Surgical devices and systems

Abstract

A surgical device includes a distal manipulator for engaging an object, a handle assembly having a handle movable by a hand of a user between a second reference orientation and a second articulation orientation and a roll input for receiving user input to rotate the distal manipulator in the articulation orientation, a roll transmission that causes the distal manipulator to rotate in accordance with the user input, and an articulation transmission that maintains the distal manipulator in the articulation orientation as the distal manipulator is rotated by the roll transmission. The distal manipulator is movable between a reference orientation and an articulation orientation and is rotatable in the articulation orientation with an unlimited range of motion. The articulation transmission includes an output member movable between a third reference orientation and a third articulation orientation.

Description

Cross-references to related applications

[0001] This application claims priority and benefit to U.S. Provisional Application No. 63 / 516,730, filed July 31, 2023, the entire disclosure of which is incorporated herein by reference. Technical Field

[0002] This disclosure relates to a device for transmitting movement in three degrees of freedom, and more specifically for transmitting movement in three degrees of freedom to a surgical device. Background Technology

[0003] Various types of devices are known for manipulating objects, and more specifically surgical instruments, to perform laparoscopic movements and actions. It would be beneficial to provide devices capable of providing joint rotation with an unlimited range of motion. Summary of the Invention

[0004] This document discloses a specific embodiment of an apparatus for manipulating an object, the apparatus comprising: a distal manipulator for engaging the object; a rolling transmission mechanism for rotating the distal manipulator, the rolling transmission mechanism having a motor; and a joint motion transmission mechanism that maintains the distal manipulator in a joint motion orientation when the distal manipulator is rotated by the rolling transmission mechanism. The distal manipulator is movable between a nominal orientation and a joint motion orientation, and is capable of rotating within the joint motion orientation with an unlimited range of motion. The joint motion transmission mechanism has an output member movable between another nominal orientation corresponding to the nominal orientation and joint motion orientation of the distal manipulator, and other joint motion orientations.

[0005] A specific embodiment of a surgical device is also disclosed, comprising: a distal manipulator for engaging a subject; a handle assembly having a handle movable by a user's hand between a second reference orientation and a second articulation orientation, and a rolling input for receiving user input to rotate the distal manipulator in the articulation orientation; a rolling transmission mechanism causing the distal manipulator to rotate according to the user input; and an articulation transmission mechanism maintaining the distal manipulator in the articulation orientation while the distal manipulator is rotated by the rolling transmission mechanism. The distal manipulator is movable between the reference orientation and the articulation orientation, and is capable of rotating within an unlimited range of motion in the articulation orientation. The articulation transmission mechanism includes an output member movable between a third reference orientation and a third articulation orientation. Attached Figure Description

[0006] This disclosure is best understood when read in conjunction with the accompanying drawings in a detailed description. It should be emphasized that, by convention, the various features in the drawings are not drawn to scale. Instead, for clarity, the dimensions of the various features have been arbitrarily enlarged or reduced.

[0007] Figure 1 This is a schematic diagram of the device.

[0008] Figure 2 It is in the first position and the first configuration. Figure 1 A simplified perspective view of the implementation scheme of the device.

[0009] Figure 3 It is in the second position and the first configuration. Figure 2 A simplified perspective view of the implementation scheme of the device.

[0010] Figure 4 It is in the first position and the second configuration. Figure 2 A simplified perspective view of the implementation scheme of the device.

[0011] Figure 5A yes Figure 1 Another schematic diagram of the device.

[0012] Figure 5B yes Figures 1 to 5A Top, front, and right perspective views of the implementation scheme of the device.

[0013] Figure 6 yes Figures 1 to 5A Rear and right perspective views of the implementation scheme of the device.

[0014] Figure 7 yes Figure 5A A schematic diagram of the first embodiment of the input transmission device of the device.

[0015] Figure 8 yes Figure 5A A schematic diagram of a second embodiment of the input transmission device of the apparatus.

[0016] Figure 9 It is in the first configuration Figures 1 to 5A A side view of the remote manipulator of the device.

[0017] Figure 10 It is in the first configuration Figure 7 A side view of the remote controller, with the output cable length indicated by dashed lines.

[0018] Figure 11 It is in the first configuration Figure 7 A top view of the remote controller, with the output cable length indicated by dashed lines.

[0019] Figure 12It is in the first configuration Figure 7 A side view of the remote controller, illustrating the device reference frame and the output reference frame.

[0020] Figure 13 It is in the first configuration Figure 7 A top view of the remote controller, illustrating the device reference frame and the output reference frame.

[0021] Figure 14 It is in the second configuration Figure 7 A side view of the remote controller, illustrating the device reference frame and the output reference frame.

[0022] Figure 15 It is in the second configuration Figure 7 A top view of the remote controller, illustrating the device reference frame and the output reference frame.

[0023] Figure 16 yes Figure 5A The schematic diagram of the device further illustrates the input, intermediate, and output drive mechanisms.

[0024] Figure 17 This is a simplified partial cross-sectional view of the base and conveying device of the apparatus shown in Figure 5.

[0025] Figure 18 It is relative to Figure 17 Another simplified partial sectional view of the base, taken at a 90-degree angle.

[0026] Figure 19 This is a partial perspective view of the base.

[0027] Figure 20A It is a perspective view of a surgical system having an exemplary device and a controller connected thereto.

[0028] Figure 20B This is a functional block diagram illustrating the functions of an exemplary device and a controller connected thereto.

[0029] Figure 21A These are top, front, and right perspective views of an exemplary device having an exemplary swashplate mechanism.

[0030] Figure 21B yes Figure 21A The top, front, and right perspective views of the exemplary device illustrate the axis of rotation.

[0031] Figure 22A yes Figure 21A A side view of an exemplary device.

[0032] Figure 22B yes Figure 22A An exemplary drive coupling of the device shown.

[0033] Figure 22C It has a second drive coupling Figure 21A A side view of an exemplary device.

[0034] Figure 23 yes Figure 21A The exemplary device is shown in the top, front, and right perspective views, illustrating a first position of rolling rotation.

[0035] Figure 24 yes Figure 21A The exemplary device is shown in the top, front, and right perspective views, illustrating a second position of rolling rotation.

[0036] Figure 25 yes Figure 21A The exemplary device is shown in the top, front, and right perspective views, illustrating a third position of rolling rotation.

[0037] Figure 26 yes Figure 21A The exemplary device is shown in the top, front, and right perspective views, illustrating a fourth position of rolling rotation.

[0038] Figure 27 This is a simplified schematic diagram of the output reference frame of an exemplary device.

[0039] Figure 28A These are the top, front, and right perspective views of an alternative configuration of the device.

[0040] Figure 28B These are the top, front, and right perspective views of an alternative configuration of the device.

[0041] Figure 28C These are the top, front, and right perspective views of an alternative configuration of the device.

[0042] Figure 28D This is a side view of an alternative configuration of the device.

[0043] Figure 28E This is a side view of an alternative configuration of the device.

[0044] Figure 28F This is a side view of an alternative configuration of the device.

[0045] Figure 29A This is a side view of an alternative configuration of the device.

[0046] Figure 29B This is a side view of an alternative configuration of the device.

[0047] Figure 29C This is a side view of an alternative configuration of the device.

[0048] Figure 29DThese are the top, front, and right perspective views of an alternative configuration of the device.

[0049] Figure 30A This is a side view of an alternative configuration of the device.

[0050] Figure 30B This is a side view of an alternative configuration of the device.

[0051] Figure 30C This is a side view of an alternative configuration of the device.

[0052] Figure 31A This is a side view of an alternative configuration of the device.

[0053] Figure 31B This is a side view of an alternative configuration of the device.

[0054] Figure 31C This is a side view of an alternative configuration of the device.

[0055] Figure 32 It is a perspective view of the wrist-worn device.

[0056] Figure 33 It is used by users Figure 32 A perspective view of a wrist-worn device.

[0057] Figure 34 yes Figure 32 A perspective view of the handle of a wrist-mounted device.

[0058] Figure 35 yes Figure 32 A side view of the handle of a wrist-mounted device.

[0059] Figure 36 yes Figure 32 A side view of the handle of a wrist-mounted device.

[0060] Figure 37 yes Figure 32 A side view of the handle of a wrist-mounted device.

[0061] Figure 38 yes Figure 32 A perspective view of the feedback mechanism in the handle of a wrist-mounted device.

[0062] Figure 39 yes Figure 32 A perspective view of the input linkage assembly of a wrist-worn device.

[0063] Figure 40 yes Figure 32 An exploded view of the input linkage mechanism assembly of the wrist-worn device.

[0064] Figure 41 yes Figure 32An exploded view of the input linkage mechanism assembly of the wrist-worn device.

[0065] Figure 42 yes Figure 32 A schematic diagram of the input linkage mechanism assembly of a wrist-worn device.

[0066] Figure 43 yes Figure 32 Collapsed and exploded views of the input connection components of the wrist-worn device.

[0067] Figure 44 yes Figure 32 A schematic diagram of a rotating swashplate assembly with a wrist-mounted device.

[0068] Figure 45 yes Figure 32 A schematic diagram of the pitch linkage assembly with wrist-mounted device.

[0069] Figure 46 yes Figure 32 A schematic diagram of a yaw linkage assembly with a wrist device.

[0070] Figure 47 yes Figure 32 A schematic diagram of the joint motion sub-component of a wrist-mounted device.

[0071] Figure 48 yes Figure 32 A schematic diagram of the joint motion sub-component of a wrist-mounted device.

[0072] Figure 49 yes Figure 32 A schematic diagram of the joint motion sub-component of a wrist-mounted device.

[0073] Figure 50 yes Figure 32 A schematic diagram of a rotating slant plate assembly with a wrist device.

[0074] Figure 51 yes Figure 32 An exploded view of the joint motion sub-component of a wrist-worn device.

[0075] Figure 52 yes Figure 50 A schematic diagram of the rotating slant plate assembly.

[0076] Figure 53 yes Figure 50 A schematic diagram of the rotating slant plate assembly.

[0077] Figure 54 yes Figure 50 A schematic diagram of the rotating slant plate assembly.

[0078] Figure 55 yes Figure 50A schematic diagram of the rotating slant plate assembly.

[0079] Figure 56 yes Figure 50 A schematic diagram of the rotating slant plate assembly.

[0080] Figure 57 yes Figure 50 A schematic diagram of the rotating slant plate assembly.

[0081] Figure 58 yes Figure 50 A schematic diagram of the rotating slant plate assembly.

[0082] Figure 59 yes Figure 50 A schematic diagram of the rotating slant plate assembly.

[0083] Figure 60 yes Figure 32 A schematic diagram of the rolling transmission sub-component of a wrist-mounted device.

[0084] Figure 61 yes Figure 32 An exploded view of the rolling transmission sub-component of the wrist-mounted device.

[0085] Figure 62 yes Figure 32 A schematic diagram of a tool shaft assembly with a wrist-mounted device.

[0086] Figure 63 yes Figure 32 A schematic diagram of a tool shaft assembly with a wrist-mounted device.

[0087] Figure 64 yes Figure 32 A schematic diagram of a rotating slant plate assembly with a wrist device.

[0088] Figure 65 This is a schematic diagram of an alternative handle assembly.

[0089] Figure 66 This is a schematic diagram of an alternative handle assembly.

[0090] Figure 67 This is a schematic diagram of an alternative handle assembly.

[0091] Figure 68 This is a schematic diagram of an alternative handle assembly.

[0092] Figure 69 This is a schematic diagram of an alternative handle assembly. Detailed Implementation

[0093] See Figures 1 to 4The device 110 is configured to allow a user to provide wrist-like movement in three degrees of freedom via a device having a rotating swashplate mechanism. Specifically, the device 110 can be configured for a user, such as a surgeon, to perform minimally invasive surgical procedures on a patient 200, such as laparoscopy. The patient 200 is... Figures 2 to 4 A portion of the plane is schematically represented.

[0094] Device 110 typically includes an input (e.g., an input terminal) 120, an intermediate module (e.g., an intermediate section) 140, and an output (e.g., an output terminal) 160. Input terminal 120 receives user input from a user. User input is typically motion input (e.g., rotation or translation, or a combination thereof) and / or load input (e.g., torque or force, or a combination thereof). Output terminal 160 provides a physical output. Intermediate section 140 converts, transfers, or otherwise transmits the user input received at input terminal 120 to the physical output provided at output terminal 160.

[0095] like Figure 1 As illustrated, user input may include articulated movements (e.g., pitch and yaw rotations), roll rotations, and specific actions (e.g., tool inputs), which may be mechanically or electronically transmitted from input 120 to intermediate section 140. The physical output of output 160 may also include articulated movements (e.g., pitch and yaw rotations), roll rotations, and tool outputs, which are transmitted from intermediate section 140 to output 160. Roll rotations may simply be referred to as “roll.” As used herein, the terms “transfer,” “transfer,” or “transmit” generally refer to the physical output received at input 120 and transmitted by intermediate section 140 to output 160.

[0096] The physical outputs provided by output end 160 include motion outputs and tool outputs. Motion outputs include articulated movement and rolling of output end 160 relative to patient 200, device 110, or both. Motion outputs may include one or more translations of output end 160 relative to patient 200. Tool outputs include operation of output end 160 to operate its tools. As an example, input end 120 may include a handle movable relative to intermediate portion 140 to receive user input to surgical device 110, while output end 160 may include tools, such as a distal manipulator for engaging an object, movable relative to intermediate portion 140, and may include clamps (e.g., for grasping and releasing an object, such as a needle for suturing) that are operated by opening and closing. The distal manipulator itself may be a tool (e.g., an end effector) or may include another tool (e.g., another type of end effector or a non-contact tool, such as a laser or sensor) coupled to it as an object.

[0097] refer to Figures 2 to 4As described above, user input and physical output include movement relative to patient 200, device 110, or both, which can be considered to form patient reference frame 202 and device reference frame 212, respectively. It should be noted that patient 200 may move in a space such as an operating room, such that patient reference frame 202 may move relative to space (e.g., an absolute or real reference frame).

[0098] The patient reference system 202 can be defined as including a patient longitudinal axis 202-lon extending longitudinally through the patient 200 (e.g., from head to toes), a patient lateral axis 202-lat extending laterally through the patient 200 (e.g., from left to right), and a patient transverse axis 202-tra extending laterally through the patient (e.g., from front to back), these axes being substantially perpendicular to each other and fixed relative to the patient 200. The different axes of the patient reference system 202 can be defined relative to the patient in any other suitable manner.

[0099] The device reference system 212 can be defined as including a device longitudinal axis 212-lon, a device lateral axis 212-lat, and a device transverse axis 212-tra, which are substantially perpendicular to each other and fixed relative to the intermediate portion 140 or its fixed reference portion (such as the base 242 or another fixed portion (relative to the device)). Aspects of the input end 120 and the output end 160 are movable relative to the device reference system 212. The device longitudinal axis 212-lon generally corresponds to the orientation in which the output end 160 is inserted into the patient 200. When the output end 160 is in a reference or nominal (i.e., non-articular) orientation relative to the device reference system 212, the device longitudinal axis 212-lon may extend through the output end 160. The output end 160 may be coupled to the base 242 via a member 344 extending from the intermediate portion 140. If the member 244 is a straight axis, the device longitudinal axis 212-lon may also extend through the member 244 (e.g., coaxial with it) and the base 242 of the intermediate portion 140.

[0100] Output terminal 160 can also be considered to have an output reference frame 262. Output reference frame 262 typically includes an output longitudinal axis 262-lon, an output lateral axis 262-lat, and an output transverse axis 262-tra, which are substantially perpendicular to each other and fixed relative to a portion of output terminal 160, such as its base. As output terminal 160 moves relative to a reference portion of device 110, output reference frame 262 moves relative to device reference frame 212.

[0101] Input terminal 120 can also be considered to have an input reference frame 222. Input reference frame 222 typically includes an input longitudinal axis 222-lon, an input lateral axis 222-lat, and an input transverse axis 222-tra, these axes being substantially perpendicular to each other and fixed relative to a portion of input terminal 120, such as its shank. As input terminal 120 moves relative to a reference portion of device 110, input reference frame 222 moves relative to device reference frame 212.

[0102] As described above, the physical output of output terminal 160 includes movement of output terminal 160 relative to patient reference frame 202, or device reference frame 212, or both. The physical output may include translation, articulation, and rolling rotation.

[0103] Translational output of output terminal 160 includes translation of output terminal 160 relative to patient reference frame 202. Translational movement of output terminal 160 can be achieved by moving the entire surgical device 110 relative to patient 200 generally along the device longitudinal axis 212-long, device lateral axis 212-lat, device transverse axis 212-tra, or any combination thereof. For example, output terminal 160 can be inserted into patient 200 through a port placed in an incision in the patient's body (around which device 110 pivots), such that translational movement of output terminal 160 (i.e., insertion and retraction, lateral movement to the left and right, and transverse movement upward and downward) can be achieved by moving the middle portion 140 of surgical device 110 relative to patient 200.

[0104] The joint motion output includes joint motion of the output end 160 relative to one or two corresponding axes, such as the device lateral axis 212-lat, the device transverse axis 212-tra, or both. The term "joint motion" is considered to include bending, rotation, or pivoting relative to an axis (e.g., an axis generally about a reference frame or a line parallel to it).

[0105] The joint movement of the output end 160 can be achieved by rotating, bending, or pivoting the output end 160 relative to the device lateral axis 212-lat, the device transverse axis 212-tra, or both. The joint movement relative to the device lateral axis 212-lat can be referred to as pitch rotation (or simply pitch), while the joint movement relative to the device transverse axis 212-tra can be referred to as yaw rotation (or simply yaw).

[0106] As described above, when the output longitudinal axis 262-lon is coaxial with or otherwise parallel to the device longitudinal axis 212-lon, the output terminal 160 is in a reference (or nominal) orientation. When the output terminal 160 forms a non-zero angle with respect to the device lateral axis 212-lat, the device transverse axis 212-tra, or both, such that the output longitudinal axis 262-lon is not coaxial with or otherwise parallel to the device longitudinal axis 212-lon, the output terminal 160 is considered to be in an articulated orientation. From the reference orientation, the output terminal 160 can articulate within a range of motion about the device lateral axis 212-lat, the device transverse axis 212-tra, or both, which may be referred to as the pitch range and yaw range, respectively, and may be substantially symmetrical with respect to the reference orientation. The terms "reference orientation" and "nominal orientation" are used interchangeably.

[0107] Rolling output includes rotation of output terminal 160 about the device longitudinal axis 212-lon when output terminal 160 is in the reference orientation. When output terminal 160 articulates about the device lateral axis 212-lat, the device transverse axis 212-tra, or both, and while maintaining this articulated orientation, output terminal 160 then rotates about the output longitudinal axis 262-lon. When rolling of output terminal 160 occurs, the output lateral axis 262-lat and the output transverse axis 262-tra rotate about the output longitudinal axis 262-lon, which itself may remain stationary relative to the device longitudinal axis 212-lon in the articulated orientation.

[0108] The tool output of output terminal 160 may include, for example, the opening and closing of the clamps of the remote manipulator forming output terminal 160.

[0109] Device 110 is configured so that the different physical outputs of output terminal 160 are performed independently of each other, such that the execution of a different physical output neither requires nor causes the operation of other physical outputs. As listed in Table 1 below, translation output, articulation output, rolling output (including articulation rolling), and tooling output can be performed independently of each other. It should be noted that the physical outputs of output terminal 160 can be independent of each other, while any device, structure, mechanism, and intermediary action that causes the physical output can still be related to each other (e.g., the operation or movement of one such device, structure, or mechanism may require or cause the operation or movement of another device, structure, or mechanism). For example, articulation rolling can be achieved by operating those mechanisms that cause member 244 and output terminal 160 to rotate relative to the longitudinal axis 212-lon of the device, while operating those mechanisms that cause articulation of output terminal 160 to maintain the output longitudinal axis 262-lon in an articulation orientation, rather than depicting a generally conical shape.

[0110] Table 1 - Independent Physical Output Input terminal 120 is configured to receive user input from a user, and intermediate section 140 receives, converts, transmits, or otherwise transfers these inputs to a physical output provided at output terminal 160. The transmission and conversion of user input to physical output can be cooperatively performed by input terminal 120, intermediate section 140, and output terminal 160 using any suitable combination of mechanisms and devices (e.g., cables, pulleys, linkages, other mechanisms, sensors, transducers, motors, and other electronic devices), which may be referred to as transmissions and referenced in reference. Figure 5A And then we will discuss it.

[0111] Input terminal 120 can be configured to receive user input for joint movements such as pitch, yaw, or both, and can also be configured to receive user input for scrolling and for operating tools. User input for controlling joint movements is generally referred to as joint movement input (including pitch input, or yaw input, or both). User input for controlling scrolling is generally referred to as scroll input. User input for operating tools is generally referred to as tool input.

[0112] To receive user input for pitch, yaw, or both, input terminal 120 (which may include a handle) may articulate about an input lateral axis 222-lat, an input transverse axis 222-tra, or both, and thus relative to the intermediate portion 140. Articulation about the input lateral axis 222-lat may be referred to as pitch input, while articulation about the input transverse axis 222-tra may be referred to as yaw input. When input terminal 120 articulates relative to device reference frame 212, input reference frame 222 moves relative to the device reference frame.

[0113] Pitch input, yaw input, or both can be transmitted entirely mechanically from input 120 through intermediate section 140 to pitch output, yaw output, or both provided at output 160. In this case, pitch input, yaw input, or both can be mechanically received by input 120 and mechanically transmitted from input 120 to intermediate section 140. Intermediate section 140 then mechanically converts pitch input, yaw input, or both into pitch output, yaw output, or both, which is mechanically transmitted from intermediate section 140 to output 160 for its provision.

[0114] Alternatively, the pitch input, yaw input, or both, can be transmitted from input 120 through intermediate portion 140 and to the pitch output, yaw output, or both provided by output 160 via a combination of mechanical and electronic means (this combination is often referred to as "electromechanical"). In one example, the pitch input, yaw input, or both can be mechanically received by input 120 and converted into electronic signals using transducers such as sensors. For example, a portion of input 120 (such as a handle) can articulate about an input lateral axis 222-lat, an input transverse axis 222-tra, or both, which is measured by a sensor. The sensor captures electronic signals such as pitch signals, yaw signals, or both and transmits them to a microcontroller. The microcontroller can control electromechanical actuators, such as motors located in intermediate portion 140. Typically, such commands from the microcontroller to the motor are sent via a motor driver. The motor driver, in turn, provides movement mechanically transmitted from intermediate portion 140 to the pitch output, yaw output, or both provided by output 160.

[0115] Input 120 can also be configured to receive user input for scrolling. To receive scrolling input, a portion of input 120, such as a knob or dial (e.g., referred to as a scroll dial), can be rotated by the user, for example, about the input longitudinal axis 222-lon. Scrolling input can be transmitted from input 120 through intermediate portion 140 and to the articulated scrolling output provided by output 160 via a combination of mechanical and electronic means (i.e., electromechanically). In one example, scrolling input is mechanically received by input 120 and electronically transmitted to a microcontroller. For example, this portion of input 120 is measured and transmitted to the microcontroller. The microcontroller can control an electromechanical actuator, such as a scrolling motor located in intermediate portion 140. The scrolling motor in intermediate portion 140 then generates scrolling rotation, which is mechanically transmitted from intermediate portion 140 to output 160 for its provision.

[0116] Alternatively, the rolling input can be transmitted entirely mechanically from input 120 through intermediate portion 140 to the joint motion rolling output provided by output 120. In this case, the rolling input is mechanically received by input 120 and mechanically transmitted from input 120 to intermediate portion 140. Intermediate portion 140 then mechanically transforms or converts the rolling input into a rolling output, which is mechanically transmitted from intermediate portion 140 to output 160 for its provision.

[0117] To receive input for operating the tool, input terminal 120 may include a tool input portion engaged by a user, such as a lever, trigger, button, or pressure pad that is pulled, pressed, pushed, or otherwise engaged or actuated by the user. Engagement of the tool input portion by the user may be referred to as tool input. Tool input can be transmitted entirely mechanically from input terminal 120 through intermediate portion 140 to a tool output provided by output terminal 160. In this case, tool input is mechanically received by input terminal 120 and mechanically transmitted from input terminal 120 to intermediate portion 140. Intermediate portion 140 then mechanically transmits or converts the tool input into a tool output, which is mechanically transmitted from intermediate portion 140 to output terminal 160 for its provision.

[0118] Alternatively, the tool input can be transmitted from input 120 through intermediate section 140 and to a tool output provided by output 160 via a combination of mechanical and electronic (i.e., electromechanical) means. In one example, the tool input is mechanically received by input 120, such as a lever, and electronically transmitted to a microcontroller. For example, movement of the lever at input 120 can be measured by one or more sensors or transducers, and electronic signals, such as tool signals, are transmitted to the microcontroller based on these sensors or transducers. The microcontroller then commands an electromechanical actuator (such as a motor) located in or elsewhere in intermediate section 140 to produce a tool output, which is mechanically transmitted from intermediate section 140 to output 160 for its provision.

[0119] Device 110 is configured so that different user inputs to input terminal 120 are received independently of each other, such that the reception of one user input does not require the reception of another user input nor cause interference to another user input. As noted above, user inputs may be mechanically received at input terminal 120 and may be mechanically or electromechanically transmitted from input terminal 120 to intermediate section 140 accordingly. Different possible combinations of mechanical and electronic (or electromechanical) transmissions are outlined in Table 2 below. The terms “electromechanical” and “electronic” are used interchangeably in the context of motion transmissions. Similarly, “electromechanical” and “electronic” are used interchangeably in the context of motion transmissions.

[0120] Table 2—Combinations of Mechanical and Electronic Motion Transmission Devices refer to Figures 5A to 7Device 510 is an embodiment of a surgical device or wrist-mounted device. Device 510 typically includes a handle assembly 520, an input articulation joint 522, a base 540 (or frame), a shaft 542, a distal manipulator 560, and an output articulation joint 562. The base 540 is structurally coupled to the handle 520 at a first side 540a via the input articulation joint 522 and to the shaft 542 at a second side 540b. The distal manipulator 560 is structurally coupled to the shaft 542 via the output articulation joint 562 (e.g., capable of pivotal coupling to allow pivoting between them and the transmission of torque between them).

[0121] The handle assembly 520 forms the input end 120 and is associated with the input reference frame 222. The input articulation joint 522, base 540, shaft 542, and output articulation joint 562 typically form the intermediate portion 140 and are associated with the device reference frame 212, for example, where the device longitudinal axis 212-lon is coaxial with the shaft 542. The distal actuator 560 forms the output end 160 and is associated with the output reference frame 262. The handle assembly 520 is movable between a nominal orientation and one or more articulation orientations corresponding to the nominal orientations of the distal actuator 560 and the output member 1752 discussed below, and the one or more articulation orientations corresponding to the articulation orientations of the distal actuator 560 and the output member 1752 discussed below. Therefore, movement of the handle assembly 520 in the pitch and yaw directions (e.g., relative to the base 540 or the device reference frame 212) causes the remote controller 560, output member 1752, or both to move in the pitch and yaw directions (e.g., also relative to the base 540 or the device reference frame 212).

