Surgical instrument with wristed jaw having idler for achieving zero misalignment angle

Abstract

An end effector for use with a robotic system includes: a proximal hub having a first upright support opposite to a second upright support; a distal hub having the first and second upright supports and pivotally connected to the proximal hub about a first pivot axis; a first gripper member; a second gripper member; a first idler wheel; and a second idler wheel. The first and second gripper members are pivotally connected to the first and second upright supports of the distal hub about a second pivot axis. A first and second cable group are configured to extend around the first and second idler wheels and around the first and second gripper members to allow rotation of the first and second gripper members. The distal hub, the first idler wheel, and the second idler wheel are angled to produce an offset angle of approximately zero degrees.

Description

Cross-reference to related applications

[0001] This application claims the benefit and priority of each of U.S. Provisional Patent Application No. 63 / 572,989, filed April 2, 2024, U.S. Provisional Patent Application No. 63 / 597,171, filed November 8, 2023, and U.S. Patent Application No. 18 / 908,094, filed October 7, 2024, the entire contents of which are incorporated herein by reference. Background Technology

[0002] Robotic surgical systems are used in minimally invasive medical procedures. Some robotic surgical systems include: a console that supports a surgical robotic arm; and surgical instruments having at least one end effector (e.g., a clamp, grasping tool, or cutting tool) and mounted to the robotic arm. The robotic arm provides mechanical power to the surgical instrument for its operation and movement. Each robotic arm may include an instrument drive unit operatively connected to the surgical instrument.

[0003] Cables extend from the robot's control console, pass through the robotic arm, and connect to the wrist assembly and / or end effector. In some instances, the cables are actuated by motors controlled by a processing system that includes a user interface to enable surgeons or clinicians to control the robotic surgical system, which includes the robotic arm, wrist assembly, and / or end effector.

[0004] In some instances, wrist assemblies for realizing joint movement of the end effector are provided through cables connecting to different components of the end effector, and in combination with pulley systems connecting to components of the end effector (such as surgical instruments of the end effector). In these cases, the angle (called the deviation angle) of each cable between the pulley and the components of the end effector may be large. Large deviation angles can cause undesirable slip contact and friction between each cable and the pulley or component, thereby reducing cable life.

[0005] Therefore, the end effector needs to have components that minimize the deviation angle experienced by the articulated cable, thereby extending the life of the articulated cable. Summary of the Invention

[0006] According to one aspect of this disclosure, an end effector for use with a robotic surgical system is provided. The end effector includes a proximal hub, a distal hub, a first gripper member, a second gripper member, a first idler wheel, and a second idler wheel. The proximal hub includes a first upright support member opposing a second upright support member. The distal hub includes the first and second upright supports members and is connected to the first and second upright supports of the proximal hub about a first pivot axis. The first gripper member is pivotally connected to the first upright support member of the distal hub about a second pivot axis. The second gripper member is pivotally connected to the second upright support member of the distal hub about a second pivot axis. The first idler wheel is rotatably connected to the first upright support member of the distal hub. A first cable assembly is configured to extend around the first idler wheel and a portion of the first gripper member to rotate the first gripper member. The second idler wheel is rotatably connected to the second upright support member of the distal hub. A second cable assembly is configured to extend around the second idler wheel and a portion of the second gripper member to rotate the second gripper member. The distal hub, the first idler wheel, and the second idler wheel are angled to produce a zero-degree deviation angle.

[0007] In one aspect of this disclosure, the end effector may further include a first pulley, a second pulley, a third pulley, and a fourth pulley, each pulley being connected to a proximal hub via a distal pulley pin. The first pulley may be disposed adjacent to a second upright support member of the proximal hub, while the fourth pulley may be disposed adjacent to a first upright support member of the proximal hub. A zero-degree offset angle may be generated between each of the following: the first idler pulley and the first pulley, the first idler pulley and the second pulley, the second idler pulley and the third pulley, and the second idler pulley and the fourth pulley.

[0008] In another aspect of this disclosure, the distal hub may be at an angle of approximately fifteen degrees relative to the first pulley, second pulley, third pulley, and fourth pulley.

[0009] In another aspect of this disclosure, the first idler wheel and the second idler wheel may each be at an angle of approximately ten degrees relative to the first pulley, the second pulley, the third pulley and the fourth pulley.

