US6699235B2
Expired / Lapsed
US
⏱️ 0.0 years remaining
Platform link wrist mechanism
Assignee: Intuitive Surgical Operations Inc
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Filing: 2002-06-28
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Granted: 2004-03-02
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Expires: 2022-06-28
Abstract
Abstract The present invention provides a robotic surgical tool for use in a robotic surgical system to perform a surgical operation. The robotic surgical tool includes a wrist mechanism disposed near the distal end of a shaft which connects with an end effector. The wrist mechanism includes a distal member configured to support the end effector, and a plurality of rods extending generally along an axial direction within the shaft and movable generally along this axial direction to adjust the orientation of the distal member with respect to the shaft. The distal member has a base to which the rods are rotatably connected by orthogonal linkage assemblies. Advancement or retraction of a first rod generally along the axial direction tips the base through a first angle so that the distal member faces a first articulated direction, such as to provide pitch. The addition of a second angle allows the distal member to direct the end effector in essentially a compound angle or in a second articulated direction in relation to the shaft of the surgical tool, such as to provide yaw. The robotic surgical tool may also include provisions for roll movement. Roll movement is achieved by rotating the plurality of rods around a longitudinal axis or the central axis of the shaft parallel to the axial direction. The robotic surgical tool includes a tool base disposed near the proximal end of the shaft.
Inventors
- 👤 Daniel T. Wallace
- 👤 S. Christopher Anderson
- 👤 Scott Manzo
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 12:43
CPC Classifications
A; A61; A61B; A61B34/00; A61B34/70; A61B34/71; A61B34/72; A61B17/00; A61B17/00234; A61B17/28; A61B17/29; A61B2017/2926; A61B2017/2927; A61B2017/2929; A61B2017/2932; A61B2017/2933; A61B2017/2934; A61B34/30; A61B2034/304; A61B2034/305; Y; Y10; Y10S; Y10S606/00; Y10S606/914; Y10T; Y10T74/00; Y10T74/20; Y10T74/20207; Y10T74/20305; Y10T74/20317; Y10T74/20329; Y10T74/20335
Claims Analysis
Total Claims: 59
Claim 1
Independent Claim
161 words
A robotic surgical tool comprising: a distal member configured to support an end effector, wherein the distal member has a base; a plurality of rods movable generally along an axial direction to adjust an orientation of the distal member with respect to the axial direction, wherein the rods are rotatably connected to the base and extend generally along the axial direction and wherein advancement or retraction of a first rod generally along the axial direction tips the base through a first angle so that the distal member faces a first articulated direction; and a plurality of linkages, each linkage connecting one of the plurality of rods with the base and wherein each linkage comprises an orthogonal linkage having a first link portion which is rotatably connectable with the one of the plurality of rods and a second link portion which is rotatably connectable with the base and wherein the first link portion and the second link portion lie in orthogonal planes.
Claim 2
Dependent Claim
161 words
A robotic surgical tool comprising: a distal member configured to support an end effector, wherein the distal member has a base; a plurality of rods movable generally along an axial direction to adjust an orientation of the distal member with respect to the axial direction, wherein the rods are rotatably connected to the base and extend generally along the axial direction and wherein advancement or retraction of a first rod generally along the axial direction tips the base through a first angle so that the distal member faces a first articulated direction; and a plurality of linkages, each linkage connecting one of the plurality of rods with the base and wherein each linkage comprises an orthogonal linkage having a first link portion which is rotatably connectable with the one of the plurality of rods and a second link portion which is rotatably connectable with the base and wherein the first link portion and the second link portion lie in orthogonal planes.
Claim 3
Dependent Claim
19 words
A robotic surgical tool as in claim 1 , wherein the first angle is greater than approximately 30 degrees.
Claim 4
Dependent Claim
19 words
A robotic surgical tool as in claim 2 , wherein the first angle is greater than approximately 60 degrees.
Claim 5
Dependent Claim
19 words
A robotic surgical tool as in claim 3 , wherein the first angle is greater than approximately 70 degrees.
Claim 6
Dependent Claim
39 words
A robotic surgical tool as in claim 1 , wherein advancement or retraction of a second rod generally along the axial direction tips the base through a second angle so that the distal member faces a second articulated direction.