[0122] The device 510 also includes a series of transmissions through which the handle 520 is functionally connected to the distal manipulator 560. Each transmission includes a series of intermediary systems, mechanisms, and devices (e.g., cables, pulleys, linkages, other mechanisms, sensors, transducers, motors, other electronic devices, and systems thereof) to transmit and convert user inputs (e.g., pitch, yaw, and roll) into physical outputs (e.g., pitch, yaw, and roll) of the distal manipulator 560. For example, the surgical device 510 may be considered to include an input transmission 524, an intermediate transmission 544, and an output transmission 564, which work together to transmit and convert user inputs (e.g., pitch and yaw) into physical outputs (e.g., pitch and yaw) of the distal manipulator 560. The input transmission 524 transmits user input from the handle 520 to the intermediate transmission 544. The input transmission 524 typically extends from the handle 520 and extends via an input joint motion joint 522 to the intermediate transmission 544. Intermediate drive 544 converts and transmits user input to physical output. Intermediate drive 544 is typically contained within or otherwise coupled to base 540. Output drive 564 transmits the physical output from intermediate drive 544 to remote actuator 560 for use by it. Output drive 564 extends from intermediate drive 544 to output articulation joint 562 and remote actuator 560. Each different drive can be considered to include multiple drives through which user input and physical output are transmitted and converted for different functions, such as articulation, rolling, or tooling. Some aspects of input drive 524 and intermediate drive 544 may be performed electronically (or electromechanically). Other aspects of the drive are discussed in more detail below.

[0123] A handle 520 (which may also be referred to as a handle body) is movably coupled to a base 540 (e.g., a frame) to receive joint motion input from a user for controlling joint movements of a distal manipulator 560, such as pitch, yaw, or both. The handle 520 includes a first end movably coupled to a first side 540a of the base 540. For example, the first end of the handle 520 may be coupled to the base 540 via an input joint motion connector 522 including a first link 522a and a second link 522b. The first end of the handle 520 is fixedly coupled to the first link 522a, which is rotatably coupled to the second link 522b at a first pivot joint 522c. The second link 522b is rotatably coupled to the base 540 at a second pivot joint 522d. The first link 522a and the second link 522b are essentially rigid structures that are essentially configured not to bend or otherwise deflect when receiving user input for controlling the joint movement of the distal manipulator 560.

[0124] The first pivot joint 522c and the second pivot joint 522d are each configured to allow the handle 520 to rotate relative to the base 540 about only one corresponding axis, while restricting the movement of the handle 520 in and about other axes. For example, the pivot joints 522c and 522d may be configured as pin / pivot / rotation joints comprising a post rigidly connected to a structure (e.g., the first link 522a, the second link 522b, or the base 540) and a receiving seat formed by another structure (e.g., the first link 522a, the second link 522b, or the adjacent one of the base 540), in which the post is received and is rotatable (e.g., each having a circular cross-sectional shape or having a bearing interface).

[0125] The first pivot joint 522c forms a first pivot axis 522c', about which the first link 522a and thus the handle 520 rotate relative to the second link 522b and the base 540. The first pivot axis 522c' may, for example, be formed or parallel to the previously discussed input lateral axis 222-lat. When there is no yaw input (i.e., the yaw input is zero), this axis also coincides with or is parallel to the previously discussed device lateral axis 212-lat. The rotation of the handle 520 about the first pivot axis 522c' may, for example, be a pitch input, through which the user controls the pitch output of the remote controller 560. The first link 522a may be referred to as the pitch link, the first pivot joint 522c may be referred to as the input pitch joint (or simply the pitch joint), and the first pivot axis 522c' may be referred to as the input pitch axis.

[0126] The second link 522b is connected to the first side 540a of the base 540 at the second pivot joint 522d. The second pivot joint 522d forms a second pivot axis 522d' about which the second link 522b, and therefore the first link 522a and the handle 520, rotate relative to the base 540. The pivot axis 522d' may, for example, be formed or parallel to the previously discussed device lateral axis 212-tra and / or input lateral axis 222-tra, or both. Rotation of the handle 520 about the second pivot axis 522d' may, for example, be a yaw input by which the user controls the yaw output of the remote manipulator 560. The second link 522b may be referred to as the yaw link, the second pivot joint 522d may be referred to as the input yaw joint (or simply the yaw joint), and the second pivot axis 522d' may be referred to as the input yaw axis.

[0127] It should be noted that although the first pivot axis 522c' and the second pivot axis 522d' are described and illustrated as corresponding to the device lateral axis 212-lat, the device transverse axis 212-tra, the pitch input, and the yaw input, the first pivot axis 522c' and the second pivot axis 522d' can be arranged in other ways, for example, rotatably offset (e.g., 45 degrees) from the device lateral axis 212-lat and the device transverse axis 212-tra. In this way, the handle 520 can still pivot about the device lateral axis 212-lat and the device transverse axis 212-tra to provide pitch and yaw inputs respectively; however, such pivoting results in providing each of the pitch and yaw inputs in different combinations about the first pivot axis 522c' and the second pivot axis 522d'. For example, in order to change the pitch of the remote controller 560, the handle 520 pivots about the device lateral axis 212-lat, which causes the handle to pivot about both the first pivot joint 522c and the second pivot joint 522d, as well as the first pivot axis 522c' and the second pivot axis 522d' defined therefrom.

[0128] As shown, the handle 520 is configured to be gripped by a user's hand. The handle 520 may typically be elongated and extend forward from a proximal end connected to the first link 522a near the user to a distal end near the patient's free side (i.e., not connected to any structure). Pivot axes 522c', 522d' may generally coincide (e.g., intersect) with the user's wrist, allowing the user to pivot their hand up and down around their wrist to pivot the handle 520 to provide pitch input, and to pivot left and right to provide yaw input. For example, the first link 522a extends laterally outward from the handle 520 in a general direction along the device lateral axis 212-lat, upward in a general direction along the device transverse axis 212-tra, and rearward toward the user in a general direction along the device longitudinal axis 212-lon to the first pivot joint 522c. The second link 522b extends upward from the first pivot joint 522c in the general direction of the transverse axis 212-tra of the device, and extends laterally inward to the second pivot joint 522d in the general direction of the transverse axis 212-lat of the device.

[0129] like Figure 5B and Figure 6As shown, the base 540 (i.e., the frame) includes a housing 540c (frame box) that contains other components of the device 510, such as various aspects of the input drive 524, intermediate drive 544, and output drive 564. The base 540 also includes an arm 540d (i.e., a frame arch) that extends rearward from the housing 540c toward the handle 520 to form a second side 540b of the base 540 connecting to the handle 520. For example, the arm 540b may extend upward and rearward over the handle 520 and terminate at a first side 540a of the base 540, where a second pivot joint 522d is positioned above the user's wrist. Various aspects of the drive 524 may extend through the first side 540a of the base 540, the arm 540d, and the housing 540c.

[0130] See Figure 7Rotation of the handle 520 about a first pivot axis 522c', a second axis 522d', or both (which may respectively form pitch input, yaw input, or both) is mechanically transmitted to the base 540. For example, the device 510 includes an input drive 524 that transmits rotation of the handle 520 about the first pivot axis 522c' and the second pivot axis 522d' (which may provide pitch input or yaw input alone or in combination) to an intermediate drive 544 within the base 540. The input drive 524 includes a first cable length 724b and a second cable length 724c that extend from a first pulley 724a at the first pivot joint 522c through a second link 522b, through a second pivot joint 522d and into the base 540, through an arm 540d and into the housing 540c. When the handle 520 rotates about the first pivot axis 522c' in positive and negative directions (such as up and down) to control the pitch of the remote controller 560, the first cable length 724b and the second cable length 724c are pulled respectively. The intermediate transmission 544 (discussed in further detail below) within the housing 540c of the base 540 then receives, converts, and transmits the movement of the first cable length 724b and the second cable length 724c to the output transmission 564, which enables the remote controller 560 to provide pitch output, yaw output, or both. The key feature of this cable delivery is that, since the first cable length 724b and the second cable length 724c, extending from the first pulley 724a at the first pivot joint 522c, are routed through the second pivot joint 522d, the rotation of the handle 520 about the second pivot axis 522c' (i.e., the rotation of the second pivot joint 522d) should not affect the cable lengths 724b and 724c. In other words, the input pitch delivery should not be affected by yaw rotation. Several strategies can be employed to achieve this decoupling. One strategy is to route the cables 724b and 724c as close as possible to the rotation axis 522d' of the second pivot joint 522d. Another strategy is to use a Bowden cable arrangement, where the cables 724b and 724c are routed via a flexible sheath as they traverse the second pivot joint 522d.

[0131] Rotation of the handle 520 about the second pivot axis 522c' can similarly be transmitted from the second pivot joint 522d via the input transmission 524. The input transmission 524 also includes another set of first cable lengths 724e and second cable lengths 724f, which extend from the second pulley 724d at the second pivot joint 522d into the base 540, such as through the arm 540d and into the housing 540c, reaching the intermediate transmission 544. When the handle 520 rotates about the second pivot axis 522d' in positive and negative directions (such as left and right) to control the yaw of the remote manipulator 560, the first cable lengths 724e and second cable lengths 724f are respectively pulled. The intermediate drive 554 then receives, converts, and transmits the movement of the first cable length 724e and the second cable length 724f to cause a movement output of the remote controller 560, such as by yawing the remote controller 560 relative to the output drive 564, which causes the remote controller 560 to provide pitch output, yaw output, or both.

[0132] The transmission devices 524, 544, and 564 may be cooperatively configured to cause the magnitude of the user input of the handle 520 (e.g., pitch angle, yaw angle, or both) to substantially correspond to the magnitude of the physical output of the remote controller 560 (e.g., pitch angle, yaw angle, or both)—the two being substantially equal (e.g., within 20%, 10%, or less of each other), or to amplify or reduce the transmission ratio of the user input to the physical output (e.g., 4:1, 3:1, 2:1, or less, or 1.5:1, 2:1, 3:1, 4:1, or greater).

[0133] Although the input transmission 524 is described as including pulleys 724a, 724d and cable lengths 724b, 724c, 724e, 724f, it can be adapted to achieve this in other ways, such as by using suitable combinations of cables, chains, belts, gears and / or linkages, to mechanically transmit the movement of the handle 520 to the intermediate transmission 544.

[0134] The handle 520 may also include a kinetic scroll input 526 configured to receive user input for controlling scrolling of the distal manipulator 560. As shown, the kinetic scroll input 526 may be a knob or dial (e.g., a scroll dial) rotatable relative to the handle 520 about axis 222-1lon. For example, as shown, a second end of the handle 520 is a distal end located away from the user and to which the kinetic scroll input 526 is rotatably coupled. Alternatively, the scroll input 526 may be physically separable from the device 510.

[0135] The handle 520 also includes a scroll input sensor 526a (e.g., a scroll dial encoder) (which in... Figures 5B to 8 (Illustrated schematically), such as a rotary encoder, which measures the rotation of the rolling input 526 of the joint motion relative to the handle 520. A rolling input sensor 526a sends an electronic signal 726a' based on the rotation of the rolling input 526 relative to the handle 520; this electronic signal may be referred to as the rolling input signal. An intermediate transmission device 544, such as its controller (or controller housing), receives the rolling input signal 726a' and thereby causes the distal actuator 560 to roll. The rolling input 526 of the joint motion can have an unlimited range of rotational motion relative to the handle 520 in both clockwise and counterclockwise directions, allowing the rolling input 526 to rotate continuously, thereby causing continuous rotation of the distal actuator 560 in both clockwise and counterclockwise directions.

[0136] The actuators 524, 544, and 564 can be cooperatively configured such that the magnitude of the rolling input is substantially equal to the magnitude of the rolling (including joint movement) of the distal manipulator 560, wherein their respective angular positions are relative to the base 540, which is generally preferred for the user. However, the actuators 524, 544, and / or 564 can also be configured to amplify or scale down the ratio of the rolling input to the rolling output (e.g., a ratio between the changes in input and output of 4:1, 3:1, 2:1, or less, or 1.5:1, 2:1, 3:1, 4:1, or greater). With the magnitudes substantially equal, the rolling input 526 can provide the user with a visual and / or physical indication of the rolling position of the distal manipulator 560 within the patient's body.

[0137] refer to Figure 20B An embodiment of device 110 is shown, and it includes various electromechanical components (such as motors, which may be referred to as rolling motors, to drive rolling rotation; and rolling input 526, such as rolling dial 526 and rolling dial encoder 526a, which measure the rolling input angle by the user to the rolling dial 526), ​​and other electronic components (such as microcontrollers, motor drivers, encoder line drivers, encoder buffers, etc.), as described throughout this document.

[0138] exist Figure 20AIn this system 2000, the device 2010, as an embodiment of devices 110 and 510, includes an electronic unit 2080 and a cable 2090 connecting the device 2010 to the electronic unit 2080 for power and signal transmission between them. The device 2010 is configured essentially as previously described for devices 110 and 510, for example, as an embodiment of devices 110 and 510, including a control box 2080 and a control cable 2090 connecting the device 110 to the control box for power and signal transmission between them. The device 2010 is typically configured as the previously described devices 110 and 510 by including an input terminal 120, an intermediate portion 140, and an output terminal 160. Input 120 may be configured as described for device 510, including a handle 520 with articulated joint 522, input transmission 524, scroll input 526, tool input 528, and their associated systems and components, which may be adapted for different configurations shown in FIG. 20 (e.g., where the respective links 522a, 522b are arranged below the user's hand rather than above it as shown in device 510). Input articulated joint 522 may include a first link 522a (e.g., pitch link), a first joint 522b (e.g., pitch joint), a second link 522b (e.g., yaw link), a second joint 522d (e.g., yaw joint), and other components and subassemblies as described herein and which may be appropriate. Scroll input 526 may be configured as a scroll dial 526 and a scroll dial encoder 526a sensing its rotation, a scroll dial encoder line driver 2126b, and other components and subassemblies that may be appropriate.

[0139] The intermediate portion 140 may be configured as described for device 510 by including a base 540, which includes a housing 540c and an arm 540d (e.g., a frame arch) and may include and / or contain an intermediate drive 544. The intermediate drive includes an articulated motion drive 1646 (e.g., a swashplate mechanism 1746) and a rolling drive 1648. The rolling drive 1648 includes a rolling motor 1760a, a motor encoder 2160b, a motor encoder line driver 2160c, and various other mechanical and electromechanical components associated therewith and contained within the base 540 (e.g., within the housing 540c).

[0140] The output end 160 of the device 2010 also includes a shaft 542, an output articulation joint 562, which may include a distal manipulator 560 for clamping, a mechanism for opening and closing the clamp, and other components and subassemblies as described herein and which may be suitable.

[0141] Electronic unit 2080 includes housing 2082 and various electronic components contained therein, including microcontroller 2184a, encoder buffer board 2184b, power supply 2184c (e.g., battery), motor driver 2184d, and other components and systems as described herein and which may be suitable.

[0142] See Figure 20B This describes an electromechanical system (e.g., it may also be referred to as electromechanical system 700) in which the rolling rotation of the remote manipulator 560 is electromechanically transmitted and controlled. The term "electromechanical" here means a system employing mechanical, electromechanical, and electronic components. The device 2010 receives input from the user to control rolling using rolling input 526.

[0143] The user rotates a scroll dial 526 on the handle 520 about an axis 202-lon relative to the handle 520. This rotation is detected (e.g., sensed, captured, measured, or transformed) by a scroll dial r526b, which may be contained within the handle 520 (e.g., its first link 522a). A scroll dial encoder 526a generates (e.g., outputs) a scroll dial encoder signal 526a'. The scroll dial encoder signal 526a' is typically one or more electrical signals, which may be digital and / or analog. In another embodiment, instead of the scroll dial encoder 526a, another type of sensor, such as a rotary potentiometer or a resolver, may be used to detect the rotation of the scroll dial 526 and generate an electrical signal (e.g., scroll dial encoder signal 526a or equivalent).

[0144] The scroll encoder signal 526a' can be transmitted to the scroll encoder line driver 2126b, which amplifies the signal (and may invert it), thereby allowing the signal to be transmitted over longer cable lengths while minimizing noise, electromagnetic interference, and signal data corruption. The scroll encoder line receiver 2126c can be mounted at the receiving end of the enhanced signal (e.g., as an input to the microcontroller 2184a in the case of differential signaling), which will further minimize undesirable effects (e.g., interference, disruption, or noise) in the transmitted scroll input signal 2126a'. The use of the scroll encoder line driver 2126b and receiver 2126c is optional but can be recommended, especially when long cables are involved. Only the scroll encoder line driver 2126b can be used, or both the scroll encoder line driver 2126b and receiver 2126c can be used, or neither can be used. It should be noted that various other methods are also possible to mitigate unwanted electromagnetic noise or interference, such as the use of electromagnetic shielding, passive filtering, stranded wire, and differential inputs.

[0145] When the scroll input signal 2126a' arrives at the microcontroller 2184a, the microcontroller 2184a then determines the instantaneous angular position of the scroll dial 2126 based on the scroll input signal 2126a', which reflects the user input (i.e., how much scroll rotation the user has commanded).

[0146] A separate encoder buffer board 2126d (or simply encoder buffer) may be arranged between the scroll encoder 2126a and the microcontroller 2184a, or between the scroll encoder line receiver 2126c and the microcontroller 2184a (in the case of using the scroll encoder line receiver 2184a). The encoder buffer 2126d is used to receive and process the scroll input signal 2126a' to generate a modified scroll input signal 2126d' at a suitably high rate, thereby reducing the hardware or software computational burden in the microcontroller 2184a. Sometimes, the encoder buffer 2126d may be a function built into the microcontroller 2184a, or it may be a separate discrete electronic board or integrated circuit (IC). The encoder buffer 2126d then transmits the modified rolling input signal 2126d' (e.g., encoder count) to the microcontroller 2184a via an interface (unlabeled), which may be wired (e.g., Serial Peripheral Interface (SPI), Universal Asynchronous Receiver / Transmitter (UART), Inter-Integrated Circuit (I2C) etc.) or wireless (e.g., via Bluetooth, WiFi, radio, infrared etc.).

[0147] Upon receiving a rolling input signal 2126a' or a modified rolling input signal 2126d', the microcontroller 2184a may perform various signal filtering, conditioning, and / or processing methods (e.g., low-pass filter, high-pass filter, moving average filter, saturation, band-pass / band-stop filter, etc.) to reduce and / or eliminate residual noise from sources such as electromagnetic interference and mechanical vibration in the rolling input signal 2126a' or the modified rolling input signal 2126d'.

[0148] Individually, the rolling motor 1760a', housed in the housing 540c (which provides electromechanical actuation to rotate the shaft and ultimately the end effector), also has a rolling motor encoder 2160b attached thereto. The rolling motor encoder 2160b detects (e.g., captures, measures, senses, transforms) the actual rolling rotation of the rolling motor output shaft (and therefore, the rolling rotation of shaft 542 and gear train 1760b, and therefore, the rolling rotation of the distal actuator 560).

[0149] Motor encoder 2160b generates (e.g., outputs) a motor output signal 2160b'. The motor output signal 2160b' can be or includes one or more electrical signals, which can be digital and / or analog. The motor encoder signal 2160b' can be transmitted to a motor encoder line driver 2160c, which amplifies (and may invert) the signal, allowing it to be transmitted over longer cable lengths while minimizing noise, electromagnetic interference, and signal data corruption. In the case of differential signaling, a motor encoder line receiver 2160d can be mounted at the receiving end of the amplified signal, which will further minimize undesirable effects (e.g., interference, corruption, or noise) in the transmitted motor output signal 2160a'. Both the motor encoder line driver 2160c and receiver 2160d are optional but may be advantageous, especially when long cables are involved. Only the motor encoder line driver 2160c can be used, or both the motor encoder line driver 2160c and receiver 2160d can be used, or neither can be used. It should be noted that various other methods are also possible to mitigate unwanted electromagnetic noise and / or interference, such as using electromagnetic shielding, passive filtering, twisted wires, differential inputs, etc.

[0150] When the motor output signal 2160a' arrives at the microcontroller 2184a, the microcontroller 2184a then determines the instantaneous actual rolling rotation position of the motor shaft, and uses the appropriate scaling factor gear train 1760b within the microcontroller 2184a to determine how much the remote manipulator 560 actually rolls (i.e., the rotation position and / or the number of rotations).

[0151] The motor encoder buffer board 2160d can be advantageously positioned between the motor encoder 2160a and the microcontroller 2184a, or between the motor encoder line receiver 2184d and the microcontroller 2184a (in the case of using the encoder line receiver 2184d). The motor encoder buffer board 2160d receives the motor encoder signal 2160a' and processes it to generate a modified motor output signal 2160d', reducing the hardware or software computational burden in the microcontroller. The functionality of the motor encoder buffer board 2160d can be built into the microcontroller 2184a, or it can be a separate discrete electronic board or integrated circuit (IC). The motor encoder buffer board 2160d then transmits the modified motor output signal 2160d' (e.g., with motor encoder count) to the microcontroller 2184a via an interface, which can be wired (e.g., Serial Peripheral Interface (SPI), Universal Asynchronous Receiver / Transmitter (UART), Inter-Integrated Circuit (I2C) etc.) or wireless (e.g., via Bluetooth, WiFi, radio, infrared, etc.).

[0152] Upon receiving a motor output signal 2160a' or a modified motor output signal 2160d', the microcontroller 2184a may perform signal filtering, conditioning, and / or processing methods (e.g., low-pass filter, high-pass filter, moving average filter, saturation, band-pass / band-stop filter, etc.) to reduce and / or eliminate residual noise from sources such as electromagnetic interference, mechanical vibration, etc.

[0153] The microcontroller 2184a compares the actual rolling rotation of the end effector (from the motor encoder 2160a) with the value of the rolling rotation commanded by the user (from the rolling dial encoder 2126a) and implements control logic (also known as a control algorithm) based on this "difference" or "error." This control logic is designed and executed to minimize this "difference" or "error" to an acceptablely small level. Therefore, even if the user keeps the commanded value of the rolling rotation constant, but there is an external disturbance torque attempting to cause the end effector to deviate from the user's command value, the microcontroller 2184a will counteract this external disturbance torque via the control logic to maintain the rolling rotation of the end effector at the user's command value.

[0154] The control logic operates on the microcontroller 2184a and may be based on feedback control, feedforward control, or a combination of both. This control logic may employ classical control (e.g., PID controllers, lead-lag controllers), modern control (e.g., state-space controllers), or a combination thereof. The control logic may include command shaping, input filtering, fuzzy logic, adaptive control, or even machine learning-based control (e.g., artificial intelligence). The control logic may include various Boolean logic statements (e.g., if, then, else statements) that capture different use case scenarios to switch logic accordingly. The control logic includes various safety features to prevent accidental and / or unintentional actuation of the rolling motor 1760a, detect erroneous measurements from the motor encoder 2160b and / or the rolling dial encoder 2126a, detect unintended rotation of the rolling motor 1760a and even the remote manipulator 560, limit the voltage and / or current sent to the rolling motor, limit the amount of rotation and / or torque generated by the rolling motor, and various other safety measures.

[0155] According to the control logic, the microcontroller 2184a sends an appropriate command signal 2184a' to the motor driver 2184d. Before sending the command signal 2184a' to the motor driver, it may be desirable to implement various command shaping methods (e.g., low-pass filter, high-pass filter, moving average filter, saturation, band-pass / band-stop filter, etc.) on the command signal to avoid undesirable behaviors such as sudden motor fluctuations, resonance, overcurrent, etc. When the motor driver 2184d receives the command signal 2184a', the motor driver 2184d sends an appropriate amount of voltage, current, and / or power to the rolling motor 1760a to rotate the rolling motor 1760a, so that the aforementioned "difference" or "error" between the rotation of the remote actuator 560 and the rotation of the rolling dial (as commanded by the user) is minimized. The motor driver 2184d receives command signals 2184a' from the microcontroller 2184a and power from a power source 2184e (such as a battery) or other power sources 2184e (such as a power adapter, AC to DC converter, transformer, etc.).

[0156] Generally, one or more power supplies 2184e, and preferably one or more batteries, are required to power all these electronic components (e.g., microcontroller 2184a, encoder line driver, encoder buffer board, motor driver) and electromechanical components (rolling dial encoder, motor encoder, rolling motor) in the system. Sometimes, it is also necessary to gradually decrease / increase the voltage for different electronic components. In this case, a voltage regulator / converter can be used to provide power with a stable and precise voltage.

[0157] Any communication of the signals discussed here can be wired (i.e., via cable or fiber optic cable) or wireless (i.e., via Bluetooth, WiFi, radio, infrared, etc.). However, all signal communication shown in the diagram above is conducted via cable.

[0158] Let us now continue to describe a specific embodiment of the wrist device (including the device and controller box) shown in the above figures.

[0159] In this implementation, a power source and a battery are present, which are located inside the controller box.

[0160] In this embodiment, there is a rolling dial encoder housed between the rolling dial and the shank body, and a rolling dial encoder line driver located in the shank body. The rolling dial encoder signal is routed from the rolling dial encoder to the encoder line driver within the shank body, then via an internal cable extending through the shank body, pitch linkage, pitch joint, yaw linkage, yaw joint, frame arch, and finally to the frame body. The rolling dial encoder signal is then routed from the frame box to the controller box via an external cable shown in the aforementioned figures. Within the controller box, the rolling dial encoder signal reaches an encoder buffer, which counts / decodes the signal and further routes it to the microcontroller, all within the controller box. The microcontroller then uses a known conversion factor to convert the decoded rolling dial encoder signal into rotation of the rolling dial. The microcontroller then employs signal filtering / conditioning / processing methods to clean and smooth the rotation measurement of the rolling dial before feeding it to the control logic. It should be noted that the scaling factor between the scroll dial encoder signal and the scroll dial can be changed to alter the transmission ratio between the scroll dial rotation and the end effector / shaft rotation.

[0161] The scroll encoder and its associated scroll encoder line driver, both located within the shank subsystem, receive power from a battery located in the controller box. This power is routed from the controller box to the frame box via an external cable (shown in the diagram above). Once inside the frame box, the power is routed via an internal cable extending from the frame box, through the frame arch, yaw joint, yaw link, pitch joint, pitch link, and finally to the shank body where the scroll encoder and its associated scroll encoder line driver are located.

[0162] The “external cable” mentioned herein and shown in the above figures typically comprises a bundle of multiple individual cables or wires. These multiple wires individually convey individual signals, power (e.g., voltage), electrical grounding references, etc.

[0163] Next, a rolling motor with a mechanically attached motor encoder is present within the frame housing. The motor encoder receives power from a battery located in the controller housing. This power is routed from the controller housing to the frame housing via the aforementioned external cable. The motor encoder signal is routed from the motor encoder to the associated motor encoder row driver within the frame housing. From there, the motor encoder signal is routed from the frame housing back to the controller housing via the aforementioned external cable. Within the controller housing, the motor encoder signal is received at an encoder buffer plate, which further transmits the decoded motor encoder signal to the microcontroller. The microcontroller then uses a known constant conversion factor to convert the decoded motor encoder signal into a shaft / end-effector rolling rotation. Note that the scaling factor between the rolling dial encoder signal and the rolling dial can be varied to change the transmission ratio between the rolling dial rotation and the end-effector / shaft rotation.

