Bent gimbal linkage geometry

Abstract

Bent gimbal linkage geometry. A control input assembly includes a first linkage and a second linkage. A linkage housing extends from a first end portion of the second linkage to a second end portion of the second linkage. The first end portion of the second linkage is coupled to the second end portion of the second linkage via a joint shaft. An actuator is mounted within the linkage housing, and the actuator defines an actuator axis. The actuator is configured to exert a torque on the joint shaft. The actuator axis and a rotational axis of the joint shaft define an offset angle that is between about 20 degrees and 70 degrees.

Description

[0001] This application is a divisional application of Chinese patent application 2021800374188 (PCT / US2021 / 023959) entitled "Geometry of a Bending Universal Joint Link", filed on March 24, 2021.

[0002] Cross-references to related applications This application claims priority and benefit to U.S. Provisional Patent Application No. 63 / 000,247, filed March 26, 2020, entitled “Flexible Universal Joint Geometry,” the disclosure of which is incorporated herein by reference in its entirety. Technical Field

[0003] The embodiments described herein relate to control input devices, and more specifically, to a main controller that can be used by a user to guide the movement of a robot, particularly the movement of robotic surgical instruments or tools. Background Technology

[0004] Controller mechanisms, such as control input devices, allow users to control the functions of various types of mechanisms, instruments, and tools. For example, a remotely operated surgical device (“remote surgical system”) that operates with at least partial computer assistance can perform minimally invasive surgical procedures using various types of medical instruments to reduce damage to the patient’s healthy tissues. The medical instrument may be connected to a slave device, such as a slave arm that can be manipulated to perform surgery. Control of the medical instrument attached to the slave device may be provided to the operator at one or more master control devices (e.g., at a remote operator terminal or workstation) and / or using a handheld device. Actuators in the slave device may be controlled by the master control device to cause movement of the medical instrument, camera, or other end effectors at the slave device that interact with the patient’s operating site, or to initiate another function. In some examples, the master control device at the operator station may be physically manipulated by the operator in one or more degrees of freedom to control the end effector to move in coordination with the manipulation of the control device, for example, to move at the operating site in corresponding degrees of freedom.

[0005] One degree of freedom of the master control device may include the rotational degree of freedom of the master control device handle. For example, in some remote surgical systems, the master control device may include a handle attached to one or more gimbal links, which are rotated by the operator via the handle to control the corresponding movement of the end effector in three-dimensional space. Known systems use gimbal assemblies with multiple links to provide the desired degree of freedom (DOF) associated with the associated instrument and the instrument end effector. For example, when the operator moves the handle, actuators within one or more gimbal links detect a change in rotational (or translational) position and can then translate that change to initiate a corresponding positional change in the end effector. The actuators may also apply torque or force to provide the user with resistance feedback consistent with the behavior at the end effector.

[0006] Since the movement of the handle at the master control unit is used to produce a corresponding movement at the end effector, it is desirable that the movement of the handle via the universal joint assembly be smooth (i.e., free from perceptible high friction, perceptible irregularities in movement, or unwanted engagement or other unpredictable tactile sensations). Furthermore, for effective control, it is desirable that the operation of the master control unit handle be weightless to the operator (i.e., weightless). This apparent weightlessness keeps the handle stationary in space to prevent unnecessary movement or unnecessary tactile feedback to the operator. Therefore, as the operator moves each individual universal joint link in space, and as gravity exerts a varying force on each moving link, an associated varying torque must be applied to each universal joint link to compensate for the torque from gravity. However, because the operator's movement of the universal joint links is dynamic and rapid, a large gravity-compensated moment of inertia must be applied to maintain the feeling of weightlessness of the handle as the operator moves the universal joint links.

[0007] Techniques for counteracting the inertia associated with one or more universal joint links in related technologies include employing actuators or other balancing mechanisms to counteract the mass observed and felt by the operator. Furthermore, enhanced surgical equipment (e.g., with heavier or larger end effectors) may require more powerful actuators in the master control unit to ensure that the desired feedback force and torque generated in the master unit accurately mimic the force and torque present at the end effector. However, adding a more powerful motor to the universal joint assembly increases the mass of the universal joint links, which in turn increases the inertia of each link, which must be counteracted. Due to the dynamic nature of the master control unit's operation, and due to the increased weight and inertia of each universal joint link, the operator may find it difficult to fluidly move the handle from one position to the next while simultaneously dealing with the variable output of the actuators and / or balancing systems.

[0008] Therefore, there is a need for an improved gimbal assembly for the main control input device to provide the operator with fewer restrictions and more fluid input control and tactile feedback output. More specifically, there is a need for a more powerful actuator for each gimbal link to be effectively integrated into the gimbal assembly of the main control output device for remote surgical systems. Summary of the Invention

[0009] This overview introduces certain aspects of the embodiments described herein to provide a basic understanding. This overview is not a broad summary of the subject matter of the invention, and it is not intended to identify key or essential elements or to depict the scope of the subject matter of the invention.

[0010] In some embodiments, the control assembly includes an input handle, a first link, a second link, and an actuator. The input handle is rotatable about a first axis of rotation and includes a handle input shaft. The first link includes a first end portion of the first link, a second end portion of the first link opposite to the first end portion, and a connector shaft rotatable about a second axis of rotation perpendicular to the first axis of rotation and coupled to the second end portion of the first link. The first end portion of the first link is coupled to the input handle such that the handle input shaft extends within the first link. The second link includes a first end portion of the second link, a second end portion of the second link, and a second link housing. The second link housing extends from the first end portion of the second link to the second end portion of the second link. The actuator is mounted within the second link housing and configured to apply torque on the connector shaft of the first link about an actuator axis such that the actuator axis and the second axis of rotation define an offset angle greater than 0 degrees and less than 90 degrees.

[0011] In some embodiments, the offset angle is between approximately 30 degrees and 60 degrees. In some embodiments, the universal joint center point is defined at the intersection of the first rotation axis and the second rotation axis. The universal joint radius is defined by the distance between the universal joint center point and the first end portion of the second link, and at least a portion of the second link housing is curved. The radius of curvature of a portion of the second link housing is between approximately 0.5 and 1.5 times the universal joint radius. In some embodiments, the universal joint center point is defined at the intersection of the first rotation axis and the second rotation axis. The universal joint radius is defined by the distance between the universal joint center point and the first end portion of the second link. The universal joint envelope is defined as a spherical volume about the universal joint center point and characterized by the universal joint radius, and the second link housing includes a curved portion within the universal joint envelope. In some embodiments, the universal joint center point is defined at the intersection of the first rotation axis and the second rotation axis. The universal joint radius is defined by the distance between the universal joint center point and the first end portion of the second link. The second link housing defines an offset universal joint surface that extends at least partially along the actuator axis, and the offset universal joint surface intersects an arc defined by the universal joint radius.

[0012] In some embodiments, the actuator is a motor, and the motor includes a motor shaft extending along the actuator axis and operatively coupled to the connector shaft. In some embodiments, the control input assembly includes an actuator drive mechanism mounted within a second linkage housing. The actuator drive mechanism includes one or more gears, and the motor shaft is operatively coupled to the connector shaft via one or more gears of the actuator drive mechanism. In some embodiments, one or more gears of the actuator drive mechanism include bevel gears and spur gears, and the bevel gears and spur gears are mounted to a gear shaft.

[0013] In some embodiments, the universal joint center point is defined at the intersection of the first rotation axis and the second rotation axis. The universal joint radius is defined by the distance between the universal joint center point and the first end portion of the second link. The actuator is a first actuator, the actuator axis is a first actuator axis, the connector shaft is a first connector shaft, and the offset angle is a first offset angle. The second link includes a second connector shaft rotatable about a third rotation axis and coupled to the second end portion of the second link. The control input assembly also includes a third link and a second actuator. The third link includes a first end portion of the third link coupled to the second end portion of the second link via the second connector shaft, a second end portion of the third link opposite to the first end portion, and a third link housing extending from the first end portion to the second end portion. The second actuator is mounted within the third link housing and is coupled to apply torque on the second connector shaft of the second link about the second actuator axis, such that the third rotation axis of the second actuator axis and the second connector shaft defines a second offset angle greater than 0 degrees and less than 90 degrees.

[0014] In some embodiments, the universal joint radius is a first universal joint radius and the second universal joint radius is defined by the distance between the center point of the universal joint and the first end portion of the third link. The second link housing includes a bent portion with a radius of curvature between about 0.5 and 1.5 times the radius of curvature of the first universal joint. The second link includes a bent portion with a radius of curvature between about 0.5 and 1.5 times the radius of curvature of the second universal joint.