Claim 7
Dependent Claim
19 words
A robotic surgical tool as in claim 5 , wherein the second angle is greater than approximately 30 degrees.
Claim 8
Dependent Claim
17 words
A robotic surgical tool as in claim 5 , wherein the plurality of rods comprise three rods.
Claim 9
Dependent Claim
17 words
A robotic surgical tool as in claim 5 , wherein the plurality of rods comprise four rods.
Claim 10
Dependent Claim
20 words
A robotic surgical tool as in claims 8 , wherein the first and second rods are adjacent to each other.
Claim 11
Dependent Claim
39 words
A robotic surgical tool as in claim 1 , further comprising a guide tube having a plurality of guide slots, each guide slot shaped for receiving and guiding one of the plurality of rods substantially along the axial direction.
Claim 12
Dependent Claim
26 words
A robotic surgical tool as in claim 10 , wherein the guide slots are symmetrically arranged with respect to a central axis of the guide tube.
Claim 13
Dependent Claim
23 words
A robotic surgical tool as in claim 1 , further comprising a tool base having means for advancing or retracting the first rod.
Claim 14
Dependent Claim
42 words
A robotic surgical tool as in claim 12 , wherein the tool base has a first rotational actuation member to which the first rod is attached so that rotation of the first sector rotational actuation member advances or retracts the first rod.
Claim 15
Dependent Claim
48 words
A robotic surgical tool as in claim 13 , wherein another rod is attached to the first rotational actuation member in a position diametrically opposite to the first rod so that rotation of the first rotational actuation member simultaneously advances the first rod and retracts the another rod.
Claim 16
Dependent Claim
31 words
A robotic surgical tool as in claim 14 , wherein rotation of the first rotation actuation member simultaneously advances the first rod and retracts the another rod by the same amount.
Claim 17
Dependent Claim
65 words
A robotic surgical tool as in claim 13 , wherein the tool base further comprises a second rotational actuation member to which the second rod is attached so that rotation of the second rotational actuation member advances or retracts the second rod substantially along the axial direction and tips the base through a second angle so that the distal member faces a second articulated direction.
Claim 18
Dependent Claim
35 words
A robotic surgical tool as in claim 16 , wherein the tool base further comprises a roll pulley which rotates first and second rods around a central axis which is parallel to the axial direction.
Claim 19
Dependent Claim
21 words
A robotic surgical tool as in claim 13 , wherein the tool base further includes means for actuating the end effector.
Claim 20
Dependent Claim
30 words
A robotic surgical tool as in claim 18 , wherein the end effector comprises grasping jaws, DeBakey forceps, microforceps, Potts scissors, a clip applier, a scalpel or an electrocautery probe.
Claim 21
Dependent Claim
84 words
A robotic surgical tool comprising: a distal member configured to support an end effector, wherein the distal member has a base; a plurality of rods movable generally along an axial direction to adjust an orientation of the distal member with respect to the axial direction; and a plurality of orthogonal linkage assemblies, each orthogonal linkage assembly rotatably connecting one of the plurality of rods with the base to allow the base to be tipped toward two orthogonal directions with respect to the axial direction.
Claim 22
Dependent Claim
84 words
A robotic surgical tool comprising: a distal member configured to support an end effector, wherein the distal member has a base; a plurality of rods movable generally along an axial direction to adjust an orientation of the distal member with respect to the axial direction; and a plurality of orthogonal linkage assemblies, each orthogonal linkage assembly rotatably connecting one of the plurality of rods with the base to allow the base to be tipped toward two orthogonal directions with respect to the axial direction.
Claim 23
Dependent Claim
62 words
A robotic surgical tool as in claim 20 , wherein each orthogonal linkage assembly comprises an orthogonal linkage having a first link portion which is rotatably connectable with the one of the plurality of rods and a second link portion which is rotatably connectable with the base and wherein the first link portion and the second link portion lie in orthogonal planes.
Claim 24
Dependent Claim
47 words
A robotic surgical tool as in claim 20 , wherein each orthogonal linkage assembly comprises a linkage fastener having a link base portion which is rotatably connectable with one of the plurality of rods and a cylindrical fastening end portion which is rotatably connectable with the base.
Claim 25
Dependent Claim
22 words
A robotic surgical tool as in claim 20 , wherein each rod is flexible in at least one of the orthogonal directions.