[0164] Next, the microcontroller feeds the end effector's rolling rotation and the rolling dial's rotation into its control logic to determine the appropriate command signal to minimize the "error" or "difference" between the two measured rotations. The command signal then undergoes regulation / filtering / processing within the microcontroller to limit the maximum amplitude of the command's voltage / current / power. The motor driver, located within the controller housing, receives power from the battery (also located within the controller housing) and receives the command signal from the microcontroller via internal wiring / connections (all within the controller housing). Based on this command signal from the microcontroller, power is modulated by the motor driver in the controller housing and routed via an external cable (see the diagram above) to the rolling motor in the frame housing.

[0165] Generally, power from the motor drive (in the controller box) to the rolling motor (in the frame box) can be routed via a second separate external cable, which is separate from the external cable used to route encoder-related power and signals between the device (particularly the housing / frame box) and the controller box. Physically separating the motor power cable from the encoder signal and power cables is usually good practice to minimize / prevent electromagnetic interference and data corruption of the encoder signals.

[0166] Although the above embodiments describe a single power source for the entire wrist-worn device—a battery located in the controller housing—in general, multiple power sources may be present in the various modules of the wrist-worn device. For example, batteries may be present, preferably located in one or more of the handle body, pitch linkage, yaw linkage, frame arch, and frame housing. When one or more power sources are present within the device, various voltage regulators may be present in the system to regulate the power supply voltage down to any lower voltage level (e.g., 3.3V or 5V) that any of the aforementioned electronic components may require. Sometimes, power is supplied directly to electronic or electromechanical components, or indirectly via voltage regulators. At other times, one or more power sources within the wrist-worn device may power a microcontroller, which may in turn have an internal voltage regulator and be used to power some or all of the electronic and electromechanical components in the system.

[0167] While the above implementation describes cables that transmit data signals and power lines separately in separate cables or wires, technologies such as Power over Ethernet (PoE) can also be used to transmit data signals and power lines together in the same cable or wire.

[0168] While the above implementation only describes the main functions of the controller box, namely housing the microcontroller, battery, encoder buffer board, and motor driver, the controller box may also include a series of displays and user interfaces. For example, while maintaining the same or substantially similar functions as described above, the controller box may include additional functions such as a user interface displaying battery life, a switch allowing selection of different usage modes, and components for tracking device usage.

[0169] While the above embodiments describe an arrangement or configuration of electronic and electromechanical components housed within the device and / or controller box, many possible alternative embodiments or configurations exist. For example, while maintaining the same or substantially similar functionality as described above, all electronic and electromechanical components of the machine can be suitably encapsulated and housed within one or more of a handle subassembly, pitch linkage, yaw linkage, frame arch, or frame box. In such a configuration, there would be no external controller box, and the entire wrist-mounted device would visually resemble the device shown in the above figures. However, it should be understood that all physical components (electronic, electromechanical, and mechanical) can be housed, encapsulated, mechanically assembled, and electrically connected within the device. In this context, "robotic" and "electromechanical" are generally interchangeable terms.

[0170] In this context, "electric" and "electronic" are generally used interchangeably.

[0171] refer to Figure 5B and Figure 6The handle 520 may also include a tool input 528 configured to receive user input for controlling the tool output provided by the distal actuator 560. As shown, the tool input 528 may be a retractable lever (or trigger) that can be pressed and released by the user to operate the distal actuator 560, for example, to close and open the distal actuator 560, respectively. Alternatively, the tool input 528 may be a button, latch, ratchet input, scissor grip, thumb button, squeeze ball, etc. Figure 7 As shown, movement of the tool input 528 is mechanically transmitted from the tool input 528 to the intermediate drive 544 via an input transmission 524. For example, the input transmission 524 includes an input tool cable 728a that extends from the shank 520 to the intermediate drive 544 and enters the base 540 via a first link 522a, a first pivot joint 522c, a second link 522b, and a second pivot joint 522d. The intermediate drive 544 receives, converts, and transmits movement of the input tool cable 728a to an output transmission 564, which in turn enables the distal actuator 560 to provide a specific output, such as by opening or closing its clamps. A key feature of this cable routing is that, since the tool input cable 728a must pass through the first pivot joint 522c and the second pivot joint 522d to reach the base 540, the tool input cable 728a should not be affected (or minimally affected) by the rotation of the first pivot joint 522c and / or the second pivot joint 522d. Several strategies can be employed to achieve this decoupling. One strategy is to route the cable 728a as close as possible to the rotation axes 522c' and 522d' of the first pivot joint 522c. Another strategy is to use a Bowden cable arrangement, where the cable 728a is routed via a flexible sheath as it extends from the handle 520 into the base 540.

[0172] like Figure 8 As shown, movement of the tool input 528 can alternatively be mechanically transmitted to the remote actuator 560. In this case, the input actuator 524 includes a sensor 828a, such as a Hall sensor, potentiometer, pressure sensor, or touch sensor, which measures the position of the tool input 528 relative to the shank 520 or the force applied to the tool input, and sends an electronic signal 828a', which may be referred to as the tool input signal, to the microcontroller based on the position. The microcontroller then commands an electromechanical actuator (e.g., a motor) to generate the tool input, and an intermediate actuator 544 then receives the tool input and converts the tool input signal 828a' by transmitting movement to an output actuator 564, which enables the remote actuator 560 to provide a tool output, such as by opening or closing the remote actuator 560.

[0173] In the case of sensors used to sense joint motion input, joint motion rolling input, or tool input, these sensors can be electrically connected to the intermediate drive 544 via wires for power supply and signal transmission between them. Alternatively, the sensors can be battery powered and the signals can be transmitted wirelessly using the intermediate drive 544.

[0174] refer to Figures 9 to 15 The tool (i.e., the distal manipulator) 560 can be configured, for example, as a pair of clamps 960a, 960b, which are actuated to move toward each other to close and away from each other to open. The proximal end 960c of the distal manipulator 560 is coupled to the shaft 542 via an output articulation joint 562. The shaft 542, the output articulation joint 562, and the distal manipulator 560 are rotatably constrained to each other relative to the longitudinal axis 112-lon of the device, such that rotation of the shaft 542 about its position relative to the base 540 causes rotation of the output articulation joint 562 and the distal manipulator 560 relative to the base 540. In this way, each of the shaft 542 and the output articulation joint 562 can transmit a rolling output from the intermediate drive 544 to the distal manipulator 560 and is therefore considered part of the output drive 564, as discussed in further detail below.

[0175] The output joint motion connector 562 facilitates the joint movement of the distal manipulator 560 relative to the shaft 542. For example... Figure 9 As shown, the output joint motion connector 562 may include a series of pivoting members 962a-d, such as two, three, or four pivoting members, which are connected in series and pivot relative to each other about an axis that alternates in a direction parallel to the output lateral axis 262-lat and the output transverse axis 262-tra.

[0176] like Figures 10 to 11As shown, the output drive 564 transmits the output motion from the intermediate drive 544 to the remote actuator 560 for articulation, rolling, and thereby providing tool output. The output drive 564 may, for example, include two sets of mechanical cable lengths. The first set includes a first output cable length 1074a and a second output cable length 1074b, which are pulled by the intermediate drive 544 to bend the output articulation joint 562, and thereby articulate the remote actuator 560 relative to the output lateral axis 262-lat, thereby causing the remote actuator 560 to pitch relative to the axis 542 and the base 540. The second group includes a first output cable length 1074c and a second output cable length 1074d, which are pulled by an intermediate transmission device 544 to bend the output articulation joint 562, thereby causing the remote actuator 560 to articulate relative to the output lateral axis 262-tra, thus causing the remote actuator 560 to yaw relative to the axis 542 and the base 540. Figures 10 to 11 As shown, the output drive 564 may further include an output tool cable 1074e, which centrally passes through the shaft 542 and the output joint motion connector 562 to extend to the distal actuator 560. The intermediate drive 544 pulls the output tool cable 1074e to move the clamps 960a and 960b toward each other to close the distal actuator 560. The clamps 960a and 960b can be resiliently opened, such that the release of tension in the tool cable 1074e allows the clamps 960a and 960b to spring apart. This spring action can be implemented in the distal actuator or via a second output tool cable extending backward from the distal actuator, centrally passing through the output joint motion connector 562 and the shaft 542, entering the intermediate drive 544, and terminating at the distal actuator clamp opening spring within the intermediate drive.

[0177] like Figures 12 to 15 As shown and described above, output reference frame 262 is associated with distal actuator 560, for example, where the origin of output reference frame 262 coincides with the proximal end 960c of distal actuator 560. Similarly, as described above, device reference frame 212 is associated with shaft 542, for example, where device longitudinal axis 212-lon is coaxial with shaft 542. Distal actuator 560 is movable between a nominal orientation (e.g., where its output longitudinal axis 262-lon is parallel to device longitudinal axis 212-lon) and one or more (e.g., variable) articulation orientations (e.g., where the output longitudinal axis 262-lon is not parallel to device longitudinal axis 212-lon). Distal actuator 560 is rotatable about device longitudinal axis 212-lon, about which shaft 542 rotates. Figure 12and Figure 13 These are the side and top views of the distal manipulator 560 in the reference orientation. Figure 14 and Figure 15 The images show a side view and a top view of a distal manipulator 560 in an exemplary joint movement orientation in which it performs joint movements upward (e.g., positive in pitch) and to the left (e.g., positive in yaw).

[0178] Refer again Figure 5A and Figure 16 As described above, the intermediate drive unit 544 receives user input from the handle 520 via the input drive unit 524, converts the user input into a physical output, and transmits the physical output to the remote controller 560 via the output drive unit. (Reference) Figure 16 The intermediate drive 544 can be considered to generally include multiple drives that convert inputs into outputs. For example, the intermediate drive 544 may include a joint motion drive 1646, a rolling drive 1648, and a tool output drive 1650. The intermediate drive 544 and its subsystems may be partially or wholly contained within the base 540. The joint motion drive 1646 receives joint motion input from the handle 520 via an input drive 524 and converts it into joint motion output, which is transmitted by an output drive 564 to the distal actuator 560 to provide its joint motion. The rolling drive 1648 receives rolling input of joint motion from the rolling input 526 of the joint motion via an input drive and converts it into rolling output of joint motion (mechanically performed), which is transmitted by the output drive 564 of the distal actuator 560 to provide its rolling. As discussed in further detail below, the articulation transmission 1646 is configured to cooperate with the rolling transmission 1648 to provide rolling for the articulation of the distal manipulator 560. The tool output transmission 1650 receives tool operation input from the tool input 528 via the input transmission and transmits (mechanically or electromechanically) to the output provided by the distal manipulator 560.

[0179] refer to Figures 17 to 19 The joint motion transmission device 1646 is configured to mechanically receive joint motion input from the input transmission device 524, mechanically convert the joint motion input into a joint motion output, and mechanically transmit the joint motion output to the output transmission device 564. Although the joint motion input can be mechanically transmitted through the input transmission device 524, any such joint motion input is converted into a mechanical input received at the joint motion transmission device 1646.

[0180] In the illustrated embodiment, the articulation transmission 1646 is configured as a swashplate mechanism 1746. The articulation transmission 1646 (e.g., the swashplate mechanism 1746) is generally configured to receive articulation input from the handle 520 via an input transmission 524, convert it, and transmit it via an output transmission 564 to the distal actuator 560 to induce articulation therein, while also maintaining the distal actuator 560 in the orientation of articulation as it rotates to provide rolling of the distal actuator 560 about the articulation axis 262-11 (e.g., when the distal actuator 560 is rotated by a rolling transmission 1648 (such as by its motor 1760a)). The distal actuator 560 is capable of rotating within an unlimited range of motion, which corresponds to the unlimited range of motion of the output member 1752 (described below).

[0181] The swashplate mechanism 1746 typically includes a pivot 1748, an input member 1750, and an output member 1752. Generally, the input member 1750 is configured to receive articulated motion input from the input drive 524 and transmit articulated motion to the output member 1752, while the output member 1752 transmits articulated motion from the input member 1750 to the output drive 564, and thereby to the distal actuator 560, while also allowing the distal actuator 560 to rotate while being maintained in the articulated motion orientation.

[0182] Pivot 1748 is connected to the non-moving portion of base 540 to form a reference reference associated with device reference system 212. For example, as Figure 19As shown, the base 540 typically includes a frame 1940e within a housing 540c (not shown). The housing 540c contains a swashplate mechanism 1746, and a pivot 1748 is immovably coupled to the frame 1940e and thereby fixed relative to the device reference frame 212. The input member 1750 is pivotally supported by the pivot 1748 relative to the device reference frame 212 (e.g., within the housing 540c) and thereby pivotable about a first pivot axis 1748a, a second pivot axis 1748b, or both, which are perpendicular to each other. In some embodiments, axes 1748a and 1748b may correspond to device frame axes 212-lat and 212-tra. The frame 1940e of the base 540 may include several members immovably coupled to each other, and movable parts of the input drive 524, intermediate drive 544, and output drive 564 are coupled to these members. The housing 540c is spaced apart from the output member 1752 to move between other nominal orientations and articulated orientations, to rotate in the articulated orientation (e.g., to be able to rotate relative to the housing 540c within an unrestricted range of rotational motion), or both, without contacting the housing 540c (i.e., not engaging). The device reference frame 212 may be fixed relative to the housing 540c, while the output member 1752 may pivot relative to the housing 540c about its device pitch axis (i.e., one of the device lateral or side axis 212-lat, 212-tra) between another nominal orientation and other articulated orientations.

[0183] The input member 1750 is additionally restricted by the pivot 1748 to prevent any further translational or rotational movement relative to the device reference frame 212. Specifically, the pivot 1748 and the input member 1750 are cooperatively configured so that the input member 1750 pivots relative to the device reference frame 212 in response to the pitch, yaw, or both of the distal manipulator 560, but not in response to the roll of the distal manipulator 560 or otherwise pivots or rotates relative to the device reference frame 212. For example, the input member 1750 may be restricted from rotating about the device longitudinal axis 212-110 or an axis parallel to it. The pivot 1748 may be, for example, a biaxial gimbal. Alternatively, in some embodiments, the pivot 1748 may be a ball joint. As shown, the input member 1750 may be a cup-shaped member in which the pivot 1748 is positioned. The input member 1750 may also be referred to as a non-rotating or first member, plate, component, or structure.

[0184] Input member 1750 receives articulated motion input from handle 520 via input transmission 524, for example via cable lengths 724b, 724c, 724e, 724f, to pivot (i.e., articulate or rotate) input member 1750 about pivot 1748. When in a reference orientation relative to base 540 (e.g., relative to device reference frame 212), which corresponds to the reference orientation of distal actuator 560, the longitudinal axes (not shown) of input member 1750 and / or output member 1752 may be parallel to or coaxial with the device longitudinal axis 212-lon. When in an articulated orientation (corresponding to the articulated orientation of distal actuator 560), the longitudinal axis of input member 1750 may not be parallel to the device longitudinal axis 212-lon. In other words, input member 1750, output member 1752, or both, are movable between other reference and articulated orientations corresponding to the reference and articulated orientations of distal actuator 560. In the nominal orientation, the distal actuator 560, the output member 1752, or both can rotate about the longitudinal axis 212-10 of the device, and the shaft 542 also rotates about the longitudinal axis of the device.

[0185] The input cable lengths 724e, 724f, 724c, and 724b of the input drive 524 are directly or indirectly connected to the input member 1750 such that when the input cable lengths 724c, 724b, 724e, and 724f translate, the input member 1750 pivots about a first pivot axis 1748a and a second pivot axis 1748b of the pivot 1748. In one example, the input cable lengths 724c, 724b and 724e, 724f are indirectly connected to the input member 1750 via a first transmission mechanism 1754-1 and a second transmission mechanism 1754-2, respectively. Each of the first transmission mechanism 1754-1 and the second transmission mechanism 1754-2 can be considered part of the input drive 524 and typically includes a pulley 1754a and a drive link 1754b. Pulley 1754a is connected to input cable lengths 724c, 724b or input cable lengths 724e, 724f for rotation. Drive link 1754b is a rigid member extending between pulley 1754a and input member 1750 to transmit movement of the cable length to input member 1750. Each drive link 1754b is connected at one end to pulley 1754a via a ball joint at a location radially outward of the pulley's axis of rotation. The other end of drive link 1754b is connected via another ball joint to the input member 1750 of the swashplate mechanism 1746 at a circumferential location offset from one of the corresponding pivot axes 1748a, 1748b. The drive links 1754b of the two transmission mechanisms 1754 can be connected to the input member 1750 at positions spaced approximately 90 degrees apart around the longitudinal axis of the input member 1750. When each of the input cable lengths 724c, 724b or input cable lengths 724e, 724f is pulled by the articulated input of the handle 520, the pulley 1754a rotates and drives the link 1754b to push or pull the input member 1750 of the swashplate mechanism 1746, causing it to pivot (or articulate) about a first pivot axis 1748a, a second pivot axis 1748b, or both. Each of the drive links 1754b of the input transmission device 524 may be referred to as an input link.

[0186] When the joint motion input is electronic, the transmission mechanism 1754 may alternatively include motors (not shown) configured to rotate pulley 1754a and thereby move drive link 1754b according to the joint motion input signal. In this case, the transmission mechanism 1754 can still be considered part of the input transmission 1724, and mechanically transmits the joint motion input to the swashplate mechanism 1746, and thereby to the intermediate transmission 544.

[0187] Output member 1752 is rotatably coupled to input member 1750 about a rolling axis of rotation. More specifically, output member 1752 is rotatable about the longitudinal axis of input member 1750 and can have an unlimited range of rotational motion (i.e., rotation) about it. As described above, when the swashplate mechanism 1746 is in the reference orientation, the longitudinal axis of input member 1750 can be coaxial with or otherwise parallel to the longitudinal axis 212-lon of the device. Apart from rotation about the longitudinal axis of input member 1750, output member 1752 is constrained from all other movements relative to input member 1750. Therefore, when input member 1750 pivots about pivot 1748 according to articulated motion input, output member 1752 also pivots about pivot 1748 by approximately the same amount. For example, as shown, output member 1752 can be a cup-shaped member in which input member 1750 is received. The output member 1752 can be rotatably coupled to the input member 1750 via bearings such as ball bearings in the circumferential tracks of the input member 1750 and the output member 1752, which further constrain all other movements of the output member 1752 relative to the input member 1750.

[0188] Output member 1752 transmits the articulation of input member 1750 to remote actuator 560 via output transmission device 564, for example via first output cable length 1074a and second output cable length 1074b and first output cable length 1074c and second output cable length 1074d. Pairs of output cable lengths 1074a, 1074b and 1074c, 1074d are directly or indirectly connected to output member 1752 such that when output member 1752 pivots together with input member 1750 about pivot axes 1748a, 1748b, output cable lengths 1074a, 1074b, 1074c, 1074d translate along their respective lengths and cause articulation of remote actuator 560.

[0189] In one example, each of the output cable lengths 1074a, 1074b, 1074c, and 1074d is indirectly connected to the output member 1752 via a connecting link 1756. Each connecting link 1756 is a generally rigid member that is connected to the output member 1752 via a ball joint, for example, to its outer circumferential surface as shown. Each connecting link 1756 may also be curved or otherwise include a radially outwardly curved shape (e.g., defining an inwardly recessed portion), which allows the output member 1752 to move therein without interference when it pivots about a first pivot axis 1748a and a second pivot axis 1748b. When the output member 1752 pivots from the input member 1750, the sets of output cable lengths 1074a, 1074b and 1074c, 1074d are translated, thereby causing articulation of the distal actuator 560. That is, the output cable lengths 10741, 1074b, 1074c, and 1074d are connected to the output member 1752 and the remote actuator 560, such that when the output member 1752 moves between its nominal orientation and its joint motion orientation, the remote actuator 560 moves between its nominal orientation and its joint motion orientation respectively via the output cable lengths 1074a, 1074b, 1074c, and 1074d.

[0190] As described above, the output member 1752 is rotatable relative to the input member 1750. More specifically, the output member 1752 is rotatably coupled to the shaft 542 to transmit torque between them, rotating together with it relative to the base 540 (e.g., about the device's longitudinal axis 212-lon). Furthermore, output cable lengths 1074a, 1074b, 1074c, and 1074d extend from the output member 1752 through the shaft 542 and rotate together with it about the device's longitudinal axis 212-lon. This ensures that the cable lengths 1074a, 1074b, 1074c, and 1074d do not coil or wind up within the shaft as it rotates about the device's longitudinal axis 212-lon. Shaft 542 receives torque from rolling transmission 1646 (e.g., its motor 1760a) and transmits that torque to output member 1752 to cause its rotation, and, as mentioned above, transmits torque to remote actuator 560 to cause its rotation. For example, shaft 542 can transmit torque from motor 1760a in parallel to remote actuator 560 and output member 1752 to cause their rotation.

[0191] Shaft 542 is rotatably connected to output member 1752 of swashplate 1744 via a rolling linkage 1758, which may also be referred to as a rolling drive linkage. The rolling linkage 1758 connects to shaft 542 and output member 1752 and transmits motion (e.g., torque) between them. The rolling linkage 1758 is also configured to accommodate pivoting of output member 1752 about pivot 1748. For example, as shown, the rolling linkage 1758 may include a first link connected to shaft 542 and a second link extending from the first link and connected to output member 1752. A first end of linkage 1758 is connected to shaft 542 (e.g., formed by the first link), while a second end of linkage 1758 is connected to output member 1752 (e.g., formed by the second link). Linkage 1758 is configured to accommodate varying distances between the first and second ends as output member 1752 rotates in an articulated motion orientation. The first end of the linkage rotates about the longitudinal axis 212-lon of the device by a fixed radial distance, and the second end rotates about the longitudinal axis by a variable radial distance as the output member 1752 rotates in an articulated orientation. The first end of the linkage 1758 is coupled to the shaft at a fixed longitudinal position along the longitudinal axis 212-lon, and the second end of the linkage varies in longitudinal distance position along the longitudinal axis as the output member rotates in another articulated orientation. The first link is coupled to the shaft 542 via a pivot joint having a first pivot axis that is substantially perpendicular to the axis of rotation of the shaft 542 (e.g., the longitudinal axis 212-lon of the device) and radially spaced outward from that axis of rotation. The first link extends substantially perpendicular to both the first pivot axis and the axis of rotation of the shaft 542, although the latter is not essential. The second link is connected to the first link via another pivot joint having a second pivot axis that is generally parallel to the first pivot axis and can be positioned on the side of shaft 542 that is radially opposite to the first pivot axis. The second link extends rearward toward the output member 1752 and is connected to the output member 1752 via a ball joint.

[0192] When the output member 1752 of shaft 542 and swashplate mechanism 1746 is rotated by rolling transmission 1648, the output member 1752 is held in a joint orientation by input member 1750 according to the joint motion input, thereby providing rolling for the joint motion of distal actuator 560. That is, distal actuator 560 is rotated in one or more joint orientations. As the output member 1752 rotates, the output cable lengths 1074a, 1074b, 1074c, 1074d subsequently orbit around the axis of rotation (e.g., the longitudinal axis 212-lon of the device), thereby changing their rotational position around input member 1750 and thus changing their longitudinal position relative to the longitudinal axis 212-lon of the device. Therefore, when the shaft 542 rotates about the longitudinal axis 212-lon of the device, the lengths 1074a, 1074b, 1074c, and 1074d of the output cables translate relative to the shaft 542, thereby causing the remote manipulator 560 to articulate relative to the shaft 542 when the shaft rotates, and thereby maintaining the articulation orientation of the remote manipulator 560 relative to the tool reference system 212.

[0193] As described above, the intermediate drive 544 includes a rolling drive 1648. The rolling drive 1648 mechanically receives rolling input from the input drive 524, for example, and converts the rolling input into rolling output, which is transmitted by the output drive 564 to the distal actuator 560 to cause its rolling. The rolling drive 1648 may include a motor 1760a (i.e., a rolling motor) operatively coupled to the shaft 542 to cause its rotation relative to the base 540. For example, the motor 1760a may apply torque to the shaft 542, which in turn transmits the torque from the motor 1760a to the distal actuator 560 to cause its rotation (e.g., in a nominal or articulated orientation). The shaft 542 is coupled to the frame 1940b of the base 540 using one or more bearings 1942a, which allow the shaft 542 to rotate relative to the frame 1940e while preventing other movement between them (e.g., translational and / or pivoting movement). Motor 1760a is operatively coupled to shaft 542 via gear train 1760b or other rotary transmission mechanism (e.g., belt and pulley, or chain and sprocket, etc.) that rotates shaft 542 relative to frame 1940b of base 540. Motor 1760a rotates shaft 542 based on a rolling input signal 726a' received from rolling input sensor 526a that measures the rotation of rolling input 526. For example, rolling input drive 1648 may include a transducer configured to receive the rolling input signal 726a' of joint movement, and a microcontroller that operates motor 1760a via motor driver to rotate shaft 542 based on the rolling input signal 726a'. For example, motor 1760a may rotate shaft 542 (and thus the distal actuator) by a rolling angular displacement that is the same as the rolling angular displacement of rolling input 526 relative to handle 520.

[0194] As described above, the intermediate drive 544 includes a tool output drive 1650. The tool output drive 1650 can be configured in any suitable manner, for example, including a cable or component of a certain length extending between the input tool cable 728a and the output tool cable 1074e, which mechanically transmits the tool input to the tool output. In the case where the tool input is mechanically transmitted from the tool input 528a, the tool output drive 1650 may include an actuator, such as a motor or voice coil, that pulls the output tool cable 1074e.

[0195] Now for reference Figure 21A and Figure 21BAn exemplary intermediate module is shown. The intermediate module is configured as a transmission system (i.e., a swashplate mechanism) 1110 capable of receiving three rotary inputs (each rotary input is received at a corresponding input member (i.e., at the input end)) and converting the rotary inputs into three rotary outputs delivered at a single output member (i.e., at the output end).

[0196] The transmission system 1110 includes a joint motion input subsystem 1111 (including at least two input components 1116, 1118), a swashplate system 1112 (including at least two swashplates 1124, 1126), a rolling input subsystem 1113 (including at least a third input component 1128, a shaft 1130, and a rolling drive coupling 1132), and an output subsystem 1114 (including at least an output connector 1140 and an output component 1142). The proximal end of the transmission system 1110 is defined as being closer to the input subsystem 1111, while the distal end of the transmission system 1110 is defined as being closer to the output subsystem 1142.

[0197] The three inputs are received at three input members, respectively. For example, the first input I1 is received at the first input member 1116, the second input I2 is received at the second input member 1118, and the third input I3 is received at the third input member 1128. The first input I1 and the second input I2 may be referred to as joint motion inputs. In some examples, the first input I1 and the second input I2 may be orthogonal and may correspond to yaw and pitch rotations. In other examples, the first input I1 and the second input I2 may not be orthogonal and may refer to other axes that produce tilt and roll. The third input I3 may correspond to roll rotations.