[0015] In some embodiments, the control input assembly includes an input handle, a first link, a second link, and an actuator. The input handle includes a handle input shaft rotatable about a first axis of rotation. The first link includes a first end portion of the first link, a second end portion of the first link opposite to the first end portion, and a connector shaft. The first end portion of the first link is coupled to the input handle such that the handle input shaft extends within the first link. The second end portion of the first link is coupled to the connector shaft. The connector shaft defines a second axis of rotation, and the second axis of rotation is perpendicular to the first axis of rotation. The intersection of the first and second axes of rotation defines a universal joint center point. The second link includes a first end portion, a second end portion, and an intermediate portion between the first and second end portions. The first end portion of the second link is coupled to the second end portion of the first link via the connector shaft. The universal joint radius is defined between the universal joint center point and the first end portion of the second link. The universal joint envelope is defined as a spherical volume about the universal joint center point, characterized in that the universal joint radius and the intermediate portion are curved and entirely within the universal joint envelope. The actuator is mounted in the second link and is operatively coupled to apply torque on the joint shaft of the first link.

[0016] In some embodiments, the actuator is an electric motor, and the electric motor includes a motor shaft operatively coupled to a connector shaft of the first link. In some embodiments, the control input assembly further includes an actuator drive mechanism mounted within a second link housing. The actuator drive mechanism includes one or more gears, and the motor shaft is operatively coupled to the connector shaft of the first link via one or more gears of the actuator drive mechanism. In some embodiments, the one or more gears include a drive gear and a driven gear. The drive gear includes a first number of gear teeth. The driven gear includes a second number of gear teeth, and the second number of gear teeth is greater than the first number of gear teeth. In some embodiments, the gear ratio between the driven gear and the drive gear is between about 5:1 and 7:1. In some embodiments, the actuator drive mechanism includes a drive shaft. The one or more gears include a first bevel gear, a second bevel gear, a spur gear, and an output gear. The motor shaft includes an end portion, and the first bevel gear is mounted to the end portion of the motor shaft. The first bevel gear is coupled to drive the second bevel gear. The second bevel gear and the spur gear are coupled to the drive shaft such that the second bevel gear, the spur gear, and the drive shaft rotate at a common rotational speed. The spur gear is connected to drive the output gear, which is connected to the connector shaft, so that the spur gear drives the rotation of the connector shaft.

[0017] In some embodiments, the actuator drive mechanism includes a drive shaft. The motor shaft of the electric motor is rotatable about the actuator axis. The drive shaft is rotatable about the drive axis. The drive axis and the actuator axis define an offset angle between approximately 30 degrees and 60 degrees. In some embodiments, the radius of curvature of the middle portion of the second link is approximately 0.75 to 1.25 times the radius of the universal joint.

[0018] In some embodiments, the control input assembly includes an input handle, a first link, a second link, a third link, a first actuator, and a second actuator. The input handle includes a handle input shaft rotatable about a first axis of rotation. The first link includes a first end portion, a second end portion, and a first connector shaft rotatable about a second axis of rotation perpendicular to the first axis of rotation. The first end portion of the first link is coupled to the input handle such that the handle input shaft extends within the first link. The second end portion of the first link is coupled to the first connector shaft. The second link includes a first end portion, a second end portion opposite to the first end portion, a second connector shaft, and a middle portion extending between the first and second end portions. The first end portion of the second link is coupled to the second end portion via the first connector shaft. The middle portion extends in a first direction. The first direction includes a component parallel to the first axis of rotation and a component parallel to the second axis of rotation. The first actuator is coupled to the second link and operably coupled to apply torque on the first connector shaft of the first link. At least a portion of the first actuator extends within the intermediate portion of the second link. The third link includes a first end portion, an intermediate portion, and a second end portion. The intermediate portion extends between the first and second end portions. The first end portion is connected to the second end portion via a second joint shaft. The intermediate portion extends in a second direction, including a component parallel to a second axis of rotation and a component parallel to a third axis of rotation. The second actuator is coupled to and operably coupled to apply torque on the second joint shaft of the second link. At least a portion of the second actuator extends within the intermediate portion of the third link.

[0019] In some embodiments, a first actuator is driven to rotate about a first actuator axis, and a second actuator is driven to rotate about a second actuator axis. The first actuator axis and the second rotation axis define a first offset angle greater than 0 degrees and less than 90 degrees. The second actuator axis and the third rotation axis define a second offset angle greater than 0 degrees and less than 90 degrees. In some embodiments, the first offset angle is between approximately 25 degrees and 65 degrees, and the second offset angle is between approximately 15 degrees and 75 degrees.

[0020] In some embodiments, the control input assembly includes a universal joint link, a transmission housing, a gear shaft, an output gear, an actuator, an input gear, and a connector shaft. The universal joint link includes a first end portion and a second end portion, and the transmission housing is mounted to the first end portion of the universal joint link. The universal joint shaft is rotatably supported by the first end portion of the universal joint link. The transmission housing includes a gear shaft support portion and an actuator support portion. The gear shaft is rotatably supported by the gear shaft support portion of the transmission housing to rotate about a gear axis. The output gear is mounted on the gear shaft. The actuator includes a motor, a motor body, and a motor shaft rotatable about an actuator axis. At least a portion of the motor body is mounted to the actuator support portion of the transmission housing. The input gear is mounted on the motor shaft and meshes with the output gear to transmit torque to the connector shaft. The gear axis and the actuator axis define an offset angle greater than 0 degrees and less than 90 degrees.

[0021] In some embodiments, the offset angle is between approximately 45 degrees and 85 degrees. In some embodiments, the input gear includes a first number of gear teeth, and the output gear includes a second number of gear teeth, wherein the second number of gear teeth is greater than the first number of gear teeth. In some embodiments, the gear ratio of the output gear to the input gear is between approximately 5:1 and 7:1. In some embodiments, the transmission ratio of the output gear to the input gear is approximately 6.9:1.

[0022] In some embodiments, the control input assembly includes a first universal joint link, a second universal joint link, and a motor. The first universal joint link includes a distal end portion. The second universal joint link includes a proximal end portion coupled to the distal end portion of the first universal joint link for rotation about a universal joint link rotation axis relative to the first universal joint link. The motor is mounted on one of the first or second universal joint links. The motor includes a motor shaft coupled to drive the second universal joint link about a universal joint link rotation axis. The motor shaft rotates about a motor shaft rotation axis at an acute angle relative to the universal joint link rotation axis. In some embodiments, the first universal joint link includes a bent portion, and the motor is mounted within the bent portion of the first universal joint link. The first universal joint link includes a proximal end portion, and the bent portion of the first universal joint link extends between the proximal and distal end portions of the first universal joint link.

[0023] In some embodiments, the second universal joint link includes a bent portion, and a motor is mounted within the bent portion of the second universal joint link. The second universal joint link includes a distal end portion, and the bent portion of the second universal joint link extends between the proximal and distal end portions of the second universal joint link. In some embodiments, a control input component includes an operator handle coupled to the second universal joint link. In some embodiments, the control input component is embodied in a control unit of a remote surgical system.

[0024] Other control input devices, related components, medical device systems, and / or methods according to the embodiments will become apparent to those skilled in the art upon review of the following drawings and detailed description. All such additional control input devices, related components, medical device systems, and / or methods included in this specification are within the scope of this disclosure. Attached Figure Description

[0025] Figure 1 This is a floor plan of a minimally invasive remote-controlled medical system according to one embodiment, which is used to perform medical procedures such as surgical procedures.

[0026] Figure 2 yes Figure 1 A perspective view of the user console of the minimally invasive remote-controlled surgical system shown.

[0027] Figure 3 yes Figure 1 A perspective view of the auxiliary unit of the minimally invasive remote-controlled surgical system shown.

[0028] Figure 4 yes Figure 1 The front view of the manipulator unit of the minimally invasive remote-controlled surgical system shown includes multiple instruments.

[0029] Figure 5 This is a schematic diagram of an input control device according to one embodiment.

[0030] Figure 6 This is a schematic diagram of an input control device according to one embodiment.

[0031] Figure 7 This is a front perspective view of an input control device according to one embodiment.

[0032] Figure 8 yes Figure 7 Front view of the input control device.

[0033] Figure 9 yes Figure 7 The front view of the input control device, in which the handle and the first linkage are hidden.

[0034] Figure 10 yes Figure 7 The rear perspective view of the input control device in the first orientation.

[0035] Figure 11 yes Figure 7 The input control device is viewed from the rear perspective in the second orientation.

[0036] Figure 12 yes Figure 11Rear perspective view of the input control device, with the housing cover hidden.

[0037] Figure 13 yes Figure 7 A side view of the universal joint linkage of the input control device.

[0038] Figure 14 yes Figure 13 The exploded view of the universal joint link is shown.

[0039] Figure 15 yes Figure 13 A top view of a portion of the universal joint linkage shown.

