective first, second, third and fourth cables; engaging the first, second third and fourth intermediate idler pulleys with respective first, second, third and fourth cables; drivingly engaging the first capstan with the first and second cables and the second capstan with the third and fourth cables.
Claim 14
Dependent Claim
63 words
The method of manipulating an articulated surgical instrument as defined in claim 11 wherein the method comprises the further step of: selectively operating the first, second, third and fourth actuators to drive the respective first, second, third and fourth cables to pivot the wrist member about the wrist axis and independently rotate the first and second capstans and first and second work members.
Claim 15
Dependent Claim
63 words
The method of manipulating an articulated surgical instrument as defined in claim 12 wherein the method comprises the further steps of: inserting the distal end of the elongate support member through an aperture to a surgical worksite inside a patient; pivoting the wrist member and independently rotating the first and second work members so as to manipulate human tissues at the surgical worksite.
Claim 16
Dependent Claim
53 words
The method of manipulating an articulated surgical instrument as defined in claim 11 wherein the method comprises the further steps of: operating the first actuator to drive the first cable; and operating the second actuator to drive the second cable in opposition to the first cable in order to rotate the first capstan.
Claim 17
Dependent Claim
53 words
The method of manipulating an articulated surgical instrument as defined in claim 14 wherein the method comprises the further steps of: operating the third actuator to drive the third cable; and operating the fourth actuator to drive the fourth cable in opposition to the first cable in order to rotate the second capstan.
Claim 18
Dependent Claim
71 words
The method of manipulating an articulated surgical instrument as defined in claim 15 wherein the method comprises the further steps of: operating the first and second actuators to drive respective first and second cables in unison; operating the third and fourth actuators to drive the respective third and fourth cables in unison in opposition to the first and second cables in order to rotate the wrist member about the wrist axis.
Claim 19
Dependent Claim
57 words
The method of manipulating an articulated surgical instrument as defined in claim 15 wherein the method comprises the additional steps of: operating the first, second, third and fourth actuators to drive respective first, second, third and fourth cables in unison in order to move the elongate support member along a longitudinal axis of the elongate support member.
Claim 20
Dependent Claim
57 words
The method of manipulating an articulated surgical instrument as defined in claim 16 wherein the method comprises the further steps of: operating the first, second, third and fourth actuators to drive respective first, second, third and fourth cables in unison in order to move the elongate support member along a longitudinal axis of the elongate support member.
Claim 21
Dependent Claim
60 words
The method of manipulating an articulated surgical instrument as defined in claim 13 wherein: the step of providing an articulated surgical instrument further comprises providing fifth, sixth, seventh and eighth intermediate idler pulleys; and the method comprises the additional steps of engaging the fifth, sixth, seventh and eighth intermediate idler pulleys with the first, second, third and fourth cables respectively.
Claim 22
Dependent Claim
260 words
An articulated surgical instrument for minimally invasive surgery comprising an elongate support member, a wrist member, first and second capstans, first and second work members; first, second, third and fourth intermediate idler pulleys; and cable drive means wherein: the elongate support member has a proximal end and a distal end and a support axis running longitudinally along the elongate support member from the proximal end to the distal end; the wrist member has a proximal end and a distal end and a wrist axis running longitudinally along the wrist member from the proximal end to the distal end; the proximal end of the wrist member is attached to the distal end of the support member by a wrist joint such that the wrist member can pivot about a joint axis perpendicular to the support axis and perpendicular to the wrist axis; the first and second capstans are rotatably mounted to the distal portion of the wrist member by respective first and second capstan joints such that the axis of rotation of each of the first and second capstan joints is perpendicular to the wrist axis and perpendicular to the joint axis; the first and second opposed work members are mounted to the first and second capstans respectively; the first, second, third and fourth intermediate idler pulleys are rotatably mounted to the wrist member about the wrist joint; and the cable drive means comprises a plurality of cables for selectively pivoting the wrist member about the joint axis and pivoting the work members independently of each other about the capstan joints.
Claim 23
Dependent Claim
260 words
An articulated surgical instrument for minimally invasive surgery comprising an elongate support member, a wrist member, first and second capstans, first and second work members; first, second, third and fourth intermediate idler pulleys; and cable drive means wherein: the elongate support member has a proximal end and a distal end and a support axis running longitudinally along the elongate support member from the proximal end to the distal end; the wrist member has a proximal end and a distal end and a wrist axis running longitudinally along the wrist member from the proximal end to the distal end; the proximal end of the wrist member is attached to the distal end of the support member by a wrist joint such that the wrist member can pivot about a joint axis perpendicular to the support axis and perpendicular to the wrist axis; the first and second capstans are rotatably mounted to the distal portion of the wrist member by respective first and second capstan joints such that the axis of rotation of each of the first and second capstan joints is perpendicular to the wrist axis and perpendicular to the joint axis; the first and second opposed work members are mounted to the first and second capstans respectively; the first, second, third and fourth intermediate idler pulleys are rotatably mounted to the wrist member about the wrist joint; and the cable drive means comprises a plurality of cables for selectively pivoting the wrist member about the joint axis and pivoting the work members independently of each other about the capstan joints.
Claim 24
Dependent Claim
25 words
The articulated surgical instrument of claim 20 wherein the cable drive means further comprises a plurality of actuator means for driving the plurality of cables.
Claim 25
Dependent Claim
37 words
The articulated surgical instrument of claim 21 wherein the cable drive means drives a first plurality of cables in opposition to a second plurality of cables in order to rotate the wrist member about the joint axis.
Claim 26
Dependent Claim
25 words
The articulated surgical instrument of claim 21 wherein the cable drive means drives one cable in opposition to another cable to rotate the first capstan.
Claim 27
Dependent Claim
25 words
The articulated surgical instrument of claim 23 wherein the cable drive means drives one cable in opposition to another cable to rotate the second capstan.
Claim 28
Dependent Claim
38 words
The articulated surgical instrument of claim 24 wherein the cable drive means additionally drives a first plurality of cables in opposition to a second plurality of cables in order to rotate the wrist member about the joint axis.
Claim 29
Dependent Claim
38 words
The articulated surgical instrument of claim 25 wherein the cable drive means drives the first plurality of cables and the second plurality of cables in unison in order to move the elongate support member along the support axis.
Claim 30
Dependent Claim
38 words
The articulated surgical instrument of claim 22 wherein the cable drive means drives the first plurality of cables and the second plurality of cables in unison in order to move the elongate support member along the support axis.
Claim 31
Dependent Claim
22 words
The articulated surgical instrument of claim 20 further comprising fifth, sixth, seventh and eighth intermediate idler pulleys mounted about the wrist joint.
References Cited (Backward Citations)
US5528955A
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2001-08-24 | 2002-02-23 | 2002-08-25 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2005-08-24 | 2006-02-23 | 2006-08-25 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2009-08-24 | 2010-02-23 | 2010-08-25 | $7700.00 | Window Closed / Lapsed |