[0198] The corresponding outputs are provided at output member 1142 (e.g., a remote controller), where the first output O1 and the second output O2 can be yaw rotation and pitch rotation of output member 1142, respectively. The third output O3 can be roll rotation of output member 1142. The rotations of the remote controller in the first output O1 and the second output O2 together can be referred to as "joint motion of the remote controller". The rotation in the third output O3 can be referred to as "roll rotation of the remote controller" or "roll of the remote controller".

[0199] The transmission system 1110 may include multiple mechanical references. Reference 1120 may be a physical component such as a structure, base, or frame to which various other components of the system 1110 are mounted or connected. For example, a first input component 1116 may be mounted to a first reference 11201, a second input component 1118 may be mounted to a second reference 11202, a third input component 1128 may be mounted to a third reference 11203, a shaft may be mounted to a fourth reference 11204, and a first swashplate 1124 and a second swashplate 1126 may be mounted to a fifth reference 11205. These references are not fixed or immovable in an absolute sense. These references serve as references to which the movement of the various components in the transmission system 1110 is described. References may be continuous or may be a structural arrangement of discrete components connected to each other. References may take any physical shape depending on the geometry, assembly, or application requirements of the entire transmission system 1110. Shafts 1001, 1002, and 1003 are fixed to references. Axes 1001, 1002, and 1003 can be perpendicular to each other and can intersect each other.

[0200] refer to Figure 21A and Figure 21B The transmission system 1110 includes a swashplate system 1112, which further includes a first swashplate 1124 and a second swashplate 1126. The first swashplate 1124 is connected to a reference 11205 of the transmission system via a first rotary joint R1, the rotation center of which is C1. The first rotary joint R1 can be a two-DoF (“degrees of freedom”) rotary joint (e.g., a universal joint, a cross-type universal joint, a constant velocity or CV joint, etc.) or a three-DoF rotary joint (e.g., a ball joint, a ball socket joint, etc.). The first rotary joint R1 allows the first swashplate 1124 to have at least two articulated rotational movements (e.g., yaw and pitch) relative to the reference 11205, and constrains three translations of the first swashplate 1124 relative to the reference 11205 at the rotation center C1 of the rotary joint R1.

[0201] Axes 1101, 1102, and 1103 are assigned to the first swashplate 1124. Axes 1101, 1102, and 1103 may all intersect at the rotation center C1 of the rotary joint R1 of the first swashplate 1124, allowing the first swashplate 1124 to articulate about axes 1101 and 1102 in yaw and pitch rotations, respectively. When the first swashplate 1124 is in its nominal (i.e., non-articular) configuration (… Figure 21BWhen the axis 1103 coincides with the axis 1003, the plane formed by axes 1101 and 1102 is parallel to the plane formed by axes 1002 and 1003. In this configuration, axes 1001 and 1101 can be parallel, and axes 1002 and 1102 can be parallel. In the articulation configuration of the first swashplate 1124 (see, for example...), Figure 23 The axis 1103 is no longer collinear or parallel to the axis 1003, but points at an angle relative to the axis 1003. Similarly, the plane formed by axes 1101 and 1102 is no longer parallel to the plane formed by axes 1001 and 1002.

[0202] The first swashplate 1124 is connected to the second swashplate 1126 via a second rotary joint R2, which allows one rotational DoF (i.e., rolling rotation) about axis 1103 and constrains articulated movements (i.e., yaw and pitch rotations) about axes 1101 and 1102. Furthermore, in some embodiments, translation along the three axes may also be limited by the second rotary joint R2, while this may not be the case in other embodiments. In some examples, the second rotary joint R2 may include one or more rolling element bearings (e.g., ball bearings, roller bearings), or one or more bushings to support axial, radial, and / or moment loads. The second swashplate 1126 articulates with the first swashplate 1124 by substantially the same amount (in yaw and / or pitch rotations). In other words, the yaw and pitch rotations of the second swashplate 1126 are virtually identical to those of the first swashplate 1124. However, the rotational DoF allowed by the second rotary joint R2 allows the second swashplate 1126 a degree of freedom to rotate (i.e., roll) relative to the first swashplate 1124 about axis 1103. More simply, the first swashplate 1124 and the second swashplate 1126 are capable of articulating in yaw and / or pitch rotations, with the same amount of articulation. However, the first swashplate 1124 does not rotate about axis 1103, while the second swashplate 1126 is capable of rotating about axis 1103 in roll rotation.

[0203] Axes 1201, 1202, and 1203 are fixed to the second swashplate 1126. Generally, axes 1103 and 1203 remain collinear when the two swashplates 1124 and 1126 articulate together, and when the second swashplate 1126 rotates relative to the first swashplate 1124 in a rolling rotation. The plane formed by axes 1201 and 1202 remains parallel to the plane formed by axes 1101 and 1102, even when the plane formed by axes 1201 and 1202 rotates relative to the latter plane about axis 1103 or 1203. In some embodiments, axes 1201, 1202, and 1203 may all intersect at the center of rotation C1.

[0204] Although the first swashplate 1124 and the second swashplate 1126 are shown as disks or plates, they may take any other similar or different shapes necessary for the encapsulation and assembly constraints associated with other components and parts in their vicinity. The shapes of the first and second swashplates may also be determined by existing applications. These shapes may be toroidal (circular, square, or rectangular), domed, hemispherical, or any other shape.

[0205] In some implementations and such Figure 21A and Figure 21B As shown, a first swashplate 1124 is coupled to a first input member 1116 and a second input member 1118. In some embodiments, the first input member 1116 and the second input member 1118 may be gears. In other embodiments, the first input member 1116 and the second input member 1118 may be pulleys, linkages, lever arms, or may take other functional shapes. The first input member 1116 is pivotally coupled to a reference 11201 via a first input rotary joint 1140, which provides at least one DoF having an axis of rotation defined by axis 1011. The second input member 1118 is pivotally coupled to a reference 11202 via a second input rotary joint 1142, which provides at least one DoF having an axis of rotation defined by axis 1022. In some embodiments, the first input rotary joint 1140 and the second input rotary joint 1142 may be 1 DoF rotary joints (e.g., pin joints, pivot joints, or rotary joints). In other embodiments, these input rotary joints may have other properties providing two or three DoFs.

[0206] In some examples, axes 1011 and 1022 may be substantially orthogonal. In other examples, these axes may be any two non-collinear axes in the plane defined by axes 1001 and 1002. For example, these axes may be at an angle, such as 70 degrees, 45 degrees, or another angle. In some embodiments, axis 1011 may be parallel to axis 1001, and axis 1022 may be parallel to axis 1001.

[0207] A first input member 1116 is configured to receive a first input I1, which in some embodiments may be a yaw rotation. A second input member 1118 is configured to receive a second input I2, which in some embodiments may be a pitch rotation. The first input member 1116 is connected to a first swashplate 1124 via a first drive link 1144, thereby converting and transmitting the yaw rotation of the first input member 1116 to a corresponding yaw rotation of the first swashplate 1124 about a first rotary joint R1. One end of the first drive link 1144 is pivotally connected to the first input member 1116 via a first pivot joint R11, and the other end is pivotally connected to the first swashplate 1124 via a second pivot joint R12.

[0208] Similarly, the second input member 1118 is connected to the first swashplate 1124 via the second drive link 1146, thereby converting and transmitting the pitch rotation of the second input member 1118 to the corresponding pitch rotation of the first swashplate 1124 about the first rotary joint R1. One end of the second drive link 1146 is pivotally connected to the second input member 1118 via a third pivot joint R21, and the other end is pivotally connected to the first swashplate 1124 via a fourth pivot joint R22. The first pivot joint R11, the second pivot joint R12, the third pivot joint R21, and the fourth pivot joint R22 can be 2 DoF rotary joints (e.g., universal joints or cross-type universal joints) or 3 DoF rotary joints (e.g., ball joints, ball-and-socket joints). In some embodiments, the pivot joints may have a flexural implementation (e.g., by a notch flexural design, an hourglass flexural design, or a beam flexural design, etc.). In some embodiments, the third pivot joint R12 and the fourth pivot joint R22 may be located on the first rotating swashplate, approximately 90 degrees apart from the first rotating joint R1 and the rotation center C1. In some embodiments, the rotation centers of the third pivot joint R12 and the fourth pivot joint R22, as well as the rotation center C1 of the first rotating joint R1, are located in the same plane as the plane formed by axes 1101 and 1102.

[0209] In some embodiments, the first drive link 1144 may be the first input member 1116 itself, without requiring a separate member. In other words, the first input member and the first drive link may be the same member or an extension of the other. Similarly, the second drive link 1146 and the second input member 1118 may be the same member or an extension of the other. In some embodiments, the first input I1 and the second input I2 may be received directly at the first drive link 1144 and the second drive link 1146, respectively.

[0210] It should be understood that the size and position of the first drive link 1144 and the second drive link 1146, as well as the first pivot joint R11, the second pivot joint R21, the third pivot joint R12 and the fourth pivot joint R22, can be selected to achieve any desired ratio between the first input I1 received at the first input member 1116 and the resulting / corresponding rotation of the first swashplate 1124, and similarly between the second input I2 received at the second input member 1118 and the resulting / corresponding rotation of the first swashplate 1124.

[0211] In some embodiments, the first input I1 received at the first input member 1116 may be correlated with the yaw rotation of the first swashplate 1124, but independent of the second input I2. Similarly, the second input I2 received at the second input member 1118 may be correlated with the pitch rotation of the first swashplate 1124, but independent of the first input I2. In other embodiments, some combination of the first input I1 and the second input I2 may produce the yaw rotation of the first swashplate 1124, and some other combination of the first input I1 and the second input I2 received at the first input member 1116 and the second input member 1118 may result in the pitch rotation of the first swashplate 1124.

[0212] In some implementation schemes and such Figure 21A and Figure 21B As shown, the first input member 1116, together with the first input link 1144, can be similar to the second input member 1118 and the second input link 1146. In other embodiments, the first input member 1116 and the first input link 1144 can be different connection combinations than the second input member 1118 and the second input link 1146. In the example, the connection between the input member and the first swashplate can include gears, belts, cables or ropes, chains, or other types of linkage mechanisms (e.g., planar or spatial linkage mechanisms).

[0213] In the implementation plan and as Figure 21A and Figure 21BAs shown, the third input I3 (e.g., rolling rotation) is received at the third input member 1128, which can be coupled to the shaft 1130 via the friction drive 1032. In other embodiments, the third input I3 can be transmitted from the third input member 1128 to the shaft 1130 via other transmission means, such as via cables, belts, gears or other transmission systems.

[0214] The third input member 1128 can be pivotally coupled to the reference 11203 via a third input rotary joint 1148 having a rotation axis defined by axis 1033. In some embodiments, the third input rotary joint 1148 may be a 1 DoF rotary joint (e.g., a pin joint, pivot joint, or rotary joint). In some embodiments, axis 1033 may be parallel to axis 1003. In other embodiments, such as if the coupling includes a bevel gear drive between the third input member 1128 and shaft 1130, axes 1033 and 1003 may not be parallel, but perpendicular or at another angle between 0 and 90 degrees. In some embodiments, the third input 13 may be received directly at shaft 1030 without the need for a third input member. In this case, the third input member and shaft may be the same member or an extension of the other. For example, the shaft may be integrated with the rotor of an electric motor, or the shaft may be integrated with a dial or lever that can be directly driven by the user.

[0215] Shaft 1130 is coupled to reference 11204 via a third rotary joint R3, which provides a DoF (Direction of Free) allowing shaft 1130 to rotate about axis 1003 relative to reference 11204. In some embodiments, the third rotary joint R3 may include rolling element bearings that allow shaft 1130 to roll about axis 1003 but not to articulate relative to reference 11204. In other embodiments, the third rotary joint R3 may include bushings, pins, or other bearing options to provide rolling rotation. Axes 1301, 1302, and 1303 are secured to shaft 1030. The plane formed by axes 1301 and 1302 remains parallel to the plane formed by axes 1001 and 1002. In some embodiments, axis 1303 may be laterally offset from axis 1003. In other examples, axes 1303 and 1003 may be collinear.

[0216] like Figure 21A and Figure 21BAs shown, the second swashplate 1126 is connected to the shaft 1130 via a rolling drive coupling R4, which transmits the rolling rotation of the shaft 1130 (about axis 1003 or 1303) to the corresponding rolling rotation of the second swashplate 1126 (about axis 1203), and simultaneously allows the second swashplate 1126 to articulate with respect to reference 11204 and / or shaft 1130. A third rotary joint R3 prevents the shaft 1030 from rotating with respect to reference 10204. Depending on the articulation of the second swashplate 1126 with respect to reference 10204 (and therefore shaft 1130), axis 1203 will generally not be collinear or parallel to axes 1003 or 1303, but may be angled relative to axes 1003 and 1303.

[0217] The rolling drive coupling R4 may include multiple links and joints. In such cases... Figure 21A and Figure 21B In one embodiment shown, the rolling drive coupling R4 includes a first rotary drive link joint R41 between the shaft 1130 and the first link 1034 of the rolling drive coupling, a second rotary drive link joint R42 between the first link 1034 and the second link 1036 of the rolling drive coupling, and a third drive link rotary joint R43 between the second link 1036 and the second swashplate 1026 of the rolling drive coupling. The first and second rotary drive link joints R41 and R42 can be 1DoF rotary joints such as (e.g., pin joints, pivot joints, or rotary joints). The third rotary drive link joint R43 can be a twoDoF rotary joint (e.g., universal joint, cross-type universal joint, constant velocity (CV) joint, etc.) or a threeDoF rotary joint (e.g., ball joint, ball-and-socket joint, etc.). In the implementation scheme, any of these first rotary drive link joints, second rotary drive link joints, or third rotary drive link joints may have a flexural implementation scheme (e.g., via a notch flexural design, or an hourglass flexural design, or beam flexural design, or line flexural design, or notch flexural design, etc.). Figure 22B The figure shows a flexure-based implementation of the rolling drive coupling R4, where R41 and R42 are flexure-based active hinges that provide 1 rotational DoF, while R43 is a flexure-based hourglass that provides 3 rotational DoF.

[0218] In some embodiments, the arrangement of the connecting rods and rotary drive joints in the rolling drive coupling R4 may be referred to as a rotary (R)-rotary (R)-spherical (S) or simply an RRS chain, which lists the order of the joints. In other embodiments, the rolling drive coupling R4 may alternatively include a rotary (R)-rotary (R)-universal (S) or RRU chain. Other types of kinematic chains (i.e., the arrangement of connecting rods and rotary joints) may also be used in the rolling drive coupling R4. In further embodiments, more than one chain may be used simultaneously for the rolling drive coupling R4. For example, two separate and independent RRS chains spanning the shaft 1130 and the second swashplate 1026 may be used to transmit the rolling rotation of the shaft 1130 to the corresponding rotation of the second swashplate 1026 (see [link to relevant documentation]). Figure 22C This helps increase the torque transmission capability associated with rolling rotation.

[0219] like Figure 21A and Figure 21B As shown, the rolling drive coupling R4 ensures that the third input I3 (or rolling rotation) received at the third input member 1128 and / or shaft 1130 is transmitted to the second swashplate 1126 without being affected by the articulation of the second swashplate 1124. In other words, even if shaft 1130 does not articulate relative to reference 10205, but the second swashplate 1026 articulates relative to reference 10205 (due to the articulation of the first swashplate 1024), the rolling rotation of shaft 1130 about axis 1303 (or effectively axis 1003) is still coupled to the rolling rotation of the second swashplate 1126 about axis 1203 (or effectively axis 1103). As shown, this arrangement of the rolling drive coupling R4 provides a rolling rotation of the second swashplate 1126 that is precisely or approximately equal to the rolling rotation of shaft 1130. In other words, there is a 1:1 transmission ratio between shaft 1130 and the second swashplate 1126. In implementation, other transmission ratios, such as 1:2, 1:4, 2:1, or any other desired transmission ratio, can be achieved by appropriately selecting the geometry, size, and position of the various links, components, and joints shown herein, and / or by including additional links, belts, pulleys, ropes, gears, or other transmission elements. In another embodiment, the rolling drive coupling R4 can be used to directly connect the rolling rotation between the third input member 1128 and the second rotating swashplate 1126.

[0220] Shaft 1130 is connected to output member 1142 (e.g., remote manipulator) via a first output rotary joint R5, which transmits the rolling rotation of shaft 1130 (about axes 1003 and 1303) to the rolling rotation of remote manipulator 1142, while allowing the remote manipulator to articulate about rotation center C5 relative to shaft 1142.

[0221] In one embodiment, the first output rotary joint R5 is a two-DoF joint that allows articulation (pitch and yaw rotation) between the remote controller 1142 and the shaft 1130 and transmits roll rotation. The first output rotary joint R5 can be a universal joint, a cross-type universal joint, a constant velocity (CV) joint, or another joint providing two DoF. In other embodiments, the first output rotary joint R5 can also be a series of universal or cross-type universal joints that together allow articulation (pitch and roll rotation) between the remote controller 1142 and the shaft 1130 and transmit roll rotation. The series of universal joints at the first output rotary joint R5 allows the remote controller to take complex meandering shapes in the pitch and yaw directions (e.g., Figure 31C (As shown).

[0222] Axes 1401, 1402, and 1403 are fixed to the distal actuator 1142. (The remaining text appears to be incomplete and requires further context.) Figure 21A and Figure 21B In the nominal (or non-joint motion) configuration shown, axis 1403 is aligned with and collinear with axes 1003 and 1303. Axes 1401 and 1402 form a plane parallel to the plane formed by axes 1301 and 1302. During joint motion (e.g., in...) Figure 23 (As shown in the diagram), the distal manipulator 1142 and axis 1403 are oriented at an angle relative to axis 1303. When the distal manipulator 1142 is not performing articulation, axes 1401 and 1301 can be parallel, and axes 1402 and 1302 can be parallel. Referring now to Figure 22, the first output rotary joint R5 provides rolling rotation of shaft 1130 about axis 130, which is transmitted to rolling rotation of distal actuator 1142 about axis 1403, unaffected by the articulation of distal actuator 1142. In other words, even if shaft 1130 does not articulate relative to reference 10205, distal actuator 1141 articulates relative to shaft 1130 and reference 10205 due to the articulation of second swashplate 1126, and the rolling rotation of shaft 130 about axis 1303 is coupled to the rolling rotation of distal actuator 1142 about axis 1403.

[0223] The rolling drive coupling R4 between shaft 1130 and the second swashplate 1126, and the first output rotary joint R5 between shaft 1130 and the remote actuator 1142, ensure that the rolling rotation of the second swashplate 1126 about axis 1203, the rolling rotation of shaft 1130 about axis 1303, and the rolling rotation of the remote actuator 1142 about axis 1403 are all interconnected. All three rolling rotations occur synchronously together, which in Figures 23 to 26As shown in the diagrams, these figures illustrate multiple positions within the rotational cycle.

[0224] The distal actuator 1142 is connected to the second swashplate 1126 via a "joint motion output transmission device," which transmits the joint motion of the second swashplate 1126 to the joint motion of the distal actuator 1142. For example... Figure 21A and Figures 3 to 6 As shown, the joint motion output transmission device includes four cables (1601, 1602, 1603, and 1604). One end of each cable 1601, 1602, 1603, and 1604 is connected to the second swashplate 1126, while the other end of each cable 1601, 1602, 1603, and 1604 is connected to the remote actuator 1142. Cables 1601, 1602, 1603, and 1604 are capable of transmitting tension (i.e., they can be pulled but not pushed). Two cables transmit rotation in each joint motion rotation. For example, the first pair of cables 601 and 603 transmits pitch rotation in the positive and negative directions, while the second pair of cables 602 and 604 transmits yaw rotation in the positive and negative directions.

[0225] In some embodiments, cables 1601, 1602, 1603, and 1604 are shown routed through shaft 1130 between the second swashplate 1126 and the distal actuator 1142. In other embodiments, cables 1601, 1602, 1603, and 1604 may be routed via different paths inside or outside shaft 1130, or entirely independently of shaft 1130. In some embodiments, redirecting pulleys 2701, 2702, 2703, and 2704 are provided for routing and guiding cables 1601, 1602, 1603, and 1604. Between the entry positions at the proximal end of the second swashplate 1126 and shaft 1130, there is at least one redirecting pulley 2701, 2702, 2703, and 2704 for each cable 1601, 1602, 1603, and 1604. Figure 23 Pulley 2702 associated with cable 1602 and pulley 2704 associated with cable 1604 are shown. Figure 24Pulley 2701 associated with cable 1601 and pulley 2703 associated with cable 1603 are shown. These redirecting pulleys 2701, 2702, 2703, and 2704 are mounted to a shaft (typically via a pin joint) such that when the shaft rotates about axis 303, the pulleys also rotate with the shaft about axis 303. It should be understood that, for clarity, the figures shown depict only two pulleys, and the exemplary embodiments described include four pulleys 2701, 2702, 2703, and 2704, each associated with its corresponding cable 1601, 1602, 1603, and 1604. In other examples, multiple redirecting pulleys, pins, idlers, riding surfaces, or other common components / features may be used to properly guide the cable. In some cases, redirecting pulleys may not be present.

[0226] In one implementation, given cables 1601, 1602, 1603, 1604, their first connection points A1, A2, A3, A4 on the second swashplate 1126 may have corresponding second connection points B1, B2, B3, B4 at similar locations on the remote manipulator 1142. For example, as Figure 23As shown, viewed from the distal end to the proximal end, one end of the cable 1601 can be connected to the second swashplate 1126 at or near the 12 o'clock position at the first connection point A1, while the other end of the cable 1601 can be connected to the distal manipulator 1142 at or near the 12 o'clock position at the second connection point B1. Similarly, the two ends of cable 1602 can be connected at their respective 3 o'clock (approximate) positions to the second swashplate 1126 (at connection point A2) and the distal actuator 1142 (at connection point B2), the two ends of cable 1603 can be connected at their respective 6 o'clock (approximate) positions to the second swashplate 1126 (at connection point A3) and the distal actuator 1142 (at connection point B3), and the two ends of cable 1604 can be connected at their respective 9 o'clock (approximate) positions to the second swashplate 1126 (at connection point A4) and the distal actuator 1142 (at connection point B4). This arrangement of cables 1601, 1602, 1603, and 1604 results in an operation whereby when the second swashplate 1126 performs an upward articulation (i.e., positive pitch rotation), the distal actuator 1142 also performs an upward articulation (i.e., positive pitch rotation). When the second swashplate 1126 articulates downwards (i.e., negative pitch rotation), the distal controller 1142 also articulates downwards (i.e., negative pitch rotation). When the second swashplate 1126 articulates to the right (i.e., positive yaw rotation), the distal controller 1142 also articulates to the right (i.e., positive yaw rotation). When the second swashplate 1126 articulates to the left (i.e., negative yaw rotation), the distal controller 1142 also articulates to the left (i.e., negative yaw rotation).

[0227] In other embodiments, the connection points of cables 1601, 1602, 1603, and 1604 at their respective first connection points A1, A2, A3, A4 and their respective second connection points B1, B2, B3, B4 may be different. For example, one end of cable 1601 may be connected to the second swashplate 1126 at or near the 12 o'clock position, while the other end of cable 1601 may be connected to the distal actuator 1142 at (or near) the 6 o'clock position. In this case, an upward articulation of the second swashplate 1126 (i.e., positive pitch rotation) may result in a downward articulation of the distal actuator 1142 (i.e., negative pitch rotation). In yet another alternative arrangement, one end of cable 1601 may be connected to the second swashplate 1126 at or near the 12 o'clock position, while the other end of cable 1601 may be connected to the distal actuator 1142 at (or near) the 3 o'clock position. In this case, the upward joint movement (positive pitch rotation) of the second swashplate 1126 can result in the rightward joint movement (negative yaw rotation) of the distal controller 1126.

[0228] Furthermore, the radial positions of the first connection points A1, A2, A3, A4 (i.e., the distances of cable connection points A1 / A2 / A3 / A4 from the center C1) connected to the second swashplate 1126, relative to the radial positions of the second connection points B1, B2, B3, B4 (i.e., the distances of cable connection points B1 / B2 / B3 / B4 from the center C5) connected to the other cable end connected to the remote controller 1142, determine the ratio between the joint motion angles of the second swashplate 1126 and the remote controller 1142. By changing or optimizing these radial positions of the cable connection points on the second swashplate 1126 and / or the remote controller 1142, a desired transmission ratio between the joint motions of the second swashplate 1126 (i.e., yaw and / or pitch rotation) and the joint motions of the remote controller 1142 can be achieved. Furthermore, different transmission ratios can be implemented and achieved for yaw rotation compared to pitch rotation.

[0229] In some embodiments, the cable end can be coupled to the second swashplate 1126 or the remote manipulator 1142 by crimping it into place using a ball crimping device. In other embodiments, the cable end can be crimped into the plate by other crimping methods or by clamping it into place. The crimping device used on the cable can have various shapes, including but not limited to ball crimping devices or cylindrical crimping devices. The connection may also include the use of a ball joint (e.g., a ball socket or ball joint) or a universal joint that allows the cable end to rotate freely relative to the second swashplate 1126 or the remote manipulator 1142 while still effectively transmitting tension.

[0230] In a preferred arrangement, all four first connection points A1, A2, A3, and A4 of the four cables 1601, 1602, 1603, and 1604 on the second rotating swashplate 1126 are in the same plane, which also passes through the rotation center C1 of the first rotary joint R1.

[0231] Therefore, the distal actuator 1142 receives articulated rotation from the second swashplate 1126 and rolling rotation from the shaft 1130. However, since the rolling rotations of the second swashplate 1126, the shaft 1130, and the distal actuator 1142 about their respective rolling axes (1203, 1303, and 1403, respectively) are synchronized, the cables 1601, 1602, 1603, and 1604 maintain their relative lateral / circumferential positions with respect to these three components (the second swashplate 1126, the shaft 1130, and the distal actuator 1142) without tangling during rolling rotation. Figures 23 to 26 Figure a shows four cables, but in practice, three, five, or more cables can be used to transmit pitch and yaw joint movements from the second swashplate to the remote controller.

[0232] Now for reference Figures 23 to 26 The diagram illustrates the operation of the transmission system 1110, specifically the rolling rotation of the transmission system 1110. The transmission system 1110 is configured to receive multiple individual and independent inputs, including articulation inputs and rolling inputs. The articulation inputs (i.e., first input I1 and second input I2) may include yaw and pitch inputs. The yaw and pitch inputs may be received individually and independently at the first input member 1116 and the second input member 1118. The rolling input (third input I3) may be received at the third input member 1128. In an embodiment, the first input I1, the second input I2, and the third input I3 are received independently at three different input members 1116, 1118, and 1128, and are delivered together to a single output member—the distal actuator 1142.