[0040] Figure 16 yes Figure 14 The top view of the housing of the universal joint linkage transmission mechanism shown.

[0041] Figure 17 yes Figure 13 A perspective view of the actuator and transmission mechanism of the universal joint linkage shown. Detailed Implementation

[0042] The embodiments described herein can be advantageously used in a variety of remote surgical systems and allow users to control the functions of various types of mechanisms, instruments and tools.

[0043] As used herein, the term “about” when used with a reference number indicates that the reference number is plus or minus 10% of that reference number. For example, the language “about 50” covers the range of 45 to 55. Similarly, the language “about 5” covers the range of 4.5 to 5.5.

[0044] As used in this specification and the appended claims, the term "distal" refers to the direction toward the work site, and the term "proximal" refers to a position away from the work site. Thus, for example, the end of the tool closest to the target tissue would be the distal end of the tool, while the end opposite the distal end (i.e., the end manipulated by the user or connected to the actuation shaft) would be the proximal end of the tool.

[0045] Furthermore, the specific words chosen to describe one or more embodiments and optional elements or features are not intended to limit the invention. For example, spatial relative terms—such as “beneath,” “below,” “lower,” “above,” “upper,” “proximal,” “distal,” etc.—are used to describe the relationship of one element or feature to another element or feature, as illustrated in the figures. In addition to the positions and orientations shown in the figures, these spatial relative terms are intended to cover different positions (i.e., translational positions) and orientations (i.e., rotational positions) of the device in use or operation. For example, if the device in the figures is flipped, it is described that an element “below” or “beneath” other elements or features will be “above” or “on” other elements or features. Thus, the term “below” can cover both above and below positions and orientations. The device may be oriented in other ways (e.g., rotated 90 degrees or otherwise), and the spatial relative descriptors used herein are interpreted accordingly. Similarly, descriptions of movement along (translation) and about (rotation) various axes include various spatial device positions and orientations. The combination of body position and orientation defines body posture.

[0046] Similarly, geometric terms, such as “parallel,” “perpendicular,” “circular,” or “square,” do not require absolute mathematical precision unless the context otherwise specifies. Instead, such geometric terms allow for variation due to manufacturing or equivalent function. For example, if a component is described as “circular” or “approximately circular,” this description still covers a part that is not exactly circular (e.g., a part that is slightly elliptical or polygonal).

[0047] Furthermore, the singular forms “a / an” and “the” also include the plural forms, unless the context otherwise requires. The terms “comprise,” “include,” “having,” etc., specify the presence of the stated feature, step, operation, element, component, etc., but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, or groups.

[0048] Unless otherwise stated, the terms device, medical equipment, instrument and its variants are used interchangeably.

[0049] Various aspects of the present invention are mainly based on the use da Vinci The implementation of the® surgical system is described, which is commercialized by Intuitive Surgical, Inc., Sunnyvale, California. Examples of such surgical systems include... da Vinci Xi ® Surgical System (IS4000 model) da Vinci X ® Surgical System (IS4200 model) and da Vinci Si ® Surgical system. However, those skilled in the art will understand that the inventive aspects disclosed herein can be embodied and implemented in various ways, including computer-aided, non-computer-aided, and mixed combinations of manual and computer-aided embodiments and implementations. da Vinci The embodiments on the® surgical systems (e.g., IS4000, IS3000, IS2000, and IS1200) are presented by way of example only and should not be considered as limiting the scope of the inventive aspects disclosed herein. Where applicable, aspects of the invention can be embodied and implemented in relatively small, handheld, manually operated devices and relatively large systems with additional mechanical support.

[0050] Figure 1 This is a plan view of a computer-aided remote control system. The diagram shows a medical device, a minimally invasive robotic surgical (MIRS) system 500 (also referred to herein as a minimally invasive remote-controlled surgical system), for performing minimally invasive diagnostic or surgical procedures on a patient P lying on an operating table 505. The system may have any number of components, such as a user control unit 900 for use by a surgeon or other skilled clinician S during the procedure. The MIRS system 500 may also include a manipulator unit 530 (which may be referred to as a surgical robot) and optional assistive device units 520. The manipulator unit 530 may include an arm assembly 540 and a tool assembly removably coupled to the arm assembly 540. While the surgeon S views the surgical site and controls the movement of instruments 550 via the user control unit 900, the manipulator unit 530 can manipulate at least one removably coupled instrument 550 (also referred to herein as a "tool") through a minimally invasive incision in the patient P's body or natural orifice. Images of the surgical site are obtained by an endoscope (not shown), such as a stereoscopic endoscope, which can be manipulated by the manipulator unit 530 to orient the endoscope. The auxiliary equipment unit 520 can be used to process images of the surgical site for subsequent display to the surgeon S via the user control unit 900. The number of instruments 550 used at one time generally depends on factors such as the diagnostic or surgical procedure and space constraints within the operating room. If one or more instruments 550 in use need to be replaced during the procedure, an assistant removes the instrument 550 from the manipulator unit 530 and replaces it with another instrument 550 on the tray 510 in the operating room. Although shown for use with instruments 550, any instrument described herein can be used with the MIRS 500. For example, instruments 550 can be, but are not limited to, clamps, grippers, scissors, scalpels, blades, sutures, hooks, suction irrigation tools, applicators, needle clips, electrocautery equipment, etc.

[0051] Figure 2This is a perspective view of the user control unit 900. The user control unit 900 includes a viewer with a left-eye display 912 and a right-eye display 914, for presenting a coordinated stereoscopic view of the surgical site to the surgeon S, enabling depth perception. The user control unit 900 also includes one or more input control devices 1000 (also referred to as a main controller), which in turn enables the manipulator unit 530 ( Figure 1 (As shown) the user control device 1000 manipulates one or more tools. The input control device 1000 provides at least the same degrees of freedom as the associated instruments 550 to provide the surgeon S with a sense of presence, or a feeling of integration (or direct connection) between the input control device 1000 and the instruments 550. For example, each input control device 1000 includes a handle 1120 that can be gripped and repositioned by the surgeon S. The handle 1120 is attached to a first universal joint link 1040, a second universal joint link 1060, and a third universal joint link 1080. The handle 1120 is rotatably mounted about axis A1 to the first universal joint link 1040, the first universal joint link 1040 is rotatably mounted about axis A2 to the second universal joint link 1060, and the third universal joint link 1080 is rotatably mounted on the base 1130 of the user control unit 900. In this way, the user control unit 900 provides the surgeon S with a strong feeling of direct control over the instruments 550. The handle 1120 and / or one or more universal joint links 1040, 1060, 1080 include sensors and / or actuators (not shown) to detect changes in the position and orientation of the handle 1120 in three-dimensional space, which in turn are used to move the instrument 550 in use in a corresponding manner.

[0052] In some embodiments, the handle 1120 further includes one or more buttons (not shown) for controlling the functions of the instrument 550, such as gripping or cutting functions. For this purpose, position, force, and tactile feedback sensors (not shown) can be used to provide position, force, and tactile feedback from the instrument 550 back to the surgeon's hand via the input control device 1000. In some embodiments, the user control unit 900 includes one or more foot pedal controls 920 located below the input control device 1000. When the surgeon S is seated behind the user control unit 900, the foot pedal controls 920 can be pressed, slid, and / or otherwise manipulated by the user's foot to input various commands to the remote control system.

[0053] User control equipment 900 Figure 1 The diagram illustrates the surgeon S being in the same room as the patient P, allowing the surgeon S to directly monitor the surgical procedure, be physically present if necessary, and speak directly with assistants, rather than via telephone or other communication media. In some embodiments, the user control unit 900 and the surgeon S may be located in a different room, a completely different building, or other location remote from the patient, thereby enabling remote surgery.

[0054] Figure 3 This is a perspective view of the auxiliary device unit 520. The auxiliary device unit 520 may be coupled to an endoscope (not shown) and may include one or more processors to process captured images for subsequent display, such as via a user control unit 900, or on another suitable display located locally and / or remotely. For example, in the case of using a stereoscopic endoscope, the auxiliary device unit 520 may process the captured images to present a coordinated stereoscopic image of the surgical site to the surgeon S via a left-eye display 912 and a right-eye display 914. Such coordination may include alignment between relative images and may include adjusting the stereoscopic working distance of the stereoscopic endoscope. As another example, image processing may include compensating for imaging errors, such as optical aberrations, of the image capture device using previously determined camera calibration parameters.