Claim 26
Dependent Claim
34 words
A robotic surgical tool as in claim 23 , wherein each rod has a rectangular cross-section having a wide side and a narrow side and wherein the rod is flexible along the wide side.
Claim 27
Dependent Claim
121 words
A robotic surgical tool comprising: a distal member configured to support an end effector, wherein the distal member has a base; a plurality of rods movable generally along an axial direction to adjust an orientation of the distal member with respect to the axial direction, wherein the rods are rotatably connected to the base and extend generally along the axial direction and wherein advancement or retraction of a first rod generally along the axial direction tips the base through a first angle so that the distal member faces a first articulated direction; and a guide tube having a plurality of guide slots, each guide slot shaped for receiving and guiding one of the plurality of rods substantially along the axial direction.
Claim 28
Dependent Claim
121 words
A robotic surgical tool comprising: a distal member configured to support an end effector, wherein the distal member has a base; a plurality of rods movable generally along an axial direction to adjust an orientation of the distal member with respect to the axial direction, wherein the rods are rotatably connected to the base and extend generally along the axial direction and wherein advancement or retraction of a first rod generally along the axial direction tips the base through a first angle so that the distal member faces a first articulated direction; and a guide tube having a plurality of guide slots, each guide slot shaped for receiving and guiding one of the plurality of rods substantially along the axial direction.
Claim 29
Dependent Claim
19 words
A robotic surgical tool as in claim 25 , wherein the first angle is greater than approximately 30 degrees.
Claim 30
Dependent Claim
19 words
A robotic surgical tool as in claim 26 , wherein the first angle is greater than approximately 60 degrees.
Claim 31
Dependent Claim
19 words
A robotic surgical tool as in claim 27 , wherein the first angle is greater than approximately 70 degrees.
Claim 32
Dependent Claim
39 words
A robotic surgical tool as in claim 25 , wherein advancement or retraction of a second rod generally along the axial direction tips the base through a second angle so that the distal member faces a second articulated direction.
Claim 33
Dependent Claim
19 words
A robotic surgical tool as in claim 29 , wherein the second angle is greater than approximately 30 degrees.
Claim 34
Dependent Claim
17 words
A robotic surgical tool as in claim 29 , wherein the plurality of rods comprise three rods.
Claim 35
Dependent Claim
17 words
A robotic surgical tool as in claim 29 , wherein the plurality of rods comprise four rods.
Claim 36
Dependent Claim
20 words
A robotic surgical tool as in claims 32 , wherein the first and second rods are adjacent to each other.
Claim 37
Dependent Claim
27 words
A robotic surgical tool as in claim 25 , further comprising a plurality of linkages, each linkage connecting one of the plurality of rods with the base.
Claim 38
Dependent Claim
60 words
A robotic surgical tool as in claim 34 , wherein the linkage comprises an orthogonal linkage having a first link portion which is rotatably connectable with the one of the plurality of rods and a second link portion which is rotatably connectable with the base and wherein the first link portion and the second link portion lie in orthogonal planes.
Claim 39
Dependent Claim
26 words
A robotic surgical tool as in claim 25 , wherein the guide slots are symmetrically arranged with respect to a central axis of the guide tube.
Claim 40
Dependent Claim
23 words
A robotic surgical tool as in claim 25 , further comprising a tool base having means for advancing or retracting the first rod.
Claim 41
Dependent Claim
42 words
A robotic surgical tool as in claim 37 , wherein the tool base has a first rotational actuation member to which the first rod is attached so that rotation of the first sector rotational actuation member advances or retracts the first rod.
Claim 42
Dependent Claim
48 words
A robotic surgical tool as in claim 38 , wherein another rod is attached to the first rotational actuation member in a position diametrically opposite to the first rod so that rotation of the first rotational actuation member simultaneously advances the first rod and retracts the another rod.
Claim 43
Dependent Claim
31 words
A robotic surgical tool as in claim 39 , wherein rotation of the first rotation actuation member simultaneously advances the first rod and retracts the another rod by the same amount.
Claim 44
Dependent Claim
65 words
A robotic surgical tool as in claim 38 , wherein the tool base further comprises a second rotational actuation member to which the second rod is attached so that rotation of the second rotational actuation member advances or retracts the second rod substantially along the axial direction and tips the base through a second angle so that the distal member faces a second articulated direction.