[0233] Multiple inputs, such as the first input I1 (yaw input), the second input I2 (pitch input), and the third input I3 (roll input), are received at their respective completely independent input members (e.g., the first input member 1116, the second input member 1118, and the third input member 1126, respectively). This means that any one of the three inputs can be received by driving the corresponding input members 1116, 1118, and 1126 of the three inputs I1, I2, and I3, without being affected by the state of the other two inputs or input members.

[0234] The transmission system 1110 is structured such that any joint motion input (i.e., yaw and / or pitch) received at the first swashplate 1124 is transmitted to the second swashplate 1126 without being affected by any rolling rotation of the second swashplate 1126 about axis 1103 (or equivalently 1203).

[0235] Furthermore, the joint motion input subsystem 1111 ensures that any yaw rotation received at the first input member 1116 is transmitted to the first swashplate 1124 and then to the second swashplate 1126 (yaw rotation about axis 1101), unaffected by any pitch rotation received at the second input member 1118 or any roll rotation of the second swashplate 1126 about axis 1103 (or equivalently 1203). Similarly, any pitch rotation received at the second input member 1118 is transmitted to the first swashplate 1124 and then to the second swashplate 1126 (pitch rotation about axis a102), unaffected by any yaw rotation received at the first input member 1116 or any roll rotation of the second swashplate 1126 about axis 1103 (or equivalently 1203). Furthermore, any rolling rotational input received at the third input member 1128 is transmitted to the second swashplate 1126 via the rolling drive coupling R4, unaffected by any joint movement of the second swashplate 1126 about axes 1101 and / or 1102.

[0236] Even if the first swashplate 1124 does not have rolling rotation, while the second swashplate 1126 can experience rolling rotation when a rolling rotation input is provided, the two swashplates 1124, 1126 remain connected via the second rotary joint R2. This ensures that the two swashplates 1124, 1126 perform articulation together (about axes 1101 and / or 1102) while remaining free to have relative rolling rotation about axis 1103 (or equivalently 1203). The kinematic arrangement of the joint and interface ensures that there is no blockage, over-constraint, or conflict between the two swashplates 1124, 1126. Similarly, there is no kinematic conflict or reverse drive between inputs 1116, 1118, 1128. Any one of the input components 1116, 1118, 1128 can be driven independently of the state of the other two inputs (i.e., receive its corresponding input). As described above, the second swashplate 1126 independently receives articulation input from the first swashplate 1124 and roll input from the shaft 1130, and exhibits a combination of all three rotations: articulation (including yaw and pitch) and roll.

[0237] The transmission system 1110 also transmits these three rotations to the remote actuator 1142. Rolling input received at the third input member 1128 is transmitted to the remote actuator 1142 via shaft 1130 and first output rotary joint R5. The articulation of the second swashplate 1126 is transmitted to the remote actuator 1142 via an articulation output transmission, which may include multiple cables 601, 602, 603, and 604.

[0238] The kinematic arrangement of the rolling input subsystem 1113 and the output subsystem 1114 ensures that the second swashplate 1126, shaft 1130, and distal actuator 1142 rotate synchronously about their respective rolling axes 1203, 1303, and 1403, independent of any joint motion input transmitted through the transmission system 1110. The joint motion input determines the joint motion angle of axis 1203 (on the second swashplate 1126) relative to axis 1003, and the joint motion angle of axis 1403 (on the distal actuator 1142) relative to axis 1303, but does not affect the rolling rotation of the second swashplate 1126 about axis 1203 or the corresponding rolling rotation of the distal actuator 1142 about axis 1403.

[0239] Similarly, the articulation input received at the first swashplate 1124 is transmitted to the second swashplate 1126 via the second rotary joint R2, and further transmitted to the distal actuator 1142 via an articulation output transmission comprising four cables 1601, 1602, 1603, and 1604. This articulation transmission occurs independently of the rolling rotation of the second swashplate 1126, the shaft 1130, and the distal actuator 1142, and is made possible by the rolling decoupling (i.e., rotational DoF around the rolling axis 1103) provided by the second rotary joint R2 between the second swashplate 1126 and the first swashplate 1124.

[0240] Therefore, the three rotary inputs I1, I2, I3 are received individually and independently at three different locations at three different input members 1116, 1118, 1128 in the transmission system 1110, and do not affect, conflict with or constrain each other in any way; however, the transmission system 1110 transmits and delivers all three rotations at a single output member—the distal actuator 1142.

[0241] As described above, the structure of the transmission system 1110 ensures that any given input is independently transmitted to the remote controller 1142. For example, based on ratios determined by various geometries and dimensions chosen as part of the construction, a yaw input (i.e., the first input I1) is transmitted to the remote controller 1142 as a corresponding yaw output O1, but this mapping from the yaw input I1 to the yaw output O1 is independent of any pitch or roll rotation transmitted via the transmission. This property is referred to as transmission fidelity, or the condition that a particular input motion is faithfully (e.g., without significant loss, damage, or distortion) transmitted to the corresponding output motion without being affected by any other motion transmitted through the transmission system.

[0242] When a rolling input (i.e., third input I3) is received at the third input member 1128, the distal actuator 1142 faithfully exhibits a corresponding rolling rotation about axis 1403, completely independent of the orientation of the distal actuator 1142's joint movement in response to the joint motion inputs (i.e., I1 and I2) received at the first input member and / or the second input members 1116, 1118. In fact, this joint movement can be fixed by stably holding the joint motion input at any desired position, or it can be adjusted continuously or intermittently by dynamically changing the joint motion input at the first input member and / or the second input members 1116, 1118. Unrelatedly, the mapping of the rolling input about axis 1033 and the rolling rotation of axis 1130 about axis 1303 to the rolling rotation of the distal actuator 1142 about axis 1403 is preserved. This is a noteworthy property of the transmission proposed herein.

[0243] Similarly, the transmission system faithfully transmits the yaw rotation I1 from the first input member 1116 (rotating about axis 1011 relative to reference 10201) to the corresponding rotation (e.g., yaw rotation O1) of the remote controller 1142 at a ratio determined by the geometry and dimensions of certain components and joints in the transmission system 1110, unaffected by any rolling rotation received at the third input member 1128 and transmitted to the remote controller 1142 via shaft 1030 and the first 5-output rotary joint R5. Furthermore, this yaw rotation of the remote controller 1142 occurs about axis 1511, which is close to the rotation center C5 and remains substantially parallel to axis 1001 even when the remote controller 1142 (and the axis 1401 attached to the remote controller 1142) rolls about axis 1403. Therefore, if the yaw rotation input about axis 1011 (such as that applied to the first input member 1116 relative to reference 10201) remains stable, the distal manipulator 1142 performs articulation with yaw rotation relative to reference 10204 about axis 1511 which is generally parallel to 1001, and maintains a stable articulation orientation even when the distal manipulator 1142 rolls about axis 1403.

[0244] Similarly, the transmission system 1110 faithfully transmits the pitch rotation from the second input member 1118 (rotating relative to a reference about axis 1022) to the corresponding rotation (e.g., pitch rotation) of the remote actuator 1142 at a ratio determined by the geometry and dimensions of certain components and joints in the transmission system, unaffected by any rolling rotation received at the third input member 1128 and transmitted to the remote actuator 1142 via shaft 1030 and output rotary joint R5. Furthermore, this pitch rotation of the remote actuator 1142 occurs about axis 1522, which is close to the rotation center C5 and remains substantially parallel to axis 1002 even when the remote actuator 1142 (and the axis 1402 attached to the remote actuator 1142) rolls about axis 1403. Therefore, if the pitch rotation input about axis 1022 (such as that applied to the second input member 1118 relative to the reference) remains stable, the distal manipulator 1142 performs joint motion about axis 1522 which is generally parallel to 1002 relative to the reference in pitch rotation, and maintains a stable joint motion orientation even when the distal manipulator 1142 rolls about axis 1403.

[0245] Similarly, the transmission system 1110 faithfully transmits any combination of yaw and pitch rotations from the first input member 1116 and the second input member 1118 to the corresponding articulated movements (combinations of yaw and pitch rotations) of the remote controller 1142, unaffected by any rolling rotations received at the third input member 1128 and transmitted to the remote controller 1142 via shaft 1130 and the first output rotary joint R5. This articulated movement of the remote controller 1142 occurs about an axis that remains stable relative to a reference, even when the remote controller 1142 and the axes 1401 and 1402 attached to it roll about axis 1403.

[0246] This is Figures 3 to 6This is further illustrated in the figures. Each of these figures shows a first input I1 (pitch rotation input) set and held at a first input element 1116, which causes a first swashplate 1124 to articulate about axis 1102 relative to the rotation center C1 of the first rotary joint R1 (e.g., in pitch rotation). This articulation of the first swashplate 1124 is transmitted to a second swashplate 1126, which also exhibits pitch rotation about axis 1102 relative to the rotation center C1. This causes axis 1203 (attached to the second swashplate 1126) to point relative to axis 1003 at an articulated angle. The articulation of the second swashplate 1126 (i.e., pitch rotation) is transmitted via articulation output transmissions (arrangement of cables 1601, 1602, 1603, and 1604) to the corresponding articulation (pitch rotation) of the distal actuator 1142 relative to axis 1030 about axis 1522, which is parallel to axis 1002 passing through the rotation center C5. The distal actuator 1142 remains stable in the articulated state, causing axis 1403 (fixed to the distal actuator 1142) to also point relative to axis 1303 at an articulated angle.

[0247] Simultaneously, the rolling rotational input received at the third input member 1128 (i.e., the third input I3) causes the shaft 1030 to rotate about axis 1303, and this rolling rotation is transmitted via the rolling drive coupling R4 to the second swashplate 1126, thereby causing the second swashplate to rotate about axis 1203. This rolling rotational input is also transmitted from the shaft 1030 to the remote actuator 1142 via the first output rotary joint R5, thereby causing the remote actuator 1142 to rotate about axis 1403. This also causes axes 1401 and 1402, which are fixed to the remote actuator 1142, to rotate about axis 1403.

[0248] refer to Figures 23 to 26 These figures show four moments of the transmission system 1110, in which the second input I2 (pitch rotation) is driven and held stationary, the first input I1 (yaw rotation) is held stationary in its nominal / neutral position, and the third input I3 (rotation rotation) rotates the shaft 1030. Figures 23 to 26 The diagram shows four moments when the transmission system completes one quarter revolution of the shaft 1030 in one rotational cycle.

[0249] refer to Figure 23Axes 1301, 1302, and 1303 are fixed to axis 1030. Even though axis 1303 is shown as laterally offset from axis 1003, axes 1303 and 1003 can be collinear, while the plane formed by axes 1301 and 1302 remains parallel to the plane formed by axes 1001 and 1002. Axe 1203 points perpendicular to the second swashplate 1126 in the direction of articulation relative to axis 1003 of the axial reference frame. Axe 1403 (fixed to the distal actuator 1142) also points in the direction of articulation relative to axis 1303. Axes 1201 (fixed to the second swashplate 1126), 1301 (fixed to axis 1030), and 1401 (fixed to the distal actuator 1142) all point north. Figure 27 The diagram shows references to the directions of the transmission system 1110: "north, south, east, and west".

[0250] refer to Figure 24 Since the second input I2 (pitch rotation) remains stable, axes 1203 and 1403 also remain aligned with... Figure 23 In the same corresponding joint movement orientation. However, with Figure 23 Compared to their current positions, the rolling drive coupling R4, the second swashplate 1126, the shaft 1130, and the remote actuator 1142 have all rotated approximately one-quarter of a turn. Therefore, axis 1201 (fixed to the second swashplate 1126), axis 1301 (fixed to the shaft 1130), and axis 1401 (fixed to the remote actuator 1142) now all point eastward.

[0251] It can be seen that cable 1601 is in Figure 23 The center is located in the north, and when the transmission device arrives... Figure 24 At the indicated moment, the northern position is occupied by cable 1604, while cable 1601 has moved to the eastern position. Simultaneously, the joint movement of the second swashplate 1126 remains stable. Drive coupling R4 is now in its new position (pointing east) and has been adjusted to accommodate the now shorter distance between R41 and R43.

[0252] refer to Figure 25 Since the second input I2 (pitch rotation) remains stable, axes 1203 and 1403 also remain aligned with... Figure 24 In the same corresponding joint movement orientation. However, with Figure 24In contrast, the rolling drive coupling R4, the second swashplate 1126, the shaft 1130, and the remote actuator 1142 have all rolled approximately another quarter turn. Therefore, axis 1201 (fixed to the second swashplate 1126), axis 1301 (fixed to the shaft 1130), and axis 1401 (fixed to the remote actuator 1128) now all point south.

[0253] It can be seen that cable 1604 is in Figure 24 The center is located in the north, and when the transmission device arrives... Figure 25 At the indicated moment, the northern position is occupied by cable 1603, while cable 1604 has moved to the eastern position. Simultaneously, the joint movement of the second swashplate 1126 remains stable. Drive coupling R4 is now in its new position (pointing south) and is further adjusted to accommodate the now further reduction in the distance between R41 and R43.

[0254] refer to Figure 26 Since the second input I2 (pitch rotation) remains stable, axes 1203 and 1403 also remain aligned with... Figure 25 In the same corresponding joint movement orientation. But with Figure 25 In contrast, the rolling drive coupling R4, the second swashplate 1126, the shaft 1130, and the remote actuator 1142 have all rolled another quarter revolution. Therefore, axis 1201 (fixed to the second swashplate 1126), axis 1301 (fixed to the shaft 1130), and axis 1401 (fixed to the remote actuator 1142) now all point west.

[0255] It can be seen that cable 1603 is in Figure 25 The center is located in the north, and when the transmission device arrives... Figure 26 At the indicated moment, the northern position is occupied by cable 1602, while cable 1603 has moved to the eastern position. Simultaneously, the joint movement of the second swashplate 1126 remains stable. Drive coupling R4 is now in its new position (pointing west), and adjustments have been made to accommodate the distance between R41 and R43. Figure 25 The situation shown is an increase compared to the previous time point.

[0256] Figures 23 to 26The example shown illustrates that the second swashplate 1126, shaft 1130, and distal actuator 1142 all rotate synchronously due to the rolling drive coupling R4 and the first output rotary joint R5, even when the second swashplate 1126 and distal actuator 1142 articulate. Furthermore, since the redirecting pulleys 2701, 2702, 2703, and 2704 are mounted on shaft 1130 (i.e., the corresponding pins or axes of rotation of these pulleys are connected to the shaft), these pulleys 2701, 2702, 2703, and 2704 also rotate about axis 1303 when shaft 1130 rotates (rolling) about axis 1303. The synchronized rolling motion on the multiple components (second swashplate 1126, shaft 1130, and remote actuator 1142) on the output side of the transmission system 1110, independent of any joint movement (pitch and / or yaw rotation), ensures that cables 1601, 1602, 1603, and 1604 remain in their lateral / circumferential relative positions with respect to these components. In effect, the rolling drive coupling R4 and the output joint motion transmission (including cables 1601, 1602, 1603, and 1604) also rotate synchronously about axis 1303 with these components. This ensures that the cables do not twist or tangle, and that the presence of rolling rotation transmitted from the third input component 1128 to the remote actuator 1142 does not interfere with the rolling drive coupling R4. This allows the transmission to transmit rolling rotation in either the positive or negative direction to the remote actuator 1142 without any physical limitations or constraints imposed by any component of the transmission system.

[0257] A key attribute of the transmission system 1110 is its high torque transmission capability in rolling rotation. In the preferred embodiment shown, the rolling input received at the third input member 1128 is transmitted to the shaft 1130, and then via the rolling drive coupling R4 to the second swashplate 1126, and via the first output rotary joint R5 to the remote actuator 1142. All these rolling transmission members, elements, joints, and interfaces allow a relatively large amount of force and torque to be transmitted to the remote actuator 1142. This provides high torque capability in the transmission system 1110, particularly in rolling rotation about axis 1403.

[0258] Typically, high torque transmission capability is achieved in the yaw and / or pitch rotation directions due to the transmission elements involved. However, rolling is usually transmitted via an internal rolling transmission member extending through the center of the transmission system or shaft to the distal actuator. This rolling transmission member is flexible when bent to allow articulation at the transmission input and the distal actuator. However, this flexibility, and the geometry of this flexible member, limits its torque transmission capability in the rolling direction. Furthermore, the geometry of this rolling transmission member also limits how tight the articulation of the distal actuator can be (i.e., how small the radius of curvature achieved by the rotary joint R5). Tight articulation requires a thinner member, making it easier to bend or to bend tightly, but this further limits the torque transmission capability.

[0259] Several variations of the various subsystems of the transmission system 1110 are possible.

[0260] refer to Figure 21A The first input member 1116 and the second input member 1118 of the joint motion input subsystem 1111 are shown as pivotally mountable to references 11202, 11201 via corresponding rotary joints having axes 1011 and 1022. While these axes are shown as generally perpendicular, in an alternative embodiment, these axes may be parallel to each other and in the direction of axis 1001 or axis 1002. Additionally, in Figure 21A In this embodiment, the first input member 1116 is shown as a lever arm or link pivoting about axis 1011 in a plane formed by axes 1002 and 1003. In other embodiments, axis 1011 may be parallel to axis 1002, and the first input member 1116 may pivot in a plane formed by axes 1001 and 1003, such as... Figure 28A As shown.

[0261] refer to Figure 28B The diagram illustrates an embodiment where the second input component is a slider 1118, which is connected to a reference 11205 via a prism joint P2. A first rotary joint R21 connects the first end of the second drive link 1146 to the slider 1118, and a second rotary joint R22 connects the first end of the second drive link 1146 to the slider 1118.

[0262] Generally speaking, the first input member 1116 and the second input member 1118 can take many different geometries and configurations, as long as the first end (R11) of the first drive link 1144 and the first end (R21) of the second drive link 1146 are driven in a direction that is approximately parallel to the axis 1003.

[0263] refer to Figure 28CThis illustration shows another variant of the joint motion input subsystem 1111, wherein a first input I1 and a second input I2 are provided to a first swashplate 1124 via a first linear actuation link 40 and a second linear actuation link 41. These linear actuation links 40, 41 may be piston cylinders or some other linear actuator, such as a linear motor, a rotor motor with a lead screw, a voice coil actuator, or a piezoelectric actuator. One end of each linear actuation link is connected to a reference via a 2-DoF or 3-DoF rotary joint, and the other end of each linear actuation link is connected to the first swashplate 1124 via another 2-DoF or 3-DoF joint.

[0264] exist Figure 28D In another embodiment shown, the articulated motion input transmission 1111 may include a set of cables. A first pair of cables (1151 and 1152) can rotate the first swashplate 1124 in pitch rotation. The first pair of cables 1151, 1152 can be driven by a second input member 1118, which is a pulley. Although not shown, the second pair of cables can be driven by the first input member (i.e., another pulley), and this second pair of cables can be used to rotate the first swashplate 1124 in yaw rotation.

[0265] Although in most cases here the input components, linkages, and transmission elements used to receive the first input (yaw) and the second input (pitch) are shown as similar or analogous. In general, the first input and the second input may use different types of input components and / or transmission elements, and they do not need to be similar or analogous.

[0266] refer to Figure 28E Another embodiment is shown, illustrating a single input member that can be directly or indirectly coupled to the first swashplate 1124 and can be used to provide both a first input and a second input to the swashplate 1124. For example, a handle or input lever 1171 can be directly coupled to the first swashplate 1124 and can be used to provide any desired combination of the first input and the second input (i.e., yaw and pitch rotation) to the drive system 1110.

[0267] exist Figure 28F In another embodiment shown, the articulated motion input transmission 1111 may include a set of push rods. For example, a first pair of push rods (PR21 and PR22) may be provided to rotate the first swashplate 1124 in pitch rotation. The first pair of push rods PR21, PR22 are driven by a second input member 1118. Although not shown, a second pair of push rods may be provided and driven by the first input member to rotate the first swashplate 1126 in yaw rotation.

[0268] Furthermore, although the first, second, and third input components in Figure 21 are shown as receiving rotary input motion, these input components can be readily configured to receive linear input motion, such as in... Figure 28B and Figure 28C The following are examples of input 1 and input 2.

[0269] Similarly, input 3 can be provided by linear input motion, and this input motion can be transmitted to the rolling rotation of the shaft (about axis 1303) using a rack and pinion transmission.

[0270] Rotary input motion can be provided by levers, motors, pulleys, gears, etc. Linear input motion can be provided by fluid piston-cylinders, linear motors, voice coil actuators, piezoelectric actuators, or motors with lead screws or ball screws. Other actuator types can include electric, electromagnetic, pneumatic motors / turbines, fluid motors / turbines, and electrostatic types. In any of these cases, or in the embodiments shown in the figures, an additional transmission element may exist between the actuator and the input component. These transmission elements can include cables, pulleys, reels, gears (spur gears, bevel gears, helical gears, planetary gears, etc.), lead screws / ball screws, belts, linkage mechanisms, chains, etc.

[0271] Generally speaking, the input components and transmission elements used for the first input, the second input, and the third input can be similar or different.

[0272] Furthermore, different methods may exist to connect the first swashplate 1124 and the second swashplate 1126 to each other and to the reference 11205. (See reference) Figure 29A One implementation scheme shows in Figure 21A The arrangement used involves a first swashplate 1124 connected to a reference 11205 via a first rotary joint R1, which can be a 2 DoF rotary joint (such as a universal joint, universal joint, cross-type universal joint, CV joint, etc.). A second swashplate 1126 is connected to the first swashplate 1124 via a second rotary joint R2, which allows one DoF of rotation (rolling rotation) about axis 1103 and constrains joint movements (i.e., yaw and pitch rotations). The second rotary joint R2 may include one or more rolling element bearings (e.g., ball bearings, roller bearings), or one or more bushings to support axial, radial, and / or moment loads.

[0273] Alternative locations, such as Figure 29BAs shown, both the first swashplate 1124 and the second swashplate 1126 can be connected to the reference 11205 via a first rotary joint R1, which can be a 3 DoF joint (e.g., a ball joint or ball socket joint). The first swashplate 1124 is connected to the second swashplate 1126 via a second rotary joint R2, which allows one rotational DoF (roll rotation) about axis 1103 and constrains joint movements (i.e., yaw and pitch rotations).

[0274] exist Figure 29C In another alternative embodiment shown, the second swashplate 1126 may be connected to the reference 11205 via a 3-DoF rotary joint R20. Furthermore, the first swashplate 1124 is connected to the second swashplate 1126 via a joint R2 that allows one rotational DoF (roll rotation) about axis 103 and constrains joint movements (i.e., yaw and pitch rotations).

[0275] exist Figure 29D In another embodiment shown, the first swashplate 1124 is connected to the reference 11205 via a first rotary joint R1, which can be a 2-DoF joint (e.g., a universal joint or a cross-type universal joint), and the second swashplate 1126 is connected to the reference 11205 via a 3-DoF rotary joint R20 (e.g., a ball joint, a ball-and-socket joint, etc.). The first swashplate 1124 and the second swashplate 1126 are connected by links. Typically, at least three or more links are required to transfer pitch and yaw rotations from the first swashplate to the second swashplate, but only two links (L201 and L202) are shown in this figure. One end of each link L201, L202 can be connected to the first swashplate 1124 via a two-DoF rotary joint (e.g., a universal joint, a cross-type universal joint, a constant velocity or CV joint, etc.) or a three-DoF rotary joint (e.g., a ball joint, a ball-and-socket joint, etc.). The other ends of the connecting rods L201 and L202 can be connected to the second swashplate 1126 via a spherical end that can slide in the circular slot S1. This arrangement ensures that the yaw and / or pitch rotation of the first swashplate 1124 is transmitted to the second swashplate 1126, while the second swashplate 1126 remains free to roll about axis 1203 relative to the first swashplate 1124.

[0276] The output subsystem 1114 includes a "joint motion output transmission device" that transmits the joint motion of the second swashplate 1126 to the joint motion of the end effector (or distal manipulator) 1142. (See reference) Figure 21A and Figure 21B The implementation scheme illustrates a "joint motion output transmission device" including cables. In such... Figure 30AIn the alternative embodiment shown, the articulated motion output transmission may include a linkage mechanism. This linkage mechanism may include at least two push rods, with a first push rod 1801 shown. This push rod is connected to a second swashplate 1126 via two joints R81 and R82, each of which may be a 2 DoF swivel joint (e.g., a universal joint or cross-type universal joint) or a 3 DoF swivel joint (e.g., a ball joint or spherical joint). Push rod 1801 is connected to shaft 1130 via slider interface 56. The other end of push rod 1801 may be coupled to a distal actuator 1142 via another link and two joints R83 and R84, each of which may be a 2 DoF swivel joint (e.g., a universal joint or cross-type universal joint) or a 3 DoF swivel joint (e.g., a ball joint or spherical joint). While one push rod is shown (for transmitting pitch joint motion), a second push rod (not shown) may exist in the orthogonal plane for transmitting yaw joint motion.

[0277] exist Figure 30B In another variation of the illustrated embodiment, push rod 1811 is directly connected between the second swashplate 1126 and the remote actuator 1142 via rotary joints R81 and R84. Each of these rotary joints can be a 2 DoF rotary joint (e.g., a universal joint or cross-type universal joint) or a 3 DoF rotary joint (e.g., a ball joint or spherical joint). Although a first push rod 1811 (for transmitting pitch joint motion) is shown, a second push rod (not shown) may exist in the orthogonal plane for transmitting yaw joint motion. In this embodiment, the remote actuator 1142 is connected to the reference 11206 via an output rotary joint R5, which can be a 3-DoF rotary joint, such as a ball joint or spherical joint. Furthermore, the remote actuator 1142 is connected to the rolling input 1128 or shaft 1130 via a second rolling drive coupling R6, similar to the first rolling drive coupling R4. The second rolling drive coupling R6 can also be an RRS chain including joints R61 (rotating), R62 (rotating), and R63 (spherical).

[0278] In such Figure 30C In another embodiment shown, the joint motion output transmission device within the output system 1114 allows the joint motion of the second swashplate 1126 to be transmitted to the joint motion of the distal manipulator 1142 via the fluid transmission system 1900.

[0279] Now for reference Figure 31A and Figure 31B Another embodiment may include an output rotary joint R5 connecting shaft 1130 to the remote manipulator 1142. The output rotary joint R5 may be a bellows joint, allowing relative joint movement, such as... Figure 31BAs shown, it is rigid in torsion and therefore transmits rolling rotation about the joint axis of motion 1403. Any bearing mentioned herein may be a rolling element bearing, or a bushing, or a flexural bearing, an air bearing, a fluid bearing, or a magnetic bearing.

[0280] Now for reference Figure 32 The device 2010 is characterized by having a proximal end of a handle assembly 400 controlled by a user, and a distal end having a distal actuator 100 having at least three controllable rotational degrees of freedom (DoF). These rotational degrees of freedom are described below. Figure 32 The rotations are defined as rotations about the yaw input axis BB, the pitch input axis AA, and the roll input axis CC. The pitch output axis XX and yaw output axis YY of the remote controller are defined relative to the base subassembly 310. The roll output axis ZZ of the remote controller 100 is aligned with and fixed to the remote controller 100. In other words, the remote controller 100 rotates about its joint movement's roll output axis ZZ. The roll output axis ZZ is defined by rotations about the pitch input axis AA and the yaw input axis BB. Control of rotations about the yaw input axis BB, the pitch input axis AA, and the roll input axis CC is decoupled.