[0055] Figure 4 A front perspective view of the manipulator unit 530 is shown. The manipulator unit 530 includes components (e.g., arms, links, motors, sensors, etc.) for manipulating the instrument 550 and imaging device (not shown). For example, the imaging device is a stereoscopic endoscope used to capture images of the surgical site. Specifically, the instrument 550 and imaging device can be manipulated by a remote control mechanism with multiple connectors. Furthermore, the instrument 550 and imaging device are positioned and manipulated through an incision or natural orifice within the patient P in such a way that the software and / or kinematic remote motion center is maintained at the incision or orifice. In this way, the incision size can be minimized.

[0056] Figure 5This is a schematic diagram of an input control device 2000 according to an embodiment. The input control device 2000 includes an input handle 2120, a first link 2040 (serving as a first universal joint link), a second link 2060 (serving as a second universal joint link), and a base portion 2130. The input handle 2120 includes a handle portion 2121, a first handle input end 2122, a second handle input end 2123, and a handle input shaft 2124. The handle input shaft 2124 defines a first axis of rotation A1 (which may serve as a rolling axis; the term "rolling" is arbitrary) and is rotatably coupled to the first link 2040. The handle portion 2121 is supported on the handle input shaft 2124 and is configured to rotate relative to the first link 2040 about the first axis of rotation A1. In some embodiments, the input shaft 2124 extends at least partially within the first link 2040. The first handle input 2122 and the second handle input 2123 can be manipulated to produce a desired action at an end effector (not shown). For example, in some embodiments, the first handle input 2122 and the second handle input 2123 may be pressed together to produce a gripping movement at the end effector. However, in other embodiments, the input handle 2120 does not need to include a handle input.

[0057] The first link 2040 includes a first end portion 2041, a second end portion 2042, and a first connector shaft 2045. The second link 2060 includes a first end portion 2061, a second end portion 2062, and a second connector shaft 2065. The second end portion 2042 of the first link 2040 is rotatably connected to the first end portion 2061 of the second link 2060 via the first connector shaft 2045. Similarly, the second end portion 2042 of the first link 2040 is connected to the first end portion 2061 of the second link 2060 such that the first connector shaft 2045 extends within the second link 2060. The first connector shaft 2045 defines a second axis of rotation A2 (which may be used as a yaw axis; the term "yaw" is arbitrary). In some embodiments, the second axis of rotation A2 is perpendicular to the first axis of rotation A1. In some embodiments, the distance from the universal joint center GC to the first end portion 2061 of the second link 2060 defines the universal joint radius R. G .

[0058] The second link 2060 also includes a link housing 2063 extending between the first end portion 2061 and the second end portion 2062. The second link 2060 is rotatably coupled to the base portion 2130 via a second connector shaft 2065. Similarly, the second link 2060 is coupled to the base portion 2130 such that the second connector shaft 2065 extends within the base portion 2130. The second connector shaft 2065 defines a third axis of rotation A3 (which can be used as a pitch axis; the term "pitch" is arbitrary). In some embodiments, the third axis of rotation A3 is perpendicular to the second axis of rotation A2. In some embodiments, as... Figure 5 As shown, the first rotation axis A1 and the third rotation axis A3 are collinearly oriented; however, those skilled in the art will understand that when the first link 2040 moves from... Figure 5 When the initial position (also known as the initial posture) shown rotates about the second rotation axis A2, the first rotation axis A1 and the third rotation axis A3 can be positioned to intersect each other.

[0059] In some embodiments, the input control device 2000 includes an actuator 2150 mounted in a second link 2060 within a link housing 2063. The actuator 2150 defines an actuator axis A. M Actuator 2150 is configured to apply torque to or receive torque from first connector shaft 2045. In some embodiments, actuator 2150 is motor 2151 including motor shaft 2152. As shown, motor shaft 2152 is operatively coupled to first connector shaft 2045 via drive gear 2154 and driven gear 2155. Drive gear 2154 is fixed to motor shaft 2152 and configured to rotate with motor shaft 2152. Driven gear 2155 is configured to mesh with and be driven by drive gear 2154. In some embodiments, drive gear 2154 includes a first number of teeth, driven gear 2155 includes a second number of teeth, and the second number of teeth is greater than the first number of teeth. In some embodiments, the gear ratio of driven gear 2155 to drive gear 2154 is approximately 5:1 to approximately 7:1. In some embodiments, drive gear 2154 is a spur gear or a bevel gear. In some embodiments, driven gear 2155 is a bevel gear. Although a direct-drive gear is shown, it should be understood that pulley and belt systems, gear and chain systems, or other transmission systems may be used.

[0060] In some embodiments, the motor shaft 2152 is along the actuator axis A M Further. In some embodiments, one or more encoders or sensors are provided to detect the rotational position of the motor shaft 2152 and / or the first connector shaft 2045. As shown, actuator axis A MThe second rotation axis A2 defines an offset angle θ of less than 90 degrees. In some embodiments, the offset angle θ is less than about 60 degrees. In some embodiments, the offset angle θ is between about 20 degrees and 70 degrees. In some embodiments, the offset angle θ is between about 25 degrees and 65 degrees. In some embodiments, the offset angle θ is between about 30 degrees and 60 degrees.

[0061] In use, a user (such as a surgeon S) can manipulate the input control device 2000 to control surgical instruments (such as instrument 550 as described herein). When the surgeon S grasps and repositions the handle portion 2121 about one or more of the first rotation axis A1, the second rotation axis A2, and / or the third rotation axis A3, the corresponding instrument or tool connected to the user control unit (such as the user control unit 900 described herein) and controlled by the input control device 2000 can be repositioned accordingly. For example, if the selected tool is a gripper including a vertically oriented tool shaft and an end effector, clockwise rotation of the handle portion 2121 about the second rotation axis A2 can cause the end effector to rotate clockwise about the longitudinal axis of the tool shaft.

[0062] like Figure 5 As shown, gravity F g The force acts downwards as shown in the diagram. It should be understood that when the second link 2060 rotates relative to the third rotation axis A3, gravity F... g This will act on the handle portion 2121, and cause the first link 2040 to rotate, for example, about the second rotation axis A2. In other words, when the second link 2060 moves out... Figure 5 At the initial position shown (e.g., rest position), the gravitational force F g The force will act on one or more of the input handle 2120, the first link 2040, and the second link 2060. In some embodiments, the actuator 2150 can be operated to output torque to the first connector shaft 2045 to counteract the force of gravity F. g Torque is applied to the handle portion 2121. Thus, once the surgeon S has moved the handle portion 2121 to a specific position and orientation, the actuator 2150 can be operated to output torque to the first connector shaft 2045 to counteract the force of gravity F. gThe torque applied to the handle portion 2121 operates the actuator 2150 to hold the input control device 2000 in the final position and orientation placed by the surgeon S. Tools or instruments at the patient's surgical site (such as the instrument 500 described herein) can also be held in the corresponding position and orientation until the surgeon S provides new input. By counteracting the force of gravity acting on the input control device 2000, a more natural and less restrictive way of controlling the instrument 500 is provided to the surgeon S. Therefore, the input control device described herein is operable to provide the surgeon S with a more fluid and weightless experience by isolating the forces acting on the input control device 2000 (if unassisted). In doing so, the input control device described herein is able to provide improved fine motor control of the instrument 500 and / or reduce fatigue experienced by the surgeon S during surgery. In some embodiments, the actuator 2150 is operable to output torque to resist movement input by the surgeon S to simulate conditions observed at the instrument. For example, if an instrument at a patient's surgical site is controlled by surgeon S to move from an open space to contact target tissue, actuator 2150 can generate torque to simulate the contact and resistance observed by the instrument when it contacts and / or is pressed into the target tissue. In other words, actuator 2150 is configured to provide feedback to surgeon S via input control device 2000 based on inputs or conditions observed by the instrument.

[0063] To further improve the dynamic characteristics of the main controller, the mass and moment of inertia (I = m·r) at the input control device are considered. 2 The reduction in mass and moment of inertia minimizes the external forces that need to be counteracted, thereby reducing the strain or output requirements of actuator 2150. Additionally or alternatively, the reduction in mass and moment of inertia allows for the use of smaller actuators, further reducing the overall mass of the input control device. For example, in conventional input control devices with a universal joint link, the universal joint link typically includes an L-shaped housing such that the components housed therein (e.g., actuators) are substantially spaced from the center of the universal joint. As contemplated in this disclosure, the reduction in mass and moment of inertia can be achieved by moving the center of mass of the universal joint link and the components housed therein (e.g., actuator 2150) toward the center of the universal joint GC. As shown, the second link 2060 includes a single bevel leg (e.g., a hypotenuse) to reduce the overall length and mass associated with the universal joint link. The position of the bevel link further increases the moment of inertia by moving the center of gravity closer to the center of the universal joint and the axis of rotation of the second link 2060 about it. Furthermore, components that would otherwise be housed in one leg of an L-shaped leg can be housed in an inclined leg, thereby further increasing the moment of inertia.

