Title:
手術器具を関節駆動するための駆動配置
Document Type and Number:
Japanese Patent JP7018441
Kind Code:
B2
Abstract:
A robotic surgical instrument (300) comprising a shaft (202), a first end effector element (401), an articulation (203) connecting the first end effector element (401) to a distal end of the shaft (202), the first end effector element (401) being movable relative to the articulation (203), and a drive mechanism at a proximal end of the shaft (202). The drive mechanism comprises a first actuator (507) connected to the first end effector element (401) by a first pair of driving elements (409A, 409B). The first pair of driving elements (409A, 409B) are configured such that a tension force applied by the first actuator (507) to a first one (409A) of the first pair of driving elements causes the first end effector element (401) to move relative to the articulation (203) in a first motion direction, and the tension force applied to a second (409B) one of the first pair of driving elements causes the first end effector element (401) to move relative to the articulation (203) in a second motion direction. The first one (409A) of the first pair of driving elements has a first path between the first actuator (507) and the first end effector element (401), and the second (409B) one of the first pair of driving elements has a second path between the first actuator (507) and the first end effector element (401). The first path has a lower tension force loss than the second path such that the first motion direction transfers a greater proportion of the tension force to the first end effector element (401) than the second motion direction. A contact length of the first path which contacts internal structure of the robotic surgical instrument is less than a contact length of the second path which contacts internal structure of the robotic surgical instrument.
Inventors:
Chaplin Ben Robert
Henry Wood Ross Hamilton
Lodge Archie John Ralph
Henry Wood Ross Hamilton
Lodge Archie John Ralph
Application Number:
JP2019519987A
Publication Date:
February 10, 2022
Filing Date:
October 06, 2017
Export Citation:
Assignee:
CMR SURGICAL LIMITED
International Classes:
A61B34/30
Domestic Patent References:
| JP2014193417A |
Foreign References:
| US20100011901 | ||||
| US20150127045 |
Attorney, Agent or Firm:
Shuji Sugimoto
Takeo Tsutsumi
Yuka Kobayashi
Kenichi Nakata
Daisuke Kaneko
Hiroki Taniguchi
Takeo Tsutsumi
Yuka Kobayashi
Kenichi Nakata
Daisuke Kaneko
Hiroki Taniguchi