[0281] like Figure 32 and Figure 33 As shown, the DoF control around the pitch input axis AA and the yaw input axis BB is performed by the user's hand-operated handle assembly 400, which is connected to and controls the input linkage assembly 300, which can have two links (e.g., pitch linkage subassembly 380 and yaw linkage assembly 350) and two rotary joints (e.g., ... Figure 40 The pitch connector subassembly 370 shown and as follows Figure 41The yaw joint subassembly 320 shown is characterized by the fact that the rotation axes of the rotary joints may be orthogonal to each other and may correspond to the yaw input axis BB and the pitch input axis AA. This arrangement allows the user to manipulate the linkage mechanism by rotating their wrist in flexion and extension (corresponding to rotation about the yaw input axis BB) and radial and ulnar deflection (corresponding to rotation about the pitch input axis AA) when the handle assembly 400 is held or gripped by the user. The linkage is shaped to comfortably accommodate the user's hand and wrist when the handle is held, and allows for a natural connection between the user and the device 2010 via the handle assembly 400. In some cases, the yaw input axis BB and / or the pitch input axis AA may pass close to the user's wrist when the handle assembly is held. Rotation of the distal actuator about the roll output axis ZZ is controlled by rotating the dial 431 on the handle 400 around the roll input axis CC with the thumb and forefinger.

[0282] The handle assembly 400 is the part of the device to which the user interacts to control the three rotational DoFs of the remote controller 100. By manipulating the handle assembly 400, the user can comfortably and smoothly control two articulated DoFs (rotation about the yaw input axis BB and the pitch input axis AA) and one roll DoF at the remote controller to perform complex movements and maneuvers. The handle assembly 400 includes multiple mechanisms and subassemblies to ensure that the user can optimally control the three rotational DoFs of the device. This means that these mechanisms and subassemblies allow the user to apply (or input) precise movements at the handle assembly 400 and produce precise output movements at the remote controller assembly 100, and these mechanisms and subassemblies minimize the amount of effort the user must exert to do so. In a preferred embodiment, this is achieved by the design of the handle assembly 400, which includes a handle body subassembly 460, a pitch linkage interface 410, a trigger subassembly 420, and a dial assembly 430, such as Figure 34 As shown.

[0283] In the preferred embodiment, such as Figure 35 As shown, a user can control the rotation of the handle about the yaw input axis BB and / or pitch input axis AA by gripping the handle assembly 400 via the handle body 460, with the little finger and ring finger wrapped around the underside of the handle body 460. The user can then place their middle finger on the trigger 421 and their index finger and thumb on the dial 431. The user's grip on the handle body 460 allows the user to move along the input linkage assembly 300 (… Figure 39The two articulations (DoF) allowed allow for articulation of the handle assembly 400. For example, a user can articulate their hand to the left and right (flexion / extension) relative to their forearm around their wrist. This articulation of the user's hand is transmitted to the handle body 460 (because the user is gripping the handle body 460), causing the handle body 460 to articulate with yaw rotation relative to the base subassembly 310. The user's articulation input (i.e., yaw, pitch, or any combination thereof) is transmitted from the handle body 460 to the input linkage assembly 300 via the pitch linkage interface 410, which is the structural interface between the handle body 460 and the pitch linkage 381. This interface can be formed via alignment pins, screws, press fits, friction joints, adhesives, etc.

[0284] The user's index finger and thumb can actuate (e.g., rotate) the dial 431, which generates a scrolling DoF input, which is then transmitted via the dial assembly 430, the electromechanical system 700 (e.g., regarding...). Figure 20B The described electromechanical system, rolling transmission subassembly 204, and tool shaft subassembly 203 transmit and convert rotation of the distal actuator 100 about the rolling output axis ZZ. One or more of the user's fingers and / or thumb can actuate / engage the trigger 421. When using the device, the user can actuate the dial 431 and trigger 421 from any joint position of their hand. The controls of the handle assembly 400 are designed to allow the user to comfortably provide joint movement and rolling input to the device simultaneously.

[0285] The user's fingers and hands do not need to overextend or exert significant pressure to use the DoF input controls or maintain their grip on the handle assembly 400, and the user does not need to readjust their grip to correctly provide input to multiple DoFs simultaneously. In a preferred embodiment, this is achieved through the shape of the handle assembly 400, allowing different fingers or groups of fingers to perform individual and distinct control functions to control the device DoF. For example, as Figure 35 As shown, the user's ring finger, little finger, and palm grip the main body subassembly 460, allowing the user to control the joint movements of the device (DoF) (rotation about the yaw input axis BB and the pitch input axis AA). Figure 35 As shown, the user's middle finger can rest on the trigger 421 and actuate the trigger 421 by abutting against the user's palm resting on the handle body subassembly 460. Figure 35As shown, the user's index finger and thumb grasp and rotate dial 431 to provide scrolling input to the device. The position and shape of dial 431 are configured to allow the user's fingers and / or thumb to rest on dial 431 in their natural resting position (i.e., the position where the user's hand is relaxed). Dial 431 is shaped so that the user can also adjust their fingers to use multiple gripping methods on dial 431 according to their preferred input scrolling motion. The shape and position of dial 431 also allow the user to rotate dial 431 over a large angular range (during scrolling rotation) without requiring the user to reposition or tighten their fingers. This ergonomic design of dial 431 allows the user to provide precise, controlled, and smooth scrolling rotation / scrolling DoF input to the device. In an alternative embodiment, the design allows the user to use any combination of fingers to actuate / engage various inputs to the device. For example, in an alternative embodiment, a dial 431 with the center pointing along the middle (rather than the distal end) of the handle body subassembly 460 can be used to provide scroll input.

[0286] The dial 431, trigger 421, handle body subassembly 460, or similar components thereof in alternative embodiments may also be customizable, replaceable, or designed with customizable inserts, which further allow the design of the handle assembly 400 to be tailored to the specific needs of a given user. The handle body subassembly 460 may consist of several individual components assembled together.

[0287] The handle assembly 400 captures the user's scroll input and transmits it to other mechanisms and components in the device 2010, whereby a scroll output is generated at the distal actuator 100. Many embodiments of the mechanism for capturing and converting scroll input can exist within the handle, and in a preferred embodiment, this is achieved through… Figure 36 and Figure 37 The dial assembly 430 shown is used to achieve this. In this embodiment, a user can grip the dial 431 with their fingers and apply a rotational input about the scroll input axis CC to the dial 431, which is provided by the dial encoder 761 (e.g., regarding...). Figure 20BThe described dial encoder 526a / 2126a detects and measures data, which is then transmitted to an electromechanical system 700. This electromechanical system then generates a corresponding rotation about the rolling output axis ZZ by a remote actuator 100. For this purpose, the dial 431 transmits rotational motion about the rolling input axis CC to the dial shaft 434, as the two components are rigidly connected by dial screws 433 and dial cross pins 435. The dial shaft 434 is connected to the shank body subassembly 460 via a dial bushing 439. The dial shaft 434 is constrained by a dial shaft retainer 441 and cannot be translated along the rolling input axis CC to the dial bushing 439. The interface between the dial shaft 434 and the dial bushing 439 provides 1 DoF, which is the rotational DoF about the rolling input axis CC.

[0288] A dial magnet 440 is mounted at the end of a dial shaft 434. As the dial shaft 434 rotates, the dial magnet 440 also rotates concentrically relative to the dial encoder 761 (about the rolling input axis CC), which is mounted to the shank body 460 via encoder mount 442, encoder mount screw 445, encoder clamp 443, and encoder clamp screw 446. The dial encoder 761 is electrically connected to an encoder line driver 762 (e.g., regarding...). Figure 20B The encoder line driver 762 is described as 2126b, and the connecting wires are constrained to the handle body subassembly 460 via hooks 467. The encoder line driver 762 is connected to the electromechanical system 700 via a wiring harness 763, which is partially secured to the handle body subassembly 460 via hooks 467 before passing through the pitch linkage interface 410.

[0289] In a preferred embodiment, the rolling input applied by the user to the dial 431 is captured by the interaction between the dial magnet 440 and the dial encoder 761. As the dial magnet 440 rotates, the orientation of its emitted constant magnetic field changes relative to the orientation of the dial encoder 440, which the dial encoder can detect at high resolution. The dial encoder 761 transmits this information to the electromechanical system 700, which then uses this information to generate a rolling rotation output at the remote actuator 100. This results in a clearly defined relationship between the angular rotation of the dial 431 in the rolling direction (relative to the handle body subassembly 460) and the angular rotation of the remote actuator 100 in the rolling direction (relative to the base subassembly 310). This relationship can be a constant ratio of any size, such as 1:1, or it can be more complex, such as different gear ratios like 1:2, 1:3, 1:4, 2:1, 3:1, 4:1, etc., or any other desired gear ratio.

[0290] In an alternative embodiment, the sensing of the dial position can be performed by any sensor capable of detecting position changes, such as a mechanical encoder, optical encoder, linear encoder, resolver, potentiometer, or other sensor. In a preferred embodiment, the output of the dial assembly 430 is an electrical signal that is sent to and processed by the electromechanical system 700; however, many alternative embodiments exist for capturing the user's scroll input and converting it into a scroll output at the remote actuator 100. For example, rotation of the dial 431 and the remote actuator 100 can be mechanically coupled using mechanisms such as torsion cables, hydraulically or pneumatically coupled using mechanisms such as fluid couplings, magnetic couplings, linkages, gear assemblies, or electronically coupled using other types of electromechanical sensors and actuators.

[0291] In a preferred embodiment, the device is designed to allow the distal manipulator 100 to rotate an unlimited number of times in either direction (clockwise or counterclockwise) about the rolling output axis ZZ. This allows the user to adjust the rotation of the distal manipulator 100 about the rolling output axis ZZ to the degree required in any situation, allowing them to perform complex, extended movements without requiring them to reset their rolling input to a nominal or starting or initial position. The user's ability to apply as much rolling input as needed enables precise control of the device, as this ensures that the joint movement of the distal manipulator 100 is not limited by their inability to provide additional rolling rotation to the distal manipulator 100, and vice versa.

[0292] A preferred embodiment of the dial assembly 430 accommodates this situation by allowing no mechanical limitation on the number of rotations that can be performed on the dial 431 or any component attached to it. The dial magnet 440 can rotate an unlimited amount of displacement in either direction relative to the dial encoder 761 (about the rolling input axis CC), thus enabling the dial assembly 430 to continuously and indefinitely transmit signals representing changes in angular position to the electromechanical system 700.

[0293] In a preferred embodiment, the dial assembly 430 provides tactile feedback to the user for their scrolling inputs. Utilizing this feature (described below), the user is able to accurately estimate or estimate the amount by which they change the angular position of the tool axis assembly 203 and the distal manipulator 100 without looking at the dial 431, because the tactile feature in the dial assembly 430 physically communicates to the user the extent to which they have changed the angular position of the dial 431.

[0294] In a preferred embodiment of the dial assembly 430, this is achieved in two ways: by having a locking mechanism 450 (see...) Figure 38 ) and dial knurling 432 (see Figure 36 The knurling 432 of the dial is designed to maximize the user's grip on the dial 431 and minimize the risk of the dial 431 accidentally slipping out of their grip (which could lead to unwanted scrolling input). The knurling 432 is also designed so that the user can distinguish each of the individual ribs or rib-like features that make up the dial knurling. The user can consciously or subconsciously count the amount of ribs of the dial knurling 432 that they feel rolling under their fingers as they rotate the dial, giving them a finely incremental, periodic tactile sensation related to the amount of time they have rotated the dial 431. The locking mechanism 450 provides tactile feedback to the user by generating mechanical pulses in the dial 431 at finely periodic intervals, which the user can feel on their fingers. In a preferred embodiment, as follows... Figure 38 As shown, the locking mechanism 450 includes a locking plunger 452, a locking spring 453, a locking body 454 that holds the first two components, and a locking track 451 rigidly attached to the dial 431. When the user rotates the dial 431, which rotates about the scroll input axis CC, the locking track 451 also rotates about this axis and passes through the locking body 454, since the locking body 454 is attached to the handle body subassembly 460. When this happens, the locking spring 453 pushes the locking plunger 452 into each valley between the teeth of the locking track as the teeth of the locking track pass, and the peaks of the teeth push the locking plunger 452 back into the locking body 454. The only stable equilibrium in this cycle is when the locking plunger is in the valley between the teeth, and therefore the dial 431 will tend to remain stationary under this condition. This creates a fixed number of stationary states during one complete rotation of the dial 431, and each time the locking mechanism 450 moves from one position to the next, as the locking plunger 452 attempts to achieve a stable balance, the locking mechanism generates a pulse in the dial 431. This pulse is periodic and can be felt by the user, thus providing them with a tactile indication of the change in the angular rotation of the dial 431 (i.e., during rotation).

[0295] Alternative implementations may mechanically provide tactile feedback to the scroll input via alternative methods for generating pulses or motion sensing into the user's fingers, such as by connecting the scroll input to the scroll output via a load path that allows mechanical vibrations experienced by the output to reverberate back to the scroll input, which the user can detect with their fingers. A non-visual relationship between the movement of the scroll input and scroll output can also be established through sound; if the scroll input produces a sound whose volume / pitch changes according to the user's alteration of the amplitude or speed of the scroll input, the user will be able to estimate the control state of the scroll output without having to visually inspect the scroll input.

[0296] Figure 32 The input linkage assembly 300 is shown in the context of the entire device, and Figure 39 An isometric view of the input linkage assembly 300, viewed from the proximal end, is shown. The input linkage assembly 300 is responsible for transmitting user joint motion inputs (e.g., yaw, pitch, or any combination thereof) from the handle assembly 400 to the swashplate assembly 2200 (see [link]). Figure 50 The inputs transmitted from the shank assembly 400 to the swashplate assembly via the input linkage assembly 300 are the rotation of the shank assembly 400 relative to the base subassembly 310 about the yaw input axis BB and the rotation of the shank assembly 400 relative to the yaw linkage subassembly 350 about the pitch input axis AA.

[0297] The input linkage assembly 300 receives the joint movements of the handle assembly 400 (from any combination of rotation of the user about the yaw input axis BB or rotation about the pitch input axis AA) as two rotations: rotation of the handle assembly relative to the base subassembly 310 about the yaw input axis BB and rotation of the handle assembly 400 relative to the yaw linkage subassembly 350 about the pitch input axis AA. The user can articulate their hand (and handle assembly 400) about their wrist using any combination of flexion / extension and radial / ulnar deflection. The input linkage assembly 300 resolves this joint movement of the user's hand (and therefore the handle assembly 400) as two rotations: rotation about the yaw input axis BB and rotation about the pitch input axis AA.

[0298] like Figure 39 As shown, the input linkage assembly 300 includes a yaw linkage subassembly 350, a pitch linkage assembly 380, and the proximal end portion of a base subassembly 310. The pitch linkage assembly 380 is connected via a pitch linkage interface 410 (see...). Figure 36 The linkage is connected to the handle assembly 400. In some cases, this connection may be a rigid structural attachment or connection. Therefore, any rotation of the handle assembly 400 relative to the yaw link subassembly 350 about the pitch input axis AA or relative to the base subassembly 310 about the yaw input axis BB results in a corresponding rotation of the pitch link assembly 380 relative to the respective subassemblies described above about the pitch input axis AA and the yaw input axis BB.

[0299] Figure 40An exploded view of a subassembly related to rotation about the pitch input axis AA received from the handle assembly 400 is shown. The pitch connector subassembly 370 enables relative movement between the pitch link subassembly 380 and the yaw link assembly 350, allowing only rotation of the pitch link assembly 380 relative to the yaw link assembly 350 about the pitch input axis AA. Therefore, the handle assembly 400 (see...) Figure 39 The rotation of the pitch link subassembly 380 relative to the base subassembly 310 about the yaw input axis BB results in an equivalent rotation of the yaw link assembly 350 relative to the base assembly 310 about the same axis. The yaw input axis BB will always be fixed in the yaw link assembly 350 and will rotate about the yaw input axis BB when the shank assembly 400 rotates about the yaw input axis BB.

[0300] Figure 41 An exploded view of the subassemblies constituting the yaw transmission subassembly is shown. The yaw transmission subassembly transmits the relative rotation of the shank assembly 400 about the yaw input axis BB with respect to the base subassembly 310 to the swashplate assembly 2200 (not shown). The yaw transmission subassembly consists of the yaw linkage subassembly 350, the yaw connector subassembly 320, and the yaw input cable 398 (e.g., ...). Figure 42 (As shown) Figure 42 A cross-sectional view of the proximal end of the base subassembly 310, viewed from below, is depicted, which further illustrates the yaw transmission subassembly.

[0301] like Figure 41 As shown, the yaw connector subassembly 320 mates the yaw link subassembly 350 with the base subassembly 310, thereby allowing a degree of freedom (rotation about the yaw input axis BB). The yaw connector assembly 320 also connects the rotation of the yaw link assembly 350 relative to the base assembly 310 about the yaw input axis BB to the yaw input cable 398.

[0302] Figure 43 The yaw connector subassembly 320 is shown separately in collapsed (i.e., assembled) and exploded views.

[0303] refer to Figure 41 and Figure 43 The yaw joint shaft 323 is secured to the yaw link 351 by yaw link mounting screws 353. The yaw joint housing 322 is secured to the base 301 by yaw joint mounting screws 303. Two ball bearings 325 allow relative rotation between the yaw joint shaft 323 and the yaw joint housing 322 about the yaw input axis BB. Therefore, the yaw link subassembly 350, and subsequently the pitch link subassembly 380, pitch joint subassembly 370, and shank assembly 400, are allowed to rotate relative to the base subassembly 310 about the yaw input axis BB.

[0304] like Figure 42 As shown, the yaw input cable 398 is secured to the yaw joint shaft 323 by clamping the end of the yaw input cable 398 to the yaw drive pulley 321 using two yaw cable clamps 324. The yaw drive pulley 321 is attached to the yaw joint shaft 323 by two screws 326 (see...). Figure 43 ).

[0305] The mounting path from yaw link 351 to yaw joint shaft 323 to yaw drive pulley 321 to yaw input cable 398 defines a path through which yaw rotation of the shank assembly 400 and pitch link subassembly 380 is transmitted to yaw input cable 398. Rotation of yaw drive pulley 321, and therefore yaw link 351 and yaw joint shaft 323, about the yaw input axis BB relative to base subassembly 310 is transmitted via the yaw input cable 398 to yaw drive pulley 210B in swashplate assembly 2200 through the profile engagement between intermediate crimp 396 on yaw input cable 398 and groove in yaw drive pulley 210B. This interface between yaw input cable 398 and yaw drive pulley 210B... Figure 44 The figure depicts a cross-sectional view of the base subassembly 310, showing the articulated motion subassembly 201 viewed from the distal end toward the proximal end.

[0306] refer to Figure 44 The yaw drive pulley 210B is located in the swashplate assembly 2200, at the distal end of the base subassembly 310. The rotation of the yaw drive pulley 210B about the yaw input axis BB serves as the input to the swashplate assembly (2200), corresponding to... Figure 32 The shown handle assembly 400 rotates relative to the base subassembly 310 about the yaw input axis BB.

[0307] refer to Figure 42 and Figure 44 To properly route the yaw input cable 398 along the base 301, multiple redirection pulleys 399 (also called idlers) can be used within the base subassembly 310. The materials of these idlers 399 and their shafts are selected such that friction between the idlers 399 and their shafts is minimized.

[0308] refer to Figure 39In some cases, it may be desirable to limit the range of rotation of the yaw link subassembly 350 relative to the base subassembly 310 about the yaw input axis BB to avoid stressing the elements / components of the yaw transmission subassembly. For example, failure to limit the aforementioned range of rotation in such a case would result in unnecessary stress on the yaw input cable 398 and the rest of the yaw transmission subassembly. To mitigate this risk, a yaw hard stop 302 is mounted to the base 301. When the range of rotation is satisfied in either direction, the yaw hard stop 302 makes positive contact with a boss on the yaw link 351. This is merely one location for this range-limiting feature. The yaw hard stop 302 can be located at any other location along the yaw transmission subassembly.

[0309] Return to reference Figure 32 and Figure 40 The relative rotation of the handle assembly 400 with respect to the base subassembly 310 about the pitch input axis AA is transmitted to the swashplate assembly 2200 via the pitch transmission subassembly. An exploded view of the subassemblies constituting the pitch transmission device is shown in... Figure 40 As shown in the figure. The pitch transmission subassembly includes a pitch linkage subassembly 380, a pitch connector subassembly 370, and a pitch input cable 397. Figure 46 (As shown in the diagram). The pitch connector assembly 370 provides a fit between the pitch linkage assembly 380 and the yaw linkage assembly 350, allowing for a rotational degree of freedom (pitch) between them about the pitch input axis AA. The pitch connector assembly 370 also connects the rotation of the pitch linkage assembly 380 relative to the yaw linkage assembly 350 about the pitch input axis AA to the pitch input cable 397.

[0310] refer to Figure 40 as well as Figure 45 An exploded view of the pitch connector subassembly 370 shows the pitch linkage 381 rigidly fixed to the pitch connector shaft 373 by screws 383. The pitch connector housing 371 is fixed to the yaw linkage subassembly 350 by screws 377. Two ball bearings 375 allow relative rotation between the pitch connector shaft 373 and the pitch connector housing 371 about the pitch input axis AA. The pitch linkage assembly 380 is thus allowed to rotate relative to the yaw linkage assembly 350 about the pitch input axis AA.

[0311] Figure 46 A cross-sectional view of the yaw linkage assembly 350 is depicted.

[0312] refer to Figure 45 and Figure 46The pitch drive pulley 372 is secured to the pitch connector shaft 373 by screws 376. The pitch input cable 397 is secured to the pitch connector shaft 373 by clamping the end of the pitch input cable 397 to the pitch drive pulley 372 using two pitch cable clamps 374. The installation path from the pitch linkage subassembly 380 to the pitch connector shaft 373 to the pitch drive pulley 372 to the pitch input cable 397 defines a path through which rotation of the handle assembly 400 and the pitch linkage subassembly 380 about the pitch input axis AA is transmitted to the pitch input cable 397 within the pitch transmission subassembly.

[0313] Figure 46 and Figure 47 The pitch input cable 397 is depicted, which is wired through the input linkage assembly 300. Figure 48 (Viewed from the distal end) and Figure 49 (Viewed from the proximal end) The junction of the pitch input cable 397 and the articulated motion subassembly 201 is depicted.

[0314] Figures 46 to 49 The pitch drive pulley 372 and thus the pitch link 381 and pitch joint shaft 373 are shown relative to the yaw link subassembly 350. Figure 46 and Figure 47 How the rotation about the pitch input axis AA is transmitted via the intermediate crimp 396 mounted on the pitch input cable 397 and the groove in the pitch drive pulley 210A ( Figure 49 The surface engagement between the two is transmitted to the pitch drive pulley 210A via the pitch input cable 397.

[0315] Pitch drive pulley 210A is located in the swashplate assembly 2200, at the distal end of the base subassembly 310. Rotation of pitch drive pulley 210A about the pitch input axis AA serves as the input to the swashplate assembly 2200, corresponding to the rotation of the handle assembly 400 relative to the yaw linkage subassembly 350 and the base subassembly 310 about the pitch input axis AA (see [link]). Figure 32 The rotation of ).

[0316] like Figures 46 to 49As shown, to properly route the pitch input cable 397 along the yaw link 351 and base 301, and to minimize frictional losses, redirection pulleys 399 are used, mounted within the yaw link subassembly 350, yaw connector subassembly 320, and base subassembly 310. These redirection pulleys (also called idlers) allow free rotation on idler shafts rigidly mounted to the base 301, yaw connector shaft 323, and yaw link 351. These redirection pulleys 399 are positioned in a manner that minimizes cable bending angles and cable paths. The materials of these idler pulleys 399 and their shafts are selected to minimize friction between the idler pulleys 399 and their shafts.

[0317] refer to Figure 46 Equally important, it should be noted that the pitch input cable 397 is routed through the center of the yaw connector shaft 323. By centering the pitch input cable 397 on the yaw input axis BB, the risk of the movement of the pitch input cable 397 being affected by the rotation of the yaw linkage subassembly 350 relative to the base subassembly 310 about the yaw input axis BB is mitigated.

[0318] Re-reference Figure 39 In some cases, it may be desirable to limit the range of rotation of the pitch link subassembly 380 relative to the yaw link subassembly 350 about the pitch input axis AA to avoid stressing the elements / components of the pitch transmission subassembly. For example, failure to limit the aforementioned range of rotation in this case would result in unnecessary stress on the pitch input cable 397 and the rest of the pitch transmission subassembly. To mitigate this risk, a pitch hard stop 382 is mounted to the pitch link 381. When the range of rotation is satisfied in either direction, the pitch hard stop 382 makes positive contact with a boss located on the yaw link 351. This is merely one location for this range-limiting feature. The pitch hard stop 382 can be located at any other location along the pitch transmission subassembly.

[0319] To ensure the rotation of the handle assembly 400 relative to the yaw linkage subassembly 350 about the pitch input axis AA and the rotation of the handle assembly 400 relative to the base assembly 310 about the yaw input axis BB (e.g., ... Figure 32To ensure that rotation (as shown) is transmitted to the swashplate assembly 2200 with minimal loss, it is important to make the structural components of the pitch link subassembly 380, yaw link subassembly 350, and base subassembly 310 as rigid as possible. If these assemblies are too flexible, i.e., not rigid enough, rotation of the handle will not be fully transmitted via the yaw input cable 398 and pitch input cable 397, resulting in perceptible compliant behavior of the distal controller 100's joint movements in response to input joint movements at the handle assembly 400 (i.e., a lack of transmitted stiffness). To make the aforementioned assemblies sufficiently rigid under the expected load of rotation from the handle assembly, cross ribs are added to the pitch link 381, yaw link 351, and base 301. In a preferred embodiment, the cross rib geometry resembles an "X," a straight beam, or a combination of both. Other possible embodiments are octagonal or hexagonal beams, i.e., beams resembling a "honeycomb" geometry or adjacent hexagonal or octagonal shapes. Triangular beams constructed in a similar manner are another example of this reinforcing feature.

[0320] In a preferred embodiment, the device provides tactile feedback to the user. Tactile feedback for joint movements (yaw and pitch) allows the user to apply more precise input because they receive feedback on how their input affects the object being acted upon by the distal manipulator 100. This tactile feedback is usable by the user, allowing them to adjust their input without visual feedback, in order to achieve a more favorable interaction between the distal manipulator 100 and the object it acts upon.

[0321] In a preferred embodiment, this is achieved by the handle assembly 400 being rigidly connected to the input linkage assembly 300 via the pitch link interface 410. These structural features, together with the yaw and pitch transmission subassemblies and mechanisms in the overall device, allow forces, torques, and vibrations experienced by the remote controller 100 to reach the pitch link 381, where they can then be transmitted from the pitch link 381 to the handle body subassembly 460, and subsequently felt by the user's hand when the user grips the handle body subassembly 460.