[0064] In some embodiments, the link housing 2063 of the second link 2060 extends at an angle relative to the second rotation axis A2 and the rotation axis A3. In some embodiments, the link housing 2063 extends along the actuator axis A. M Parallel extension. In some embodiments, the connecting rod housing 2063 extends at an angle between approximately 20 degrees and 70 degrees relative to the second axis of rotation A2. In some embodiments, at least a portion of the connecting rod housing 2063 is spaced apart from the universal joint center GC by a distance within the universal joint radius R. G Between 0.75 and 1.25 times. For example, such as Figure 5 As shown, the distance D is approximately equal to the gimbal radius R. G 1.25 times. At least a portion of the connecting rod housing 2063 is spaced at the universal joint radius R. G Within a distance between 0.75 and 1.25 times. In some embodiments, the connecting rod housing 2063 includes a distance along the actuator axis A. M The extended offset universal joint surface, and the offset universal joint surface is related to the universal joint radius R. G The arcs intersect within the specified range.

[0065] In some embodiments, the linkage of the input control device may include a bent portion. For example, Figure 6 This is a schematic diagram of an input control device 3000 according to an embodiment. The input control device 3000 includes an input handle 3120, a first link 3040, a second link 3060, a third link 3080, and a base portion 3130. The input handle 3120 includes a handle portion 3121, a first handle input end 3122, a second handle input end 3123, and a handle input shaft 3124. The handle input shaft 3124 defines a first axis of rotation A1 (which can be used as a rolling axis; the term "rolling" is arbitrary) and is rotatably coupled to the first link 3040. The handle portion 3121 is supported on the handle input shaft 3124 and is configured to rotate about the first axis of rotation A1 relative to the first link 3040. In some embodiments, the input shaft 3124 extends at least partially within the first link 3040. The first handle input end 3122 and the second handle input end 3123 are operable to produce a desired action at an end effector (not shown). For example, in some embodiments, the first handle input 3122 and the second handle input 3123 may be pressed together to generate a gripping movement at the end effector. However, in other embodiments, the input handle 3120 does not need to include a handle input.

[0066] The first link 3040 includes a first end portion 3041, a second end portion 3042, and a first connector shaft 3045. The second link 3060 includes a first end portion 3061, a second end portion 3062, and a second connector shaft 3065. The third link 3080 includes a first end portion 3081, a second end portion 3082, and a third connector shaft 3085. The second end portion 3042 of the first link 3040 is rotatably connected to the first end portion 3061 of the second link 3060 via the first connector shaft 3045. Similarly, the second end portion 3042 of the first link 3040 is connected to the first end portion 3061 of the second link 3060 such that the first connector shaft extends within the second link 3060. The first connector shaft 3045 defines a second axis of rotation A2 (which can be used as a yaw axis; the term "yaw" is arbitrary). The second axis of rotation A2 is perpendicular to the first axis of rotation A1. The intersection of the first rotation axis A1 and the second rotation axis A2 defines the universal joint center GC. In some embodiments, the distance from the universal joint center GC to the first end portion 3061 of the second link 3060 defines the first universal joint radius R. G1 .

[0067] The second link 3060 also includes a second link housing 3063 extending between a first end portion 3061 and a second end portion 3062. The second end portion 3062 of the second link 3060 is rotatably connected to the first end portion 3081 of the third link 3080 via a second connector shaft 3065. Similarly, the second link 3060 is connected to the third link 3080 such that the second connector shaft 3065 extends within the third link 3080. The second connector shaft 3065 defines a third rotation axis A3 (which can be used as a pitch axis; the term "pitch" is arbitrary), and the third rotation axis A3 is perpendicular to the second rotation axis A2. In some embodiments, such as Figure 6 As shown, the first rotation axis A1 and the third rotation axis A3 are collinearly oriented. However, those skilled in the art will understand that, for example, when the first link 3040 moves from... Figure 6 When the initial position shown is rotated about the second rotation axis A2, the first rotation axis A1 and the third rotation axis A3 can be positioned to intersect each other.

[0068] The third link 3080 also includes a third link housing 3083 extending between a first end portion 3081 and a second end portion 3082. The second end portion 3082 of the third link 3080 is rotatably coupled to a base portion 3130 via a third joint shaft 3085. Similarly, the third link 3080 is coupled to the base portion 3130 such that the third joint shaft 3085 extends within the base portion 3130. The third joint shaft 3085 defines a fourth rotation axis A4. The fourth rotation axis A4 is perpendicular to the third rotation axis A3. In some embodiments, the distance from the universal joint center GC to the first end portion 3081 of the third link 3080 defines a second universal joint radius R. G2 .

[0069] In some embodiments, such as Figure 6 As shown, the second rotation axis A2 and the fourth rotation axis A4 are collinearly oriented; however, those skilled in the art will understand that, for example, when the second link 3060 moves from... Figure 6 When the initial position shown is rotated about the third rotation axis A3, the second rotation axis A2 and the fourth rotation axis A4 can be positioned so that they intersect each other.

[0070] In some embodiments, the input control device 3000 includes a first actuator 3150 mounted in a second link 3060 within a second link housing 3063. The first actuator 3150 is configured to apply torque on or receive torque from a first connector shaft 3045. In some embodiments, the first actuator 3150 is a motor 3151 (e.g., an electric motor) including a motor shaft 3152. The motor shaft 3152 is operatively coupled to the first connector shaft 3045. The input control device 3000 includes a first actuator drive mechanism 3153 mounted within the second link 3060. As shown, the first actuator drive mechanism 3153 is coupled to a first end portion 3061 of the second link 3060. In some embodiments, the first actuator drive mechanism 3153 includes a drive member and a driven member (not shown). In some embodiments, the drive member is fixed to the motor shaft 3152 and configured to rotate with the motor shaft 3152. The driven member can be configured to engage with and be driven by the driving member, which in turn drives the first joint shaft 3045.

[0071] In some embodiments, the input control device 3000 includes a second actuator 3160. The second actuator 3160 is mounted in a third link 3080 within a third link housing 3083. The second actuator 3160 is configured to apply torque on or receive torque from a second joint shaft 3065. In some embodiments, the second actuator 3160 is a motor 3161 including a motor shaft 3162. The motor shaft 3162 is operatively coupled to the second joint shaft 3065. The input control device 3000 includes a second actuator transmission mechanism 3163 mounted within the third link 3080. As shown, the second actuator transmission mechanism 3163 is coupled to a first end portion 3081 of the third link 3080. In some embodiments, the second actuator transmission mechanism 3163 includes a drive member and a driven member (not shown). In some embodiments, the drive member is fixed to the motor shaft 3162 and configured to rotate with the motor shaft 3162. The driven member can be configured to engage with and be driven by the driving member, which in turn drives the second joint shaft 3065.

[0072] like Figure 6 As shown, if gravity F g The downward force in the diagram should be understood as follows: when the second link 3060 rotates relative to the third rotation axis A3, the gravitational force F... g This will act on the handle portion 3121, causing the first link 3040 to rotate about the second rotation axis A2. In other words, when the second link 3060 moves out... Figure 6 At the initial position shown (e.g., rest position), the gravitational force F g The force will act on one or more of the input handle 3120, the first link 3040, the second link 3060, and the third link 3080. Similar to the actuator 2150 described above, the first actuator 3150 and / or the second actuator 3160 can be operated to output torque to counteract the gravitational force F applied to one or more of the first link 3040, the second link 3060, and the input handle 3120. g For example, if the second link 3060 rotates away from its rest position, the actuator 3160 can be operated to output torque to the second connector shaft 3065 to counteract the force of gravity F. gTorque is applied to the first link 3040, the second link 3060, and the input handle 3120. Thus, once the surgeon S has moved the handle portion 3121 to a specific position and orientation, the actuator 3150 can be operated to hold the input control device 3000 in the final position and orientation placed by the surgeon S. Tools or instruments at the patient's surgical site (such as the instrument 500 described herein) can also be held in the corresponding position and orientation until the surgeon S provides new input. By counteracting the force of gravity acting on the input control device 3000, a more natural and less restrictive way of controlling the instrument 500 is provided to the surgeon S. Therefore, the input control device described herein is operable to provide a more fluid and weightless experience to the surgeon S by isolating the forces acting on the input control device 3000 (if unassisted). In doing so, the input control device described herein is able to provide improved fine motor control of the instrument 500 and / or reduce fatigue experienced by the surgeon S during surgery. In some embodiments, the first actuator 3150 and / or the second actuator 3160 may be operated to output torque to resist movement of the surgeon's input S, to simulate the condition observed at the tool and to provide feedback to the surgeon.