Claim 45
Dependent Claim
35 words
A robotic surgical tool as in claim 41 , wherein the tool base further comprises a roll pulley which rotates first and second rods around a central axis which is parallel to the axial direction.
Claim 46
Dependent Claim
21 words
A robotic surgical tool as in claim 38 , wherein the tool base further includes means for actuating the end effector.
Claim 47
Dependent Claim
30 words
A robotic surgical tool as in claim 43 , wherein the end effector comprises grasping jaws, DeBakey forceps, microforceps, Potts scissors, a clip applier, a scalpel or an electrocautery probe.
Claim 48
Dependent Claim
139 words
A robotic surgical tool comprising: a distal member configured to support an end effector, wherein the distal member has a base; a plurality of rods movable generally along an axial direction to adjust an orientation of the distal member with respect to the axial direction, wherein the rods are rotatably connected to the base and extend generally along the axial direction and wherein advancement or retraction of a first rod generally along the axial direction tips the base through a first angle so that the distal member faces a first articulated direction; and a guide tube having a plurality of guide slots, each guide slot shaped for receiving and guiding one of the plurality of rods substantially along the axial direction, and wherein the guide slots are symmetrically arranged with respect to a central axis of the guide tube.
Claim 49
Dependent Claim
139 words
A robotic surgical tool comprising: a distal member configured to support an end effector, wherein the distal member has a base; a plurality of rods movable generally along an axial direction to adjust an orientation of the distal member with respect to the axial direction, wherein the rods are rotatably connected to the base and extend generally along the axial direction and wherein advancement or retraction of a first rod generally along the axial direction tips the base through a first angle so that the distal member faces a first articulated direction; and a guide tube having a plurality of guide slots, each guide slot shaped for receiving and guiding one of the plurality of rods substantially along the axial direction, and wherein the guide slots are symmetrically arranged with respect to a central axis of the guide tube.
Claim 50
Dependent Claim
39 words
A robotic surgical tool as in claim 45 , wherein advancement or retraction of a second rod generally along the axial direction tips the base through a second angle so that the distal member faces a second articulated direction.
Claim 51
Dependent Claim
20 words
A robotic surgical tool as in claims 46 , wherein the first and second rods are adjacent to each other.
Claim 52
Dependent Claim
25 words
A robotic surgical tool as in claim 45 , further comprising a plurality of linkages, each linkage connecting one of the plurality of the base.
Claim 53
Dependent Claim
23 words
A robotic surgical tool as in claim 45 , further comprising a tool base having means for advancing or retracting the first rod.
Claim 54
Dependent Claim
42 words
A robotic surgical tool as in claim 49 , wherein the tool base has a first rotational actuation member to which the first rod is attached so that rotation of the first sector rotational actuation member advances or retracts the first rod.
Claim 55
Dependent Claim
48 words
A robotic surgical tool as in claim 50 , wherein another rod is attached to the first rotational actuation member in a position diametrically opposite to the first rod so that rotation of the first rotational actuation member simultaneously advances the first rod and retracts the another rod.
Claim 56
Dependent Claim
65 words
A robotic surgical tool as in claim 49 , wherein the tool base further comprises a second rotational actuation member to which the second rod is attached so that rotation of the second rotational actuation member advances or retracts the second rod substantially along the axial direction and tips the base through a second angle so that the distal member faces a second articulated direction.
Claim 57
Dependent Claim
35 words
A robotic surgical tool as in claim 52 , wherein the tool base further comprises a roll pulley which rotates first and second rods around a central axis which is parallel to the axial direction.
Claim 58
Dependent Claim
21 words
A robotic surgical tool as in claim 49 , wherein the tool base further includes means for actuating the end effector.
Claim 59
Dependent Claim
30 words
A robotic surgical tool as in claim 54 , wherein the end effector comprises grasping jaws, DeBakey forceps, microforceps, Potts scissors, a clip applier, a scalpel or an electrocautery probe.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2007-03-02 | 2007-09-01 | 2008-03-02 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2011-03-02 | 2011-09-01 | 2012-03-02 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2015-03-02 | 2015-09-01 | 2016-03-02 | $7700.00 | Window Closed / Lapsed |