[0322] refer to Figure 32 The purpose of the swashplate assembly 2200 is to receive two independent articulated motion inputs from the shank assembly 400 (i.e., rotation about the yaw input axis BB and the pitch input axis AA), and a roll input from the dial assembly 430 (see reference). Figure 34The swashplate assembly 2200 converts rotations about the yaw input axis BB, pitch input axis AA, and roll input axis CC into rotations of the remote controller 100 about the yaw output axis YY, pitch output axis XX, and roll output axis ZZ. The swashplate assembly ensures that the conversion of these rotational motions is a decoupled process. In other words, any one of the three inputs (rotation about the yaw input axis BB, pitch input axis AA, and roll input axis CC) can be applied or changed while the other two remain unaffected. The method by which the swashplate assembly 2200 achieves this is described in the following sections.

[0323] refer to Figure 50 and Figure 51 An embodiment of the swashplate assembly 2200 is shown. Figure 50 An assembled view of the swashplate assembly 2200 is shown, with the swashplate housing 251 shown on the side; while Figure 51 An exploded view of the component is shown, with all its sub-components complete, but without the swashplate housing 251.

[0324] The swashplate assembly 2200 includes several sub-assemblies, defined as follows: A joint motion sub-assembly 201 is connected to the rotary plate sub-assembly 2202 via a bearing interface. A tool shaft sub-assembly 203 is pressed into the main bearing housing 207 at its distal end and connected to the rotary plate assembly 2202 via a coupler linkage mechanism 206 (also referred to as a rolling drive coupler). A rolling transmission sub-assembly 204 is mounted to the main bearing housing 207 and meshes with a third gear 237 in the tool shaft assembly 203. A structural ridge 205 is also included, which is mounted to the main bearing housing 207 at its distal end and to the joint motion sub-assembly 201 at its proximal end via a threaded joint. The swashplate housing 251 is then placed on the swashplate assembly 2200. These sub-assemblies will be described in further detail in the following sections.

[0325] refer to Figure 52 and Figure 56 ,exist Figure 52 An assembly view of the joint motion subassembly 201 is shown in the figure, and... Figure 56 An exploded view of the articulated motion subassembly 201 is shown. The articulated motion subassembly 201 receives two inputs (motions caused by rotation about the yaw input axis BB and rotation about the pitch input axis AA), which are transmitted from the handle assembly 400 via the pitch 397 cable and the yaw 398 cable (respectively in…). Figure 49 and Figure 44(As shown in the diagram) The input is sent via the input linkage assembly 300. It then combines the two independent 1 DoF inputs and transmits the combined motion to the non-rotating plate 213, which is connected to the non-rotating plate reference 208 via a universal joint 246. The two 1 DoF inputs can be rotations about the pitch input axis AA and the yaw input axis BB generated by the user.

[0326] refer to Figure 53 Another view of the assembled articulation subassembly 201 is shown. A preferred embodiment of the articulation subassembly 201 consists of a yaw drive pulley 210B and a pitch drive pulley 210A. These pulleys receive motion caused by rotation about the yaw input axis BB and rotation about the pitch input axis AA, respectively, via yaw cable 398 and pitch cable 397.

[0327] Now for reference Figure 52 and Figure 56 The yaw drive pulley 210B and the pitch drive pulley 210A further transmit their respective rotations to the non-rotating plate 213 through their corresponding mechanisms, causing it to rotate relative to the non-rotating plate axis 209 about the axes DD and EE of the universal joint 246.

[0328] The pitch drive linkage mechanism includes a pitch drive pulley 210A and a ball head bolt bracket 211A, which are rigidly interconnected by a threaded joint. The pitch drive linkage mechanism also includes a pitch drive link 212A, a joint 215A including a ball head bolt, and a non-rotating plate shaft 209, which is rigidly attached to a non-rotating plate reference 208 via a threaded joint. The pitch drive pulley 210A is mounted to the non-rotating plate reference 208 using a shoulder screw 247A, which serves both as the shaft around which the pulley rotates and as an axial constraint. The pitch drive link 212A connects the pitch drive pulley 210A to the non-rotating plate 213 via the joint 215A and the ball head bolt bracket 211A.

[0329] The yaw drive linkage mechanism, including other components such as the yaw drive pulley 210B and the yaw drive linkage 212B, has a similar structure, but in cases such as Figure 52 and Figure 56 In the different planes shown.

[0330] refer to Figure 55The diagram shows a cross-section of universal joint 246 (which is part of articulated motion subassembly 201). Universal joint 246 consists of a centrally located non-rotating plate shaft 209, an inner ring 214, and an outer ring (i.e., a non-rotating plate) 213, which are sequentially connected to each other using a set of short pins 216 and long pins 217. The inner ring 214 rotates relative to the non-rotating plate shaft 209 about axis DD, while the non-rotating plate 213 rotates relative to the inner ring 214 about axis EE.

[0331] refer to Figure 53 Due to rotation about the yaw input axis BB and rotation about the pitch input axis AA, the articulation subassembly 201 receives motion from the handle assembly 400 via the pitch input cable 397 and yaw input cable 398 through the input linkage assembly 300. This allows the articulation subassembly 201 to transmit motion to the corresponding yaw output axis YY and pitch output axis XX at the remote controller 100, such that the transmission of rotational motion from the handle assembly 400 is consistent in all directions at the remote controller 100. In a preferred embodiment, this is achieved by yaw drive pulleys 210B and pitch drive pulleys 210A that are orthogonal to each other. Since they are orthogonal, and the transmission ratios provided by the yaw and pitch transmission subassemblies can be approximately equal, the transmission ratio from the handle assembly 400 to the non-rotating plate 213 remains generally consistent in all articulation directions (i.e., different combinations of rotations about axes G1-G1 and G2-G2). To receive the motion generated by the rotation of the handle assembly 400 about the yaw input axis BB and the pitch input axis AA, the yaw cable 398 and the pitch cable 397 terminate at their respective drive pulleys 210B and 210A via corresponding intermediate crimp members 396, thereby connecting the rotation of the drive pulleys 210B and 210A to the translation of the corresponding cables. In an alternative embodiment, this can be transmitted electronically by attaching a motor directly to the drive pulleys 210B and 210A, pneumatically or hydraulically by using pneumatic or hydraulic rotary actuation, or the yaw 398 and pitch 397 cables can be directly attached to the non-rotating plate 213.

[0332] refer to Figure 52 and Figure 53 Once the motions about the yaw input axis BB and the pitch input axis AA are received by the yaw drive pulleys 210B and 210B respectively, they are individually and independently transmitted to the non-rotating plate 213, causing the non-rotating plate 213 to rotate about axes G1-G1 and G2-G2. In the current embodiment, these rotations are transmitted from the yaw drive pulleys 210B and 210A to the non-rotating plate 213 via the yaw drive linkage 212B and the pitch drive linkage 212A.

[0333] Now for reference Figure 54 The figure shows a side view of the articulated motion subassembly 201 perpendicular to the yaw drive pulley 210B. When the yaw drive pulley 210B rotates relative to the non-rotating plate reference 208 due to the yaw cable 398, it exerts a generally linear motion along the yaw drive link 212B, which in turn causes the non-rotating plate 213 to rotate about its center around axis G1-G1. The same process occurs for pitch rotation transmission, but in a different plane.

[0334] refer to Figure 55 and Figure 56 The joint 215A connecting the pitch drive link 212A to the non-rotating plate 213, and the joint 215B connecting the yaw drive link 212B to the non-rotating plate 213, should provide at least 2 DoF. These joints can be universal joints, cross-type universal joints, ball joints, or ball-and-socket joints, or any other type of joint or combination of joints that allows two DoF.

[0335] In this embodiment, joints 215A and 215B are based on ball head bolts. The rotation center of these joints is located on plane DE, which is the plane containing the axes DD and EE of the universal joint 246. This configuration allows rotational movements about axes G1-G1 and G2-G2 to be transmitted individually and independently from the pitch drive pulley 210A and yaw drive pulley 210B to the non-rotating plate 213 without impeding each other's movement; this means that these rotations about these axes are decoupled. In an alternative embodiment, this connection can be achieved by directly attaching the yaw input cable 398 and pitch input cable 397 to the non-rotating plate 213 as previously mentioned, or hydraulically by using a piston to tilt / incline the non-rotating plate 213, or electronically by using a motor attached to a ball screw / screw with ball joints at the ends.

[0336] refer to Figure 55 When rotation about the pitch input axis AA and the yaw input axis BB is transmitted via the pitch drive linkage 212A and the yaw drive linkage 212B, they act independently on the universal joint 246, causing the non-rotating plate 213 to rotate about axes G1-G1 and G2-G2. To maintain decoupling of rotation about the pitch input axis AA and the yaw input axis BB from the input linkage assembly 300 within the non-rotating plate 213, the 2 DoF joint must allow independent rotation of the two axes. In the current embodiment, this utilizes, as... Figure 55This is achieved using the universal joint 246 shown. The universal joint 246 is designed such that its two DoFs, represented by axes DD and EE, intersect at the center. This results in rotation about one axis not affecting the position of the second axis in space, thus decoupling them. Furthermore, the DoF of the ball joint, represented by axes G1-G1 and G2-G2, must also intersect axes DD and EE, as shown. Figure 55 As shown, this ensures that movement in one linkage does not cause unwanted movement in another linkage. In an alternative embodiment, the 2 DoF joint can be a ball joint, a conventional universal joint, or other joint that meets the above requirement of at least 2 rotational DoFs.

[0337] refer to Figure 63 The diagram shows a view of the swashplate assembly 2200 and the distal manipulator assembly 100 in a jointed position. The swashplate assembly 2202 transmits rotation about axes G1-G1 and G2-G2 from the joint motion subassembly 201 to the distal manipulator assembly 100 via the tool shaft subassembly 203. The swashplate assembly 2202 is designed to allow rolling rotation about the joint motion axis PP relative to the joint motion subassembly 201, while also transmitting rotation about axes G1-G1 and G2-G2 from the joint motion subassembly 201 to the swashplate assembly 2202.

[0338] refer to Figure 59 In a preferred embodiment, the rotating plate assembly 2202 includes a rotating plate 219, a rotating plate bearing 220, a retaining ring 221, a connector rod ball head bolt joint 222-C, and four cable legs 223A to 223D, each cable leg being connected to the rotating plate 219 by a corresponding ball head bolt 2222. In the current view, the corresponding ball head bolts 2222 for cable legs 223A and 223D are visible, while the ball head bolts for 223B and 223C are hidden. Furthermore, for each cable leg 223A-D, they include their corresponding clamping screws 224 and clamping washers 225.

[0339] refer to Figure 57 The diagram shows a quarter-section of the interface between the universal joint 246 and the rotating plate 219, the rotating plate bearing 220, and the retaining ring 221. The rotating plate 219 is attached to the non-rotating plate 213 via the rotating plate bearing 220, which is secured by the retaining ring 221. This allows the rotating plate subassembly 2202 to mate with the articulated motion subassembly 201, as... Figure 50 As shown. This allows the rotating plate 219 to rotate about axis PP relative to the non-rotating plate 213. Reference Figure 59Each cable leg 223A-D is attached to the rotating plate 219 via a snap-fit ​​engagement with its corresponding ball head bolt 2222, which is pressed against the rotating plate 219. Furthermore, the connector rod ball head bolt joint 222-C is also pressed against the rotating plate 219, and via... Figure 51 The snap-fit ​​shown is attached to the connector linkage mechanism 206. Now refer to Figure 57 Rotation about axes G1-G1 and G2-G2 is transmitted from the joint motion subassembly 201 to the rotary plate assembly 2202, and then through the non-rotating plate 213 to the rotary plate 219, as they are connected to each other. This means that when the non-rotating plate 213 tilts / tilts about axes DD and EE due to the rotation of the drive pulley 210 about axes G1-G1 and G2-G2, the rotary plate 219 inherits this tilting / tilting motion.

[0340] refer to Figure 63 The rotating plate assembly 2202 transmits rotational motion about axes G1-G1 and G2-G2 of the joint motion subassembly 201 to the remote manipulator 100 by actuating the remote manipulator cables 101A-D in a manner that decouples them. (Refer to below) Figure 58 The diagram shows a cross-section of the interface between the universal joint 246 and the rotating plate 219, the rotating plate bearing 2220, and the retaining ring 221. This decoupling is achieved by ensuring that the rotation center of the joints to which the remote actuator cables 101A-D are attached to the rotating plate assembly 202 lies on the plane DE. This is achieved by attaching the remote actuator cables 101A-D to the rotating plate 219 with a ball joint, and then overlapping the rotating plate 219 and the non-rotating plate 213 such that the center of the ball joint coincides with the plane DE. In a preferred embodiment, the rotating plate 219 overlaps the non-rotating plate 213. Referring now to... Figure 58 In an alternative embodiment, the decoupling of rotational motion about axes G1-G1 and G2-G2 can also be achieved by designing the non-rotating plate 213 to overlap the rotating plate 219, by making both plates lie in plane DE, or by some other variation of ensuring that the rotation center of the connector to which the remote manipulator cables 101A-D are attached to the rotating plate subassembly 2202 lies in plane DE.

[0341] refer to Figure 59 In the current embodiment, the remote controller cables 101A-D are attached to their respective cable legs 223A-D via clamping interfaces, and these cable legs are then attached to the swivel plate 219 via ball joints. In an alternative embodiment of the cable legs 223A-D, the connectors for attaching the cable legs to the swivel plate 219 may be universal joints or other 2DoF connectors, and the attachment points for the remote controller cables 101A-D may be crimp interfaces.

[0342] refer to Figure 59 A preferred embodiment of securing the remote controller cables 101A-D to the cable legs 223A-D is achieved via a clamping interface. This is done by clamping the remote controller cables 101A-D between the plastic surfaces of the cable legs 223A-D and the metal surfaces of their respective clamping washers 225, while their respective clamping screws 224 maintain the pressure exerted on the remote controller cables 101A-D between these two surfaces. This can also be done between two metal surfaces or two plastic surfaces; however, both metal and plastic surfaces are preferred to maintain clamping pressure without causing damage to the cables.

[0343] This sub-component (via electromechanical system 700) receives input corresponding to rotational motion applied by the user to the dial assembly 430 about the scroll input axis CC, such as... Figure 33 As shown. Then, the input is converted into rotational motion, which is applied to the tool axis 241 via the rolling transmission sub-assembly 204, as... Figure 60 As shown in the figure, this figure illustrates a quarter cross-section of the rolling transmission subassembly 204 and the tool shaft subassembly 203.

[0344] In this preferred embodiment, motor 226 receives a command from electromechanical system 700. This command instructs motor 226 to change the angular position of its output shaft about axis QQ, which is related to the position of the output shaft from the electromechanical system 700. Figure 36 The rotational motion measured by the dial encoder 761 shown is directly related to the angular position of the dial 431 as a result of the user changing the angular position of the dial 431 around the scroll input axis CC. (Reference) Figure 60 and Figure 61 The diagram shows an exploded view of the rolling transmission subassembly 204, where rotation of the motor 226 output shaft is transmitted directly to a motor collar 228 via a clamping collar joint. A first gear 229 is attached to this motor collar using a Dutchman pin 230 and a gear retainer ring 231. The first gear 229 meshes with a second gear 232 to transmit motion to an intermediate shaft 233, which is mounted to the intermediate shaft via the clamping collar joint. The intermediate shaft 233 is supported and allowed to rotate by an intermediate bearing 234 through which the intermediate shaft passes. The intermediate bearing 234 is housed in an intermediate housing 227, which is mounted to the main bearing housing 207 via a threaded joint. The intermediate shaft 233 transmits motion to a second first gear 229, which is mounted to it via a Dutchman pin 230 and a gear retainer ring 231. The first gear 229 meshes with a third gear 237 to transmit motion to a tool sleeve 240, which is part of the tool shaft subassembly 203. The third gear 237 is installed onto the tool bushing 240 via a threaded joint.

[0345] refer to Figure 60 In a preferred embodiment, motor 226 applies torque to tool shaft 241, resulting in a desired change in its angular position about axis TT. Motor 226 is mechanically connected to tool shaft 241 via a gear reduction mechanism that increases the torque at tool shaft 241 and reduces the rotational speed relative to the output shaft of motor 226. In alternative embodiments, this connection can also be achieved by belt drive, friction drive, chain drive, cable drive, or without a gear reduction mechanism, and magnetic, electromagnetic, or fluid coupling can also be used as a means of transmitting torque from motor 226 to tool shaft 241. In any of the above alternative embodiments, a sufficient amount of torque is applied to tool shaft 241 such that the angular position of tool shaft 241 is related to the angular position of dial 431 at a constant ratio, even when there is a reasonable resistance torque applied to tool shaft 241 due to actions such as the device being used to provide torque at the output in the rolling direction by a distal actuator. The ratio in any given implementation can be any size, such as 1:1 in one instance, and this ratio will be maintained as the rolling transfer subassembly 204 changes the angular position of the tool axis 241 and applies torque to the object being manipulated.

[0346] refer to Figure 60 In a preferred embodiment, the device is designed to have a scale 431 (see...) Figure 35 A specific ratio exists between the change in the angular position of the motor 226 armature and the resulting change in the angular position of the tool shaft 241. A constant ratio also exists between the angular positions of the motor 226 armature and the tool shaft 241, defined by the internal and external gear transmissions of the motor 226, and may be the same as or different from the ratio between the angular positions of the dial 431 and the tool shaft 241. The ratio of the angular positions of the motor 226 armature and the tool shaft 241 is selected such that the motor 226 can operate at an ideal operating point, which can be selected as providing the user with optimal torque at the tool shaft 241, optimal angular velocity at the tool shaft 241, optimal power efficiency of the motor 226, a combination of the former, or any other desired operating point, all of which simultaneously contribute to maintaining a constant ratio between the angular positions of the tool shaft 241 and the dial 431.

[0347] refer to Figure 60 In a preferred embodiment, the rolling transfer sub-component 204 is designed to maintain the dial 431 when the angular position is changed by user command (see...). Figure 35A constant ratio between the angular position of the dial 431 and the tool axis 241 is maintained, and the positional relationship is preserved unless the user gives a command to change the angular position. The rolling transmission subassembly 204 is designed to resist changes in the angular position of the tool axis 241 by external torque. A preferred embodiment achieves this by applying a counter-torque to the rest of the rolling transmission subassembly 204 using a motor 226, such that the torque is applied to the tool axis 241 in an amount equal to the external load, resulting in no net torque on the tool axis 241, and therefore no change in the angular position of the tool axis 241. In other embodiments, this function can also be achieved by mechanical, magnetic, pneumatic, or hydraulic interlocking devices that constrain the rotational degrees of freedom of any component in the rolling transmission subassembly 204 depending on whether the user is changing the angular position of the dial 431.

[0348] refer to Figure 60 The rolling transmission subassembly 204 is designed such that, in the event of excessive torque being applied to the rolling transmission subassembly 204, it can slip in an angular position before any component in the transmission mechanically fails. This capability maintains the mechanical integrity of the rolling transmission subassembly 204 throughout the application of excessive torque, allowing it to return to its desired function after the excessive torque is released. In a preferred embodiment, this is achieved by intentionally limiting the amount of current supplied to the motor 226, and thus limiting the amount of torque that the motor 226 can apply to the remainder of the rolling transmission subassembly 204. If an opposing external torque exceeds this limit, the armature of the motor 226 will rotate within the motor 226 housing to prevent further external torque from being applied to the rolling transmission subassembly 204 or the tool shaft subassembly 203. Because of the electromechanical interface between the dial assembly 430 and the rolling transmission subassembly 204 (which allows slippage as described above), users can continue to apply rotational motion to the dial 431 actively until the excessive external load is released. Once the external load is released, the rotational motion of the tool shaft subassembly 203 will restore its relationship with the rotational motion of the dial 431. In an alternative embodiment, this function can be achieved at either interface by implementing a mechanical clutch, friction coupling, fluid coupling, magnetic coupling, or any other coupling or mechanism that allows components to slip relative to each other after a predetermined torque threshold has been exceeded.

[0349] refer to Figure 62 The diagram depicts a cross-section of the tool shaft subassembly 203 and the main bearing housing 207, showing the rotary plate assembly 7202 and the articulated motion subassembly 201. The tool shaft assembly 203 serves as a conduit that transmits the rotation of the rotary plate assembly 2702 about axes G1-G1 and G2-G2, as well as... Figure 60The roll transmission subassembly 204 shown rotates about axis RR, and then transmits these motions to the yaw output axis YY, pitch output axis XX, and roll output axis ZZ at the remote controller assembly 100 (see [link to manual]). Figure 32 ).

[0350] refer to Figure 62 A preferred embodiment of the tool shaft subassembly 203 includes a tool shaft 241, a tool shaft sleeve 240, a cross pin 2242, tool shaft redirection pulleys 2244, and pulley pins 245 for each pulley. The distal actuator assembly 100 is positioned on top of the tool shaft 241 and held in place by tension in the distal actuator cables 101A-D. The distal actuator cables 101A-D extend through the tool shaft 241, are attached to the four tool shaft redirection pulleys 2244 of the tool shaft sleeve 240 by means of the pulley pins 245, and terminate at the clamping interfaces of their respective cable legs 223A-D. The tool shaft sleeve 240 is pressed against the proximal end of the tool shaft 241 and rigidly attached thereto by means of the cross pin 2242, which is secured to the tool shaft sleeve 240 by a threaded joint.

[0351] refer to Figure 62 The tool shaft 241 receives motion from the rotating plate assembly 2202 and then redirects that motion using a tool shaft redirection pulley 2244 to route the distal actuator cables 101A-D from the rotating plate assembly 2202 to the distal actuator 100. Importantly, the tool shaft redirection pulley 2244 is made of a lubricating material and rotates to reduce resistance to the movement of the distal actuator cables 101. Figure 63 As shown, the articulation assembly 201 receives the motion generated by the rotation of the handle assembly 400 about the yaw input axis BB, and then transmits this motion to the swashplate assembly 2202. Since the distal controller cables 101A-D are attached to the swashplate 213, when it tilts, it pulls the distal controller cables 101A-D toward the proximal end of the swashplate assembly 2200. This generates torque at each link in the distal controller 100, causing it to articulate about the yaw output axis YY. A similar process occurs to generate rotation about the pitch output axis XX, and any combination of rotations about the pitch output axis XX and the yaw output axis YY.

[0352] refer to Figure 64To enable the rotating plate assembly 2202 to rotate about axes G1-G1 and G2-G2, and simultaneously connect the rotation of the rotating plate assembly 2202 about PP to the rotation of the tool shaft assembly 203 about axis TT, the coupler linkage mechanism 206 can be an RRS kinematic chain. In the current embodiment, the coupler linkage mechanism 206 includes a distal link 261 and a proximal link 2262, which are attached end-to-end to each other via a swivel joint. The other end of the distal link 261 is attached to the tool bushing 240 via a swivel joint, and the other end of the proximal link 2262 is attached to the coupler link ball joint 222-C (…). Figure 59 Attached to the rotating plate 219, the connector link ball head bolt joint is a ball joint. In an alternative embodiment, the connector link mechanism 206 may be an RRU kinematic chain, wherein the last joint is a universal (U) joint.

[0353] refer to Figure 60 The tool shaft 241 receives rotational motion from the rolling transmission subassembly 204 via the third gear 237. Now refer to... Figure 63 This causes the tool spindle assembly 203 to rotate about axis TT, which in turn causes the distal actuator 100 to rotate about the rolling output axis ZZ and the rotary plate assembly 2202 to rotate about axis PP. The rotation of the rotary plate assembly 2202 about axis PP is a result of the rotational connection between the tool spindle assembly 203 and the rotary plate assembly 2202 via the connector linkage mechanism 206. This rotational connection is essential for the continuous rolling function of the rotary swashplate assembly 2200; if the rotation is not connected, the distal actuator cables 101A-D may become entangled, and transmission will be restricted.

[0354] refer to Figure 63 As the remote controller 100 rotates about the yaw output axis YY, the remote controller cables 101A-D, located near the top side of the figure, are pulled towards the proximal end of the swashplate assembly 2200. As the swashplate assembly 2202 rolls about the axis PP, the positions of the remote controller cables 101A-D change with their rotation, but the swashplate assembly 2202 remains at the same joint angle. This ensures that whenever the remote controller cables 101A-D rotate to the top position, they are pulled towards the proximal end of the swashplate assembly 2200, thus allowing the remote controller 100 to maintain rolling rotation with the same joint angle.

[0355] In many applications of wrist-worn devices that provide multiple motions (or DoF) and are controlled by a human user, there are often requirements for mutual constraints.

[0356] The DoF or motion provided by the device must be user-controllable so that the muscle groups activated by the user to drive these DoFs (at the device's input) are not subjected to excessive strain or fatigue. Otherwise, it will lead to user discomfort and fatigue.

[0357] Furthermore, in many applications such as surgical or minimally invasive surgery, it is important that the user can control the various DoFs of the wrist-worn device in a highly precise, repeatable, and controllable manner. This requires fine and sensitive control over the amount and quality of motion of the distal manipulator.

[0358] Furthermore, it is expected that users will receive haptic feedback through the device, enabling them to sense or estimate the interaction (e.g., force, torque, pressure, relative displacement) between the distal manipulator of the wrist-worn device and an external object being manipulated by the distal manipulator and controlled by the user. In some applications, such as surgical or minimally invasive surgery, this haptic feedback can provide users (e.g., surgeons) with crucial information that is not easily estimated visually or otherwise. A lack of such information can prove risky for patients undergoing surgery.

[0359] Finally, in applications of wrist-worn devices held and operated by human users, the device must be relatively compact in size and weight so that operation and use by the user over a period of time will not be burdensome or cumbersome.

[0360] The aforementioned requirements for user comfort when driving the DoF device with wrist attachment, fine and precise control of the DoF at the distal manipulator, tactile feedback from the distal manipulator to the user, and the compact size and weight of the device can be applied to a wide range of applications beyond surgical procedures. These applications may include precise manufacturing and / or assembly, delicate material handling, or remote probing in access-restricted environments.

[0361] However, it is difficult to meet all of the above requirements in a given design of a wrist-worn device, because many of these requirements are interdependent.

[0362] For example, one way to achieve good haptic feedback in wrist-worn devices is to use mechanical transmissions between the user and all paths to the distal actuator. Such mechanical transmissions help provide not only a physical path for user input to be transmitted via the device to the distal actuator, but also the same path for forces (including loads, torques, etc.) at the distal actuator to flow back to the user. The resulting "feel" of the forces applied by and at the distal actuator is invaluable to the user.

[0363] However, purely mechanical actuators can strain the muscles that users engage to drive the various DoFs (DoFs) of wrist-worn devices. Mechanical actuators require the user to generate sufficient driving force at the input point to produce the necessary force not only at the distal manipulator but also to overcome the inertia and frictional resistance / loss associated with the actuator. This can be particularly problematic for user input that requires muscle groups associated with fine motor control, such as the fingers. Specifically, if the user's fingers are used to drive a particular DoF of the wrist-worn device, such as rotating a scroll dial, the muscle groups associated with finger movement can easily become tense and fatigued.