[0073] As described in this article, the dynamic performance of the main controller can be improved by reducing the overall weight and moment of inertia of the input control devices. Figure 6 As shown, the second connecting rod housing 3063 is curved and extends between the first end portion 3061 and the second end portion 3062. In some embodiments, the radius of curvature of the second connecting rod housing 3063 is the same as that of the first universal joint radius R. G1 The radius of curvature is approximately 0.5 to 1.5 times that of the first universal joint radius R. In some embodiments, the radius of curvature of the second link housing 3063 is approximately 0.5 to 1.5 times that of the first universal joint radius R. G1 It is approximately 0.75 to 1.25 times. For example, such as Figure 6 As shown, the distance D1 is approximately equal to the diameter R of the first universal joint. G1 1.25 times. Similarly, the curvature of the second link housing 3063 need not follow a circular curvature. Instead, the curved portion may include a mixed curve defined by variable or multiple radii of curvature. In some embodiments, the first universal joint envelope is defined as a spherical volume centered on the universal joint center GC and characterized by a first envelope radius. In some embodiments, the first envelope radius is defined as the first universal joint radius R. G1 It is between approximately 0.75 and 1.25 times that of the first universal joint. The middle portion of the second connecting rod housing 3063 extends into the envelope of the first universal joint.

[0074] As shown in the figure, the third link housing 3083 is curved and extends between the first end portion 3081 and the second end portion 3082. In some embodiments, the radius of curvature of the third link housing 3083 is the same as the radius R of the second universal joint.G2 The radius of curvature is approximately 0.5 to 1.5 times that of the second universal joint radius R. In some embodiments, the radius of curvature of the third link housing 3083 is approximately 0.5 to 1.5 times that of the second universal joint radius R. G2 It is approximately 0.75 to 1.25 times. For example, such as Figure 6 As shown, the distance D2 is approximately equal to the gimbal radius R. G2 1.25 times. Similarly, the curvature of the third link housing 3083 need not follow a circular curvature. Instead, the curved portion may include a mixed curve defined by variable or multiple radii of curvature. In some embodiments, the second universal joint envelope is defined as a spherical volume centered on the universal joint center GC and characterized by a second envelope radius. In some embodiments, the second envelope radius is the second universal joint radius R. G2 It is approximately 0.75 to 1.25 times that of the second universal joint. The middle portion of the third link housing 3083 extends into the envelope of the second universal joint.

[0075] Figure 7-13 A view of an input control device 4000 according to an embodiment is shown. The input control device 4000 includes a first link 4040 (serving as a first universal joint link), a second link 4060 (serving as a second universal joint link), a third link 4080 (serving as a third universal joint link), and an input handle 4120. The input control device 4000 is mounted to a base portion 4130, which may be part of a user control unit, such as the user control unit 900 described herein. The input handle 4120 includes a handle portion 4121, a first handle input end 4122, a second handle input end 4123, and a handle input shaft 4124. Figure 10 and Figure 11Generally shown, a handle input shaft 4124 defines a first axis of rotation A1 (which can be used as a rolling axis; the term "rolling" is arbitrary) and is rotatably coupled to a first link 4040. A handle portion 4121 is supported on the handle input shaft 4124 and configured to rotate relative to the first link 4040 about the first axis of rotation A1. The input shaft 4124 extends at least partially within the first link 4040. A first handle input end 4122 and a second handle input end 4123 are manipulated to produce a desired action at an end effector (not shown). For example, in some embodiments, the first handle input end 4122 and the second handle input end 4123 are manipulated to produce a desired action at an end effector (not shown). For example, in some embodiments, the first handle input end 4122 and the second handle input end 4123 may be pressed together to produce a gripping movement at the end effector. The first handle input 4122 and the second handle input 4123 may be similar to the gripping member shown and described in U.S. Patent Application Publication No. US 2020 / 0015917 A1 (filed June 14, 2019), entitled “Actuation Grip for a Controller,” which is incorporated herein by reference in its entirety. For example, however, in other embodiments, the input handle 4120 need not include a handle input.

[0076] like Figure 10-12 As shown, the first link 4040 includes a first end portion 4041, a second end portion 4042, and a first connecting shaft 4045. The second link 4060 includes a first end portion 4061, a second end portion 4062, and a second connecting shaft 4065. The third link 4080 includes a first end portion 4081, a second end portion 4082, and a third connecting shaft 4085. The second end portion 4042 of the first link 4040 is rotatably connected to the first end portion 4061 of the second link 4060 via the first connecting shaft 4045. Similarly, the second end portion 4042 of the first link 4040 is connected to the first end portion 4061 of the second link 4060 such that the first connecting shaft extends within the second link 4060. The first connecting shaft 4045 defines a second axis of rotation A2 (which can be used as a yaw axis; the term "yaw" is arbitrary). The second axis of rotation A2 is perpendicular to the first axis of rotation A1. The intersection of the first rotation axis A1 and the second rotation axis A2 defines the universal joint center GC. In some embodiments, the distance from the universal joint center GC to the first end portion 4061 of the second link 4060 defines the first universal joint radius R. G1 .

[0077] The second link 4060 also includes a second link housing 4063 extending between a first end portion 4061 and a second end portion 4062. The second end portion 4062 of the second link 4060 is rotatably connected to the first end portion 4081 of the third link 4080 via a second joint shaft 4065. Similarly, the second link 4060 is connected to the third link 4080 such that the second joint shaft 4065 extends within the third link 4080. The second joint shaft 4065 defines a third axis of rotation A3 (which can be used as a pitch axis; the term "pitch" is arbitrary), and the third axis of rotation A3 is perpendicular to the second axis of rotation A2.

[0078] The third link 4080 also includes a third link housing 4083 extending between a first end portion 4081 and a second end portion 4082. The second end portion 4082 of the third link 4080 is rotatably coupled to the base portion 4130 via a third connector shaft 4085. Similarly, the third link 4080 is coupled to the base portion 4130 such that the third connector shaft 4085 extends within the base portion 4130 (see, for example...). Figure 7 and Figure 12 The third joint shaft 4085 defines a fourth rotation axis A4. The fourth rotation axis A4 is perpendicular to the third rotation axis A3. In some embodiments, the distance from the universal joint center GC to the first end portion 4081 of the third link 4080 defines the second universal joint radius R. G2 .

[0079] In some embodiments, and in some directions, such as Figure 8-10 As shown, the second rotation axis A2 and the fourth rotation axis A4 are collinearly oriented. However, those skilled in the art will understand that when the second link 4060 rotates about the third rotation axis A3, the second rotation axis A2 and the fourth rotation axis A4 can be positioned to intersect each other. For example, as... Figure 11 and Figure 12 As shown, when the second link 4060 rotates from the initial position, the second rotation axis A2 and the fourth rotation axis A4 are no longer collinear.

[0080] like Figure 12-14 As shown, the input control device 4000 includes a first actuator 4150. The first actuator 4150 is mounted in a second link 4060 within a second link housing 4063. The first actuator 4150 defines the first actuator axis A. M1The first actuator 4150 is configured to apply torque to or receive torque from the first connector shaft 4145. In this embodiment, the first actuator 4150 is a motor 4151 including a motor shaft 4152. The motor shaft 4152 is operatively coupled to the first connector shaft 4045. Furthermore, the input control device 4000 includes a first actuator transmission mechanism 4153 mounted to a first end portion 4061 within a second link 4060. The first actuator transmission mechanism 4153 includes a drive gear 4154 and a driven gear 4155. The drive gear 4154 is fixed to the motor shaft 4152 and configured to rotate with the motor shaft 4152. The driven gear 4155 is configured to mesh with and be driven by the drive gear 4154, which in turn drives the first connector shaft 4045.

[0081] like Figure 12 As shown, the input control device 4000 includes a second actuator 4160. The second actuator 4160 is mounted in a third link 4080 within a third link housing 4083. A second actuator 4160 defines a second actuator axis (not shown). The second actuator 4160 is configured to apply torque on or receive torque from a second connector shaft 4065. In this embodiment, the second actuator 4160 is a motor 4161 including a motor shaft 4162. The motor shaft 4162 is operatively coupled to the second connector shaft 4065. In some embodiments, the input control device 4000 includes a second actuator transmission mechanism 4163 mounted within the third link 4080. The second actuator transmission mechanism 4163 is mounted to a first end portion 4081 of the third link 4080. In some embodiments, such as Figure 12 Generally shown, the second actuator transmission mechanism 4163 includes a drive gear and a driven gear, which can be arranged in a similar manner to the first actuator transmission mechanism 4153. In some embodiments, the drive gear of the second actuator transmission mechanism 4163 may be fixed to the motor shaft 4162 and configured to rotate together with the motor shaft 4162. The driven gear may be configured to mesh with and be driven by the drive gear, which in turn drives the second connector shaft 4065.