[0364] Therefore, for wrist-worn devices that use purely mechanical transmission mechanisms, users are also prone to discomfort and fatigue associated with the fine motor control muscle groups when they receive tactile feedback.

[0365] To reduce the strain on the muscle groups activated by the user to drive the individual DoFs of the wrist-worn device, an alternative approach is to use an electromechanical (or electronic) actuator to control all DoFs of the wrist-worn device. An electromechanical actuator here means that the user interface on the wrist-worn device for any given DoF may include sensors that acquire the user's intent or command for that DoF / movement. This command is captured via an electronic signal, which is sent to a microcontroller, which then runs a control algorithm / logic and sends an appropriate amount of power (typically via a driver) to an actuator (e.g., an electric motor) within the wrist-worn device. The necessary driving force for the DoF is delivered from the actuator to the distal manipulator via the actuator and various mechanical transmission elements. Considering the combination of mechanical, electronic, and electromechanical components involved, this actuator may be referred to as an "electromechanical" actuator.

[0366] A key advantage of using electromechanical drives for all DoFs in wrist-mounted devices is that the individual muscle groups experience a lower load in terms of the amount of input force and torque required to drive multiple DoFs. Most of the force, torque, and power required at the distal manipulator is drawn from the actuator rather than from the user. Furthermore, the motorized power and microprocessor control of each DoF provide the user with fine and precise control over the DoFs in the distal manipulator.

[0367] However, on the other hand, since the direct physical or mechanical transmission of DoF from the user to the remote manipulator is no longer present, the tactile or force feedback returning from the remote manipulator to the user's hand is also weakened. As previously noted, tactile feedback can be crucial for precise operational applications.

[0368] Furthermore, in this architecture where all DoFs utilize electromechanical drives for wrist-worn devices, each DoF requires an actuator (e.g., an electric motor) and associated drivers, electronics, power supply (e.g., a battery), microcontroller capabilities, etc. This increases the cost and complexity of the design, making the overall physical design larger and heavier. This increased size and weight, in turn, makes handling and operating the wrist-worn device more difficult, cumbersome, and laborious for the user.

[0369] Therefore, there is a clear trade-off between the two structures used in wrist-worn devices—one structure in which all DoFs are purely mechanically driven, and the second structure in which all DoFs are electrically and electromechanically driven.

[0370] These trade-offs can be overcome by employing a hybrid structure for wrist-worn devices, where some DoFs utilize mechanical transmissions while others employ electromechanical transmissions from the user to the distal manipulator. Specifically, DoFs requiring fine motor skills (e.g., muscles in the fingers) can utilize electromechanical transmissions. This reduces strain and fatigue on the user's smaller muscle groups while providing fine and precise movement at the distal manipulator. Meanwhile, DoFs that engage major muscle groups (e.g., muscles in the forearm that enable wrist joint movement) do not require motorized power (e.g., from an electric motor) and maintain mechanical transmission. Precise control of these DoFs is maintained because larger muscle groups are less prone to fatigue. Simultaneously, mechanical transmission ensures tactile feedback. Furthermore, fewer DoFs employing electromechanical transmissions mean fewer actuators (e.g., motors), drives, battery capacity, etc. This hybrid structure makes the entire wrist-worn device more compact and lighter compared to structures where all DoFs are motorized.

[0371] Specifically, a preferred embodiment of the wrist-mounted device 2000 shown here includes motorized power and electromechanical transmissions for the rolling rotation of the distal manipulator. Rolling control via a dial requires input from the user's fingers, which engages the small muscle groups most prone to fatigue. Motorized power and microcontroller control overcome this challenge. However, mechanical transmissions are used to drive yaw and pitch rotations and implicitly provide tactile feedback. Since these are driven by the user's wrist, which engages large muscle groups in the forearm, muscle fatigue is less of a concern. Overall, this results in a more compact and lighter overall device.

[0372] In applications such as surgical or minimally invasive procedures using user-operated wrist-worn devices, electrification of rolling rotation facilitates the delicate and precise movements required for suturing without fatigue of associated muscles or loss of fine motor control. Simultaneously, by ensuring the mechanical transmission of yaw and pitch rotation, the user receives valuable tactile feedback, crucial in surgical applications. This tactile feedback, usable by the user, allows them to adjust their input without visual feedback, enabling more favorable interaction between the distal manipulator and the object being manipulated (e.g., the patient's soft tissue). This tactile feedback can provide the user with life-threatening information that cannot be perceived visually or by any other means.

[0373] Although we have shown an electromechanical drive for rolling DoF, in principle, similar electromechanical drives can also be used for pitch and / or rolling DoF within the overall framework of the input joint motion joint and swashplate assembly that wrap around the user's hand presented herein.

[0374] We aim to ensure that pitch and yaw are generally defined as two orthogonal rotations that define the joint motion. Specific axes within the joint motion plane are irrelevant. The representations in the figures and embodiments are merely representative.

[0375] While electric motors have been mentioned as potential actuators for electromechanical transmissions in rolling DoF (DoF), other rotary and linear actuators with suitable transmission mechanisms can be considered. Rotary actuators can include electric, electromagnetic, pneumatic motors / turbines, fluid motors / turbines, etc. Linear actuators can include electric and electromagnetic motors, voice coils, piezoelectric, electrostatic, and fluid piston-cylinders, etc. Transmission systems include various types of gears (spur gears, helical gears, bevel gears, planetary gears, etc.), belts, cables, chains, linkages, flexural elements, etc.

[0376] The wrist-mounted device 2000 described in this article can be used in a variety of surgical applications, particularly minimally invasive surgery, where dexterity and precision are crucial for accessing spaces that are difficult to reach within the patient's body. Such applications are needed in a wide range of surgical fields, including but not limited to laparoscopy (i.e., minimally invasive surgery in the abdominal space), cardiothoracic surgery, vascular surgery, plastic and spinal surgery, craniofacial surgery, ENT surgery, ophthalmic surgery, and neurosurgery.

[0377] Depending on the specific nature of the surgery, certain sizes and shapes may need to be modified to accommodate the anatomy and workspace. For example, the size and shape of the distal manipulator instrument; the size and shape of the handle assembly; the length, diameter, and shape of the tool shaft; the nominal position of the handle body relative to the base; and the size and shape of the base can be modified as needed, while maintaining the core operating principles of yaw, pitch, and roll rotation at the distal manipulator.

[0378] When used in laparoscopic surgery (i.e., minimally invasive surgery in the abdominal space), distal manipulators can take on a variety of different shapes, sizes, forms, and features to achieve a variety of different functions, such as: holding the needle during suturing to drive it through the tissue, holding the suture for knotting; grasping; separating; cutting / cutting; electrocautery.

[0379] The remote manipulator may be equipped with opening and closing clamps. Typically, two clamps may be present, but in other cases, three or more clamps may also be present.

[0380] In the case of two clamps at the remote manipulator, in some cases only one clamp can move relative to the other clamp, while in other cases the two clamps can move relative to each other.

[0381] In some cases, the distal manipulator may not have two or more clamps (or moving parts), but only a single, appropriately shaped part, such as an electrocautery hook or scraper.

[0382] Therefore, the distal manipulator with wrist device can be any of the following instrument types: needle actuator / retainer, traumatic gripper, non-traumatic gripper, separator, shearer, electrocautery hook, monopolar or bipolar electrocautery device. Other instrument types may include surgical suture devices (linear or annular) and vascular closure devices using advanced energy (e.g., ultrasound).

[0383] When used in cardiothoracic or vascular surgery, distal manipulators may include clamps (such as Resano toothed clamps, suture clamps, push-knot clamps, diathermy clamps, etc.) and needle holders (such as Ryder needle holders, miniature clamp needle holders, coronary needle holders, and lockable and non-lockable needle holders, etc.).

[0384] Other types of instruments used at the distal manipulator site in vascular surgery may include Pott-Diethrich valve scissors for dissecting blood vessels and widening vascular incisions, and nerve and vascular hooks for manipulating and probing valves or veins.

[0385] Distal manipulators with wrist devices for cardiac surgery may include retractors for keeping incisions open and retracting tissue to keep the surgical area clean (e.g., rotating blades—straight and curved, fixed blades, rultract retractors, sternal retractors, transthoracic retractors, etc.); sternal saws for median sternotomy, which open the patient's chest by cutting the sternum to access the heart and lungs; Rumel tourniquet pullers for tightening purse-string sutures to control bleeding at the insertion site; bulldog applicators for clamping and holding tissue, blood vessels, or sutures; and cardiovascular clamps for temporarily clamping blood vessels for hemostasis (e.g., Derra partial occlusion, Debakey, aortic occlusion, etc.).

[0386] Distal manipulators with wrist devices suitable for neurosurgical procedures may include curettes (e.g., spinal fusion, spoons) for extracting tissue samples from bone; separators (e.g., double-headed, dural guides and tractors, Penfield, probes, etc.); dissectors (e.g., spinal, periosteum, dura mater, etc.) for separating hard tissues around bone to expose them for surgical purposes; clamps (e.g., dressings, sweet clamps, scrapers, irises, etc.); hooks (e.g., Adson hooks, Adsonoliver nerve, Cairns dura mater, Meninges, Oliver dura mater); retractors; bone forceps (e.g., Bateman, Cairns, Dandys, Daniel, Love-Grunwald, Northfield); and scissors (e.g., Cairns, Olivecrona, Pituitary, Schmieden dura mater, etc.). Distal manipulators with wrist devices suitable for orthopedic and spinal surgery include bone-cutting forceps for chiseling bone or removing small pieces of tissue (e.g., thin-plate, Kerrison, ceramic bone injection, ceramic open, Gerard, Ferris Smith, IVD, Adons, Leksell); and retractors for keeping incisions open, retracting tissues and organs, or reaching other structures (e.g., lateral posterior interbody fusion, cerebellar Zelpi, offset Zelpi, Wiltse). Gelpi, Miskimmon, Adson cerebellum, Meyerding; curettes used to scrape or remove tissue, debris, or foreign bodies during surgery (e.g., long, lateral angle, conical ring, O'Brien, Charnley, triangular endplate, teardrop, depressor, toothed long, American, pedicle, American half, mini half, American ring, American rainbow, mini rainbow, mini, mini axial); dissectors used to strip, scrape, or separate bone, tissue, and nerves during various surgical procedures (e.g., long-handled cobb, long cobb, shovel nose, flat cobb, angled cobb, endplate scraper, Woodson, long penfield, curved bone chisel, Neidre, Fellrath). PLL, implanter, freer, key periosteum, annulus fibrosus cutter, axial Woodson, Watson chain, Howorth; bone files for trimming bone during surgery (e.g., micro, small hole, unilateral endplate, side gun, bilateral endplate, bilateral, bilateral lateral angle); soft tissue screw retractors that can be used around pedicle screws; bone chisels for cutting or removing bone during surgery (smith perterson, piggot, ferret, harvesting, hibbs); and bone chisels for cutting or pre-treating bone (lambotte, thin shank).

[0387] Distal manipulators with wrist devices suitable for ophthalmic surgery include cannulas, which can be used to irrigate and / or aspirate the interior of the eye during surgical procedures, or for gas injection, anesthesia, aspiration, backflushing, hydrolysis, etc. Other instrument types may include nucleus splitters (e.g., femtosecond LASIK, phacoemulsification, cataract extraction) to assist in manipulating the lens nucleus or other intraocular structures or sutures. Other instrument types suitable for distal manipulators with wrist devices for use in ophthalmic surgery may include: clamps, manipulators, needle holders, markers, retractors, probes, scissors, speculum, trephine, scrapers, calipers, etc.

[0388] In the case of minimally invasive surgery, the device in the wrist-worn device (Figure 20) ( Figure 32 The handle assembly 400 can be operated by the user holding it with one hand, while the shaft 241 can be externally supported, for example by a cannula.

[0389] The shaft 241, the swashplate assembly 2200, or the base subassembly 310 can be supported by the user's other hand or by an external support structure (such as a frame, table mount, tripod, robotic arm, etc.), so that the user does not have to bear the weight of the equipment but can drive the equipment and control the input of the equipment.

[0390] The wrist-mounted device described in this article can be used for a variety of industrial tasks—remote access tasks, assembly, pick-and-place, complex repairs in hard-to-reach spaces, precision manufacturing, 3D printing, precision materials handling, or remote exploration when access is restricted. Various types of tools or instruments, such as grippers, welding heads, drill bits, and metal cutting tools, can be mounted at the remote manipulator.

[0391] Using a cable drive to transmit motion from the handle assembly 400 is a particular and preferred embodiment of the input linkage assembly 300. Alternatively, instead of or in addition to a cable drive, a series of linkages may be used to transmit motion (particularly yaw and pitch rotation) from the handle assembly 400 to the swashplate assembly 2200.

[0392] Figure 65 Two sectional views, a front view and a side view, are depicted of an alternative input linkage assembly 300 that uses a linkage mechanism to transmit yaw and pitch rotation of the handle assembly 400 to the non-rotating plate 213.

[0393] refer to Figure 65 This particular embodiment transmits the rotation of the pitch drive pulley 372 to the drive link 311, which has two ball joints at each end. The drive link 311 converts the rotational motion of the pitch drive pulley 372 into linear motion and actuates the links connected to it throughout the yaw link assembly 350. The rotation of the yaw link subassembly 350 relative to the base subassembly 310 about axis BB is decoupled from this linkage mechanism because it actuates the adjacent links in the base subassembly 310 by using slider 312 to hold the push link 343 at the center of axis BB. Slider 312 will allow the push link 343 to be constrained along axis BB such that when the linkage mechanism is actuated, as slider 312 rotates counterclockwise (in... Figure 65 In the front view), the push link 343 is moved upward along axis BB. By using a rotary joint aligned with axis BB, the pin on the push link 343 is allowed to rotate about axis BB together with the yaw link assembly 350 and the slider 312. Therefore, the upward and downward movement of only the push link 343 is transmitted to the output link 345 through the remaining linkage mechanism in the base assembly 310, which drives the non-rotating plate 213.

[0394] Yaw drives operate in a very similar manner. For example... Figure 65 As shown, the yaw drive pulley 321 actuates the drive link 341, which is very similar to how the pitch drive pulley 372 drives its drive link 311. The drive link 341 drives the rest of the linkage upward to the output link 344, which actuates the non-rotating plate 213.

[0395] In another alternative configuration of the device, motion transmission from the handle assembly 400 to the non-rotating plate 213 can be achieved via a rigid connection. Figure 66 A kinematic diagram of a possible implementation is depicted. The handle assembly 400 and the non-rotating plate 213 form a single unit (or are rigidly connected to each other), which is connected to the base subassembly 310 via a universal joint 246. Note that the axis of rotation of the universal joint 246 is orthogonal to the axis CC. The dial 431 and the rotating plate 219 form a single unit (or are rigidly connected to each other), which is coupled to the handle assembly 400 / non-rotating plate 213 unit via a rotating plate bearing 220, such that any rotation of the handle assembly 400 / non-rotating plate 213 unit relative to the base subassembly 310, achieved by the universal joint 246, is inherited by the dial 431 / rotating plate 219 unit. Rotation of the dial 431 relative to the handle assembly 400 / non-rotating plate 213 unit is also transmitted to the rotating plate 219 via a rigid connection. The dial 431 and the rotating plate 219 are integrated into one piece, which can rotate about axis CC relative to the base sub-assembly 310 and the handle assembly 400 / non-rotating plate 213 integrated piece due to the rotating plate bearing 220.

[0396] Figure 67 A kinematic diagram depicting another possible embodiment of the rigid connection transmission structure described above is provided. The dial 431 and the rotating plate 219 form a single unit (or are rigidly connected to each other), which is connected to the base subassembly 310 via a ball joint 246'. The handle assembly 400 and the non-rotating plate 213 form a single unit (or are rigidly connected to each other), which is connected to the dial 431 / rotating plate 219 unit via a rotating plate bearing 220, such that any rotation of the handle assembly 400 / non-rotating plate 213 unit relative to the base subassembly 310 (except for rotation about the axis CC) achieved by the ball joint 246' is inherited by the dial 431 / rotating plate 219 unit. Rotation of the handle assembly 400 / non-rotating plate 213 unit about the axis CC is not inherited by the dial 431 / rotating plate 219 unit. The rotation of the dial 431 / rotating plate 219 assembly around axis CC relative to the base subassembly 310 is achieved by ball joint 246'.

[0397] Figure 68A kinematic diagram illustrating another possible implementation of the rigid connection transmission described above is presented. The handle assembly 400 and the non-rotating plate 213 form a single unit (or are rigidly connected to each other), which is connected to the base subassembly 310 via a universal joint 246. The rotating plate 219 is connected to the handle assembly 400 / non-rotating plate 213 unit via a rotating plate bearing 220, such that any rotation of the handle assembly 400 / non-rotating plate 213 unit relative to the base subassembly 310 via the universal joint 246 is inherited by the rotating plate 219. Rotation of the dial 431 relative to the handle assembly 400 / non-rotating plate 213 unit about axis C'-C' is transmitted to the rotating plate 219 via a bellows 601, as shown, but alternative connection mechanisms are also possible, such as linkages, flexural elements, etc.

[0398] In another alternative configuration of the device, motion transmission from the handle assembly 400 to the non-rotating plate 213 can be transmitted via a fluid, which can be hydraulic or pneumatic. Figure 69 One possible implementation of this structure is described.

[0399] refer to Figure 69 The shank assembly 400 is rigidly connected to the pitch linkage subassembly 380. Rotation of the shank assembly 400 relative to the yaw linkage subassembly 350 about axis AA causes rotation of the pitch drive pulley 372, which displaces the connecting rod 621, which is attached to the pitch drive pulley 372 at one end via a ball joint. The other end of the connecting rod 621 is connected to the drive piston 622 via another ball joint. The drive piston 622 is allowed to translate within a fluid-containing cylinder 623, which is rigidly connected to the yaw linkage subassembly 350. Note that the two ball joints of the connecting rod 621 can also be swivel joints or universal joints. Therefore, rotation of the shank assembly 400 relative to the yaw linkage assembly 350 about axis AA causes the drive piston 622 to compress / decompress the fluid within the cylinder 623. Note that the cylinder 623 can be a linear cylinder or a rotary cylinder. Reference Figure 69 a. Rotary cylinder 623 is used to transmit yaw rotation.

[0400] Fluid compression and decompression are transmitted via fluid line 610a to a swashplate assembly 2200, where a cylinder 613a with a pitch drive piston 612a is located. This pitch drive piston will displace along the cylinder in response to varying fluid pressure in the fluid line 610a. The pitch drive piston 612a is connected to a pitch drive link 2212a via a ball joint 611a, such that any displacement of the pitch drive piston 612a is transmitted to the pitch drive link 2212a. The pitch drive link 2212a is then connected to a non-rotating plate 213 via another ball joint. The non-rotating plate is connected to a base subassembly 310 via a universal joint 246, such that displacement of the pitch drive link 2212a approximately along its longitudinal axis causes rotation of the non-rotating plate 213 about the universal joint 246. Therefore, rotation of the shank assembly 400 and the pitch linkage subassembly 380 relative to the yaw linkage assembly about axis AA will cause the non-rotating plate 213 to tilt / tilt relative to the base assembly 310 about the universal joint 246. The rotating plate 2202 is allowed to rotate relative to the non-rotating plate 213 via the rotating plate bearing 220.

[0401] Rotation of the yaw linkage assembly 350 relative to the base assembly 310 about axis BB can also be transmitted via a similar mechanism as described above. Compression / decompression of fluid 624 is transmitted via fluid line 610b to the swashplate assembly 2200, where the yaw drive piston 612b is displaced along cylinder 613b, actuating the yaw drive linkage 212b, thereby causing the non-rotating plate 213 to tilt / tilt relative to the base assembly 310 about the universal joint 246.

[0402] Figure 69 The yaw drive link 212b and pitch drive link 212a shown in Figure a are attached to the non-rotating plate 213 in such a way that each mechanism actuates the non-rotating plate 213 relative to the base 310 via a universal joint 246 about an axis orthogonal to another axis.

[0403] In this particular configuration, rotation of the handle assembly 400 relative to the yaw link subassembly 350 about axis AA will only actuate the pitch drive link 212a, and rotation of the yaw link assembly 350 relative to the base assembly 310 about axis BB will only actuate the yaw drive link 212b. Because the two corresponding fluid lines are independent, actuating one fluid line will not affect the pressure of the other fluid line.

[0404] Although this disclosure has been described in conjunction with certain embodiments, it should be understood that this disclosure is not limited to the disclosed embodiments, but rather is intended to cover various modifications and equivalent arrangements included within the scope of the appended claims, consistent with the broadest interpretation to include all such modifications and equivalent structures permitted by law.

[0405] For the purposes of this disclosure, the term “joint” (in all its forms, connection, link, coupling, etc.) generally refers to the direct or indirect engagement of two components with each other. Such engagement may be fixed in nature or movable in nature; may be achieved by the two components and any additional intermediate members forming a single entity with each other or integrally with the two components; and may be permanent in nature or may be removable or detachable in nature, unless otherwise stated.

[0406] The articles “a,” “an,” and “the” are intended to indicate the presence of one or more elements in the preceding description. The terms “comprising,” “including,” and “having” are intended to be inclusive and mean that there may be additional elements besides those listed. Furthermore, it should be understood that references to “one embodiment” or “implementation” in this disclosure are not intended to be construed as excluding the existence of other specific embodiments that also include the described features. Additionally, the terms “first,” “second,” etc., as used herein do not indicate any order, quantity, or importance, but are used to refer to elements that are distinct from each other.

[0407] The numbers, percentages, ratios, or other values ​​described herein are intended to include the stated values, as well as other values ​​that are “approximately” or “about” similar to the stated values, as understood by one of ordinary skill in the art as covered by specific embodiments of this disclosure. Therefore, the stated values ​​should be interpreted broadly enough to cover values ​​that are at least close enough to the stated values ​​to perform the desired function or achieve the desired result. For example, the terms “approximately,” “about,” and “substantially” may refer to quantities less than 5%, less than 1%, less than 0.1%, and less than 0.01% of the stated amount.

[0408] Furthermore, it should be understood that any direction or frame of reference in the preceding description is only relative to direction or movement. For example, the terms “up,” “down,” “right,” “left,” “back,” “front,” “vertical,” “horizontal,” “inner,” “outer,” and their derivatives should be distinguished from… Figure 1The orientation shown is relevant. However, it should be understood that various alternative orientations may be provided unless expressly stated to the contrary. It should also be understood that the specific devices and processes shown in the figures and described in this specification are merely exemplary embodiments of the inventive concepts defined in the appended claims. Therefore, specific dimensions and other physical characteristics associated with the embodiments disclosed herein should not be considered limiting unless expressly stated otherwise in the claims.

[0409] Changes and modifications may be made to the specifically described embodiments without departing from the principles of the invention, which are intended to be limited only by the scope of the appended claims as interpreted in accordance with the principles of patent law. This disclosure has been described in an illustrative manner, and it should be understood that the terminology used is intended to be descriptive rather than restrictive. Many modifications and variations may be made to this disclosure based on the foregoing teachings, and this disclosure may be practiced in ways different from those specifically described.

Claims

1. A surgical device comprising: A distal manipulator, the distal manipulator being movable between a nominal orientation and a joint motion orientation and being able to rotate within the joint motion orientation with an unlimited range of motion; A handle, movable by a user's hand between a second nominal orientation and a second articulation orientation, thereby moving the distal manipulator between the nominal orientation and the articulation orientation; and a scroll input for receiving user input to rotate the distal manipulator in the articulation orientation. A rolling drive mechanism that causes the remote manipulator to rotate according to the user input; and A joint motion transmission device that holds the distal manipulator in the joint motion orientation when the distal manipulator is rotated by the rolling transmission device, the joint motion transmission device having an output member that is movable between a third nominal orientation and a third joint motion orientation and is rotatable in the third joint motion orientation with an unlimited range of motion.

2. The surgical device of claim 1, wherein the second nominal orientation corresponds to the nominal orientation and the third nominal orientation, and the second joint motion orientation corresponds to the joint motion orientation and the third joint motion orientation.

3. The surgical device according to any one of claims 1 or 2, wherein movement of the handle assembly in the pitch and yaw directions causes movement of the output member and the distal manipulator in the pitch and yaw directions.

4. The surgical device of claim 3, wherein movement of the handle assembly relative to the reference frame in the pitch and yaw directions causes movement of the output member and the distal manipulator relative to the reference frame in the pitch and yaw directions.

5. The surgical device according to any one of claims 1 to 4, further comprising a shaft; wherein the distal manipulator is pivotally coupled to the shaft; and The rolling drive includes a motor that rotates the shaft according to the user input.

6. The surgical device of claim 5, wherein the shaft transmits torque from the motor of the rolling transmission to the distal manipulator such that the distal manipulator rotates in the joint movement orientation.

7. The surgical device according to any one of claims 5 or 6, wherein the shaft is coupled to the output member and transmits torque to the output member to cause rotation of the output member.

8. The surgical device according to any one of claims 5 to 7, wherein the shaft receives torque from an electric motor and transmits the torque in parallel to the distal manipulator and the first structure such that the distal manipulator and the first structure rotate.

9. The surgical device according to any one of claims 1 to 8, wherein the scroll input is a scroll dial coupled to a distal end of the handle remote from the user and rotatable relative to the handle to receive user input.

10. The surgical device according to any one of claims 1 to 9, further comprising an input transmission device having a first pulley and a first drive link, the first drive link being coupled to the first pulley and an input member of the joint motion transmission device and extending between the first pulley and the input member of the joint motion transmission device. The joint motion transmission device includes the input member coupled to the output member, the output member being rotatable about an axis relative to the input member and constrained from making any other movements relative to the input member; When the first pulley is rotated by the handle, the first drive link pushes and pulls the input member to move the output member between the third nominal orientation and the third articulated orientation.

11. The surgical device according to any one of claims 10, wherein the input transmission device includes a second pulley and a second drive link, the second drive link being coupled to the first pulley and the input member and extending between the first pulley and the input member; When the second pulley is rotated by the handle, the second drive linkage pushes and pulls the input member to move the output member between the third nominal orientation and the third articulated orientation. and The first drive link and the second drive link are connected to the input member at a position approximately 90 degrees apart around the longitudinal axis of the input member.

12. The surgical device of claim 11, wherein the first pulley and the second pulley rotate about an axis perpendicular to each other.

13. The surgical device according to any one of claims 10 to 12, wherein the input drive includes a cable length that is pulled by the handle to rotate the first pulley and the second pulley to move the output member.

14. The surgical device of claim 13, wherein the handle includes a first link and a second link, the first link being rotatably connected to the second link at a first pivot joint, and the second link 522b being rotatably connected to a base including the joint motion transmission device at a second pivot joint.

15. The surgical device of claim 14, wherein a first cable length of the cable extends from another first pulley at the first pivot to the first pulley, and a second cable length of the cable extends from another second pulley at the second pivot through the first pivot to the second pulley.

Images