[0082] like Figure 10 and Figure 11 As shown, if gravity F g The downward force in the diagram should be understood as follows: when the second link 4060 rotates relative to the third rotation axis A3, the gravitational force F... g This will act on the handle portion 4121, causing the first link 4040 to rotate about the second rotation axis A2. In other words, when the second link 4060 moves out... Figure 10 At the initial position shown (e.g., rest position), the gravitational force F gThe force will act on one or more of the input handle 4120, the first link 4040, the second link 4160, and the third link 4080. Similar to the actuator 2150 described above, the first actuator 4150 and / or the second actuator 4160 can be operated to output torque to counteract the gravitational force F applied to one or more of the first link 4040, the second link 4060, and the input handle 4120. g For example, if the second link 4060 rotates away from its rest position, the second actuator 4160 can be operated to output torque to the second joint shaft 4065 to counteract the force of gravity F. g Torque is applied to the first link 4040, the second link 4060, and the input handle 4120. Thus, once the surgeon S has moved the handle portion 4121 to a specific position and orientation, the first actuator 4150 and / or the second actuator 4160 can be operated to hold the input control device 4000 in the final position and orientation placed by the surgeon S. Tools or instruments at the patient's operating site (such as the instrument 500 described herein) can also be held in the corresponding position and orientation until the surgeon S provides new input. By counteracting the force of gravity acting on the input control device 4000, a more natural and less restrictive way of controlling the instrument 500 is provided to the surgeon S. Therefore, the input control device described herein is operable to provide the surgeon S with a more fluid and weightless experience by isolating the forces acting on the input control device 4000 (if unassisted). In doing so, the input control device described herein is able to provide improved fine motor control of the instrument 500 and / or reduce fatigue experienced by the surgeon S during surgery. In some embodiments, the first actuator 4150 and / or the second actuator 4160 may be operated to output torque to resist movement input by the surgeon S, to simulate a condition observed at the tool and to provide feedback to the surgeon S, as described herein.

[0083] As mentioned above, the dynamic performance of the main controller can be improved by reducing the total weight and moment of inertia of the input control devices. Figure 8-11 As shown, the connecting rod housing 4063 is curved and extends between a first end portion 4061 and a second end portion 4062. In some embodiments, the radius of curvature of the second connecting rod housing 4063 is the same as that of the first universal joint radius R. G1 The radius of curvature is approximately 0.5 to 1.5 times that of the first universal joint radius R. In some embodiments, the radius of curvature of the second link housing 4063 is approximately 0.5 to 1.5 times that of the first universal joint radius R. G1The curvature is approximately 0.75 to 1.25 times that of the first universal joint. Similarly, the curvature of the second link housing 4063 does not necessarily follow a circular curvature. Instead, the curved portion may include a mixed curve defined by one or more radii of curvature. In some embodiments, the first universal joint envelope is defined as a spherical volume centered at the universal joint center GC and characterized by a first envelope radius. In some embodiments, the first envelope radius is defined as the first universal joint radius R. G1 It is approximately 0.75 to 1.25 times. For example, such as Figure 9 As shown, distance D1 is the diameter R of the first universal joint. G1 Approximately 1.25 times. The middle portion of the second connecting rod housing 4063 extends into the envelope of the first universal joint.

[0084] As shown in the figure, the third link housing 4083 is curved and extends between the first end portion 4081 and the second end portion 4082. In some embodiments, the radius of curvature of the third link housing 4083 is the same as the radius R of the second universal joint. G2 The radius of curvature is approximately 0.5 to 1.5 times that of the second universal joint radius R. In some embodiments, the radius of curvature of the third link housing 4083 is approximately 0.5 to 1.5 times that of the second universal joint radius R. G2 The curvature is approximately 0.75 to 1.25 times that of the second universal joint. Similarly, the curvature of the third link housing 4083 does not necessarily follow a circular curvature. Instead, the curved portion may include a mixed curve defined by one or more variable radii of curvature. In some embodiments, the second universal joint envelope is defined as a spherical volume centered on the universal joint center GC and characterized by a second envelope radius. In some embodiments, the second envelope radius is approximately the second universal joint radius R. G2 0.75 to 1.25 times. For example, such as Figure 9 As shown, the distance D2 is approximately the radius R of the second gimbal. G2 1.25 times. The middle portion of the third link housing 4083 extends into the envelope of the second universal joint.

[0085] like Figure 12 and Figure 13 As shown, motor 4151 is mounted in the second connecting rod housing 4063. The first actuator axis A of motor 4151... M1The second rotation axis A2 defines a first offset angle θ1. In some embodiments, the first offset angle θ1 is less than 90 degrees. In some embodiments, the first offset angle θ1 is less than 90 degrees. In some embodiments, the first offset angle θ1 is between approximately 20 degrees and 70 degrees. In some embodiments, the first offset angle θ1 is between approximately 30 degrees and 60 degrees. Similarly, motor 4161 is mounted in third link housing 4083. Similar to the first actuator 4150, the second actuator 4160 and the third rotation axis A3 define a second offset angle (not shown). In some embodiments, the second offset angle is less than 90 degrees. In some embodiments, the second offset angle is between approximately 20 degrees and 70 degrees. In some embodiments, the second offset angle is between approximately 25 degrees and 65 degrees. In some embodiments, the second offset angle is between approximately 30 degrees and 60 degrees.

[0086] like Figure 14-16 As shown, the first actuator drive mechanism 4153 includes a drive mechanism housing 4170 for mounting the first actuator drive 4153 within the second link 4060 in a manner that provides a desired interface for the gear. The drive mechanism housing 4170 includes a base portion 4171, a gear support portion 4172, and an actuator support portion 4173. The gear support portion 4172 is removably secured to the base portion 4171 via one or more fasteners (not shown). The base portion 4171 includes a shaft support member (not shown), and the gear support portion 4172 includes a shaft support hole 4178. The shaft support hole 4178 is a hole configured to rotatably support a gear shaft 4181. In other embodiments, the shaft support member of the base portion 4171 and / or the gear support portion 4172 are configured to support a bearing or bushing member on which the gear shaft 4181 is supported. The transmission housing 4170 includes a plurality of mounting holes 4174, and the gear support portion includes a plurality of mounting holes 4177 for securing the gear support portion to the transmission housing 4170 via one or more fasteners (not shown). For example, the fasteners may include, but are not limited to, screws, bolts, rivets, welds, and adhesives.

[0087] The base portion 4171 includes a first mounting element 4175 and a second mounting element 4176. Both the first mounting element 4175 and the second mounting element 4176 are through holes configured to receive fasteners to secure the transmission housing 4170 to the first end portion 4061 of the second connecting rod 4060. In some embodiments, the first mounting element 4175 is a circular through hole, and the second mounting element 4176 is an elongated through hole. Figure 15As shown, the first end portion 4061 of the second link 4060 includes a mounting portion 4066. In some embodiments, the mounting portion 4066 has a first mounting surface 4066a and a second mounting surface 4066b. The first mounting surface 4066a includes a first fastener receiver 4067a and a second fastener receiver 4068a. The second mounting surface 4066b includes a first fastener receiver 4067b and a second fastener receiver 4068b.

[0088] In some embodiments, the first fastener receivers 4067a and 4067b are threaded holes. In some embodiments, the second fastener receivers 4068a and 4068b are elliptical through holes. Figure 14 and Figure 15 As shown, the base portion 4171 of the transmission housing 4170 is mounted to the mounting portion 4066 by first aligning the first mounting element 4175 and the second mounting element 4176 above the first fastener receivers 4067a and 4067b. The transmission housing 4170 is secured to the mounting portion 4066 by inserting and securing a first fastener, such as a screw, downward through the first mounting element 4175 and into the first fastener receiver 4067a. A second fastener can be inserted downward through the second mounting element 4176 and secured to the first fastener receiver 4067b. Due to the elongated shape of the elliptical through-hole in the second mounting element 4175, the transmission housing 4170 is rotatable about the first fastener receiver 4067a to adjust the position of the transmission housing 4170 relative to the first end portion 4061 of the second link 4060. By facilitating the adjustment of the position of the transmission housing 4170 and the gear shaft 4181 supported by the transmission housing 4170, the gear clearance can be set and adjusted during manufacturing or maintenance. Maintaining the desired clearance between gears in a transmission mechanism allows for improved efficiency and smoother operation.

[0089] like Figure 13 , Figure 14 and Figure 16 As shown, motor 4151 is mounted to actuator support portion 4173. Motor 4151 is axially rotatably fixed to actuator support portion 4173. In some embodiments, motor 4151 is fixed to actuator support portion 4173 by adhesive. In some embodiments, motor 4151 is fixed to actuator support portion 4173 using one or more fasteners.

[0090] like Figure 13 and Figure 14 As shown, gear shaft 4181 defines the transmission axis A. T Furthermore, motor 4151 defines the motor axis A. MM Transmission mechanism axis A T and motor axis A MMThe offset angle θ of the transmission mechanism is limited. T In some embodiments, the transmission mechanism offset angle θ T Less than 90 degrees. In some embodiments, the transmission offset angle θ T Between approximately 20 degrees and 70 degrees. In some embodiments, the transmission offset angle θ T Between approximately 25 degrees and 65 degrees. In some embodiments, the transmission offset angle θ T Between approximately 30 and 60 degrees. For example... Figure 13 As shown, transmission shaft A T It is parallel to the second rotation axis A2, and the transmission offset angle θ T It is equal to the first offset angle θ1. In some embodiments, the gear shaft 4181 is configured to be along the drive axis A. T The clearance between the drive gear 4154 and the driven gear 4155 is adjusted. Once the clearance between the drive gear 4154 and the driven gear 4155 has been adjusted, the position of the gear shaft 4181 relative to the base portion 4171 and the gear support portion can be set using a combination of shims, gaskets, clips, and / or fasteners. In some embodiments, the position of the gear shaft 4181 is set using a combination of shims and E-clamps.

[0091] In some embodiments, such as Figure 17 As shown, the first actuator transmission mechanism 4153 includes a reduction gear system having an input gear 4182 and an output gear 4183. The input gear 4182 is mounted to a gear shaft 4181 and configured to rotate at the same angular velocity as the driven gear 4155. The output gear 4183 is mounted to a first connector shaft 4045 and configured to mesh with and be driven by the input gear 4182. The reduction gear system is configured to reduce the load applied to the motor 4151 and increase the torque transmitted to the first connector shaft 4045 via the output gear 4183.

[0092] In some embodiments, the input gear 4182 includes a first number of teeth, and the output gear 4183 includes a second number of teeth, the second number of teeth being greater than the first number of teeth. In some embodiments, the gear ratio of the output gear 4183 to the input gear 4182 is approximately 5:1 to approximately 7:1. In some embodiments, the transmission ratio of the output gear 4183 to the input gear 4182 is set to approximately 6.9:1. As shown, the input gear 4182 and the output gear 4183 are spur gears. Although a direct-drive gear is shown, it should be understood that pulley and belt systems, gear and chain systems, or other transmission systems may be used.

[0093] As shown in the figure, the drive gear 4154 is configured to mesh with the driven gear 4155. In some embodiments, the gear ratio between the driven gear 4155 and the drive gear 4154 is approximately 5:1 to approximately 7:1. Therefore, the effective gear ratio between the output gear 4183 and the drive gear 4154 is approximately 25:1 to 49:1. In some embodiments, the effective gear ratio between the output gear 4183 and the drive gear 4154 is set to approximately 48.2:1. Compared to planetary gear systems or other related gear systems, the combination of direct drive gears provides efficient power transmission while maintaining a compact design. The compact and lightweight gear system described herein reduces the overall weight of the input control device 4000 and enables the use of smaller actuators due to the torque conversion provided by the reduction gear system.

[0094] As described above, the transmission housing 4170 is operable to rotate about the first fastener receiver 4067a. In some embodiments, the transmission housing 4170 can be rotated and adjusted to set the gear clearance between the input gear 4182 and the output gear 4183.

[0095] although Figure 14-17 The transmission housing 4170 and associated components shown are associated with the first actuator 4150 and the second link 4060, but the second actuator 4160 and the third link 4080 may also be arranged similarly. In other embodiments, the transmission housing 4170 may be integrally formed with the second link 4060 or the third link 4080. For example, the housing 4170 may be integrally formed on the first end portion 4061 of the second link 4060.

[0096] Although various embodiments have been described above, it should be understood that these embodiments are presented by way of example only and are not intended to be limiting. Where the methods and / or diagrams above indicate specific events and / or flow patterns occurring in a specific order, the order of specific events and / or operations may be modified. Although embodiments have been specifically shown and described, it should be understood that various changes in form and detail may be made.

[0097] For example, any instrument (and components thereof) described herein may optionally be part of a surgical assembly for performing minimally invasive surgery and may include a manipulator unit, a series of motion linkages, a series of cannulas, etc. Therefore, any instrument described herein may be used in any suitable surgical system, such as the MIRS system 1000 shown and described above.

[0098] Although various embodiments have been described as having specific features and / or combinations of components, other embodiments may also have any of the features and / or combinations of components of any of the embodiments described above. For example, in some embodiments, the second actuator drive mechanism 4163 may include the same components as the first actuator drive mechanism 4153. In some embodiments, the input control device 4000 includes only one actuator and drive mechanism (e.g., only the first actuator 4150 and the first actuator drive 4153, or only the second actuator 4160 and the second actuator drive mechanism 4163). Aspects have been described in the general context of medical devices, and more specifically surgical instruments, but aspects of the invention are not necessarily limited to use in medical devices.

Claims

1. A control input component, comprising: Input handle, first link, second link, and actuator; The input handle is rotatable about a first rotation axis and includes a handle input shaft; The first link includes a first link first end portion, a first link second end portion opposite to the first link first end portion, and a connector shaft rotatable about a second rotation axis perpendicular to the first rotation axis and connected to the second end portion of the first link. The first link first end portion is connected to the input handle such that the handle input shaft extends within the first link. The second link includes a first end portion of a second link, a second end portion of a second link opposite to the first end portion of the second link and connected to the second end portion of the first link via the joint shaft of the first link, and a second link housing extending from the first end portion of the second link to the second end portion of the second link; and The actuator is mounted in the housing of the second link and is coupled to apply torque about the actuator axis on the joint shaft of the first link such that the second axis of rotation of the actuator axis and the joint shaft defines an offset angle greater than 0 degrees and less than 90 degrees.

2. The control input component according to claim 1, wherein: The offset angle is less than approximately 60 degrees.

3. The control input component according to claim 1, wherein: The offset angle is between approximately 30 degrees and 60 degrees.

4. The control input component according to claim 1, wherein: The center point of the universal joint is defined at the intersection of the first rotation axis and the second rotation axis; The radius of the universal joint is defined by the distance between the center point of the universal joint and the first end portion of the second link; At least a portion of the second connecting rod housing is bent; and The radius of curvature of a portion of the second connecting rod housing is between approximately 0.5 and 1.5 times the radius of the universal joint.

5. The control input component according to claim 1, wherein: The center point of the universal joint is defined at the intersection of the first rotation axis and the second rotation axis; The radius of the universal joint is defined by the distance between the center point of the universal joint and the first end portion of the second link; The envelope of the universal joint is defined as a spherical volume around the center point of the universal joint and is characterized by the radius of the universal joint; as well as The second link housing includes a curved portion within the universal joint envelope.

6. The control input component according to claim 1, wherein: The center point of the universal joint is defined at the intersection of the first rotation axis and the second rotation axis; The radius of the universal joint is defined by the distance between the center point of the universal joint and the first end portion of the second link; The second link housing defines an offset universal joint surface that extends at least partially along the actuator axis; as well as The offset gimbal surface intersects with the arc defined by the radius of the gimbal.

7. The control input component according to any one of claims 1-6, wherein: The actuator is a motor; and The motor includes a motor shaft that extends along the actuator axis and is operatively coupled to the connector shaft.

8. The control input component according to claim 7, wherein: The control input component includes an actuator drive mechanism installed within the second link housing. The actuator transmission mechanism includes one or more gears; and The motor shaft is operatively connected to the connector shaft via one or more gears of the actuator drive mechanism.

9. The control input component according to claim 8, wherein: The actuator transmission mechanism includes one or more gears comprising bevel gears and spur gears; and The bevel gear and the spur gear are mounted to the gear shaft.

10. The control input component according to claim 1, wherein: The center point of the universal joint is defined at the intersection of the first rotation axis and the second rotation axis; The radius of the universal joint is defined by the distance between the center point of the universal joint and the first end portion of the second link; The actuator is a first actuator, the actuator axis is a first actuator axis, the connector shaft is a first connector shaft, and the offset angle is a first offset angle; The second link includes a second connector shaft that is rotatable about a third rotation axis and connected to the second end portion of the second link; The control input component also includes a third link and a second actuator; The third link includes a first end portion of the third link connected to the second end portion of the second link via the second joint shaft of the second link, a second end portion of the third link opposite to the first end portion of the third link, and a third link housing extending from the first end portion of the third link to the second end portion of the third link; and The second actuator is mounted within the housing of the third link and is coupled to apply torque about the axis of the second actuator on the second joint shaft of the second link, such that the third axis of rotation of the second actuator axis and the second joint shaft defines a second offset angle greater than 0 degrees and less than 90 degrees.

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