[0010] In another aspect of this disclosure, the first gripper member may further include a protrusion. The first cable assembly may wrap around a portion of the first pulley, a portion of the protrusion of the first gripper member, a portion of the first idler wheel, and a portion of the second pulley.

[0011] In one aspect of this disclosure, the second gripper member may further include a protrusion. The second cable assembly may wrap around a portion of the fourth pulley, a portion of the protrusion of the second gripper member, a portion of the second idler pulley, and a portion of the third pulley.

[0012] In another aspect of this disclosure, the end effector may further include a fifth pulley, a sixth pulley, a seventh pulley, and an eighth pulley, each pulley being connected to a proximal hub via a proximal pulley pin. The fifth pulley may be disposed adjacent to a second upright support member of the proximal hub, while the eighth pulley may be disposed adjacent to a first upright support member of the proximal hub.

[0013] In another aspect of this disclosure, the first gripper member may further include a protrusion. The first cable assembly may wrap around a portion of the first pulley, a portion of the first pulley, a portion of the protrusion of the first gripper member, a portion of the first idler wheel, a portion of the second pulley, and a portion of the sixth pulley.

[0014] In another aspect of this disclosure, the second gripper member may further include a protrusion. The second cable assembly may wrap around a portion of the eighth pulley, a portion of the fourth pulley, a portion of the protrusion of the second gripper member, a portion of the second idler pulley, a portion of the third pulley, and a portion of the seventh pulley.

[0015] In one aspect of this disclosure, at least one of the first cable group or the second cable group may include an outer cable portion and an inner cable portion. The inner cable portion of the first cable group or the second cable group may extend accordingly around the first idler wheel or the second idler wheel.

[0016] In another aspect of this disclosure, the end effector may define a longitudinal axis. A first pivot axis and the longitudinal axis may define a first plane. A second pivot axis and the longitudinal axis may define a second plane. The second plane may be oriented at a non-orthogonal angle relative to the first plane.

[0017] In another aspect of this disclosure, the second plane may be at an angle of approximately seventy-five degrees relative to the first plane.

[0018] In another aspect of this disclosure, the first and second idler wheels are rotatable about a third axis. The third axis and the longitudinal axis may define a third plane oriented at a non-orthogonal angle relative to the first plane.

[0019] In one aspect of this disclosure, the third plane may be at an angle of approximately eighty degrees relative to the first plane.

[0020] In another aspect of this disclosure, the third plane may be at an angle of approximately sixty degrees relative to the first plane.

[0021] In another aspect of this disclosure, the angle of the third plane relative to the first plane may be determined at least in part by the dimensions of at least one of the first idler wheel or the second idler wheel.

[0022] In another aspect of this disclosure, the first upright support of the distal hub may further include a first inner surface and a second inner surface. The first inner surface of the first upright support may be configured to angle the first gripper member, and the second inner surface of the first upright support may be configured to angle the first idler wheel. The second upright support of the distal hub may further include a first inner surface and a second inner surface. The first inner surface of the second upright support may be configured to angle the second gripper member, and the second inner surface of the second upright support may be configured to angle the second idler wheel.

[0023] In one aspect of this disclosure, the first inner surface of the first upright support and the first inner surface of the second upright support may form an angle of approximately fifteen degrees with respect to the first plane.

[0024] In another aspect of this disclosure, the second inner surface of the first upright support and the second inner surface of the second upright support may form an angle of approximately ten degrees relative to the first plane.

[0025] In another aspect of this disclosure, the second inner surface of the first upright support and the second inner surface of the second upright support may form an angle of about thirty degrees relative to the first plane.

[0026] According to another aspect of this disclosure, an end effector for use with a robotic system is provided. The end effector includes: a proximal hub including a first upright support opposite to a second upright support; and a distal hub pivotally connected about a first pivot axis to the first and second upright supports of the proximal hub. The distal hub includes: the first upright support; a second upright support positioned juxtaposed with respect to the first upright support; and a body portion supporting the first and second upright supports such that a first central plane is defined between the first and second upright supports, and the body portion defines a second central plane oriented orthogonally to the first central plane.

[0027] The body portion defines a first pair of longitudinally extending passages located on a first side of the distal hub relative to a first central plane, wherein each of the first pair of passages includes a relatively outer inner wall portion facing a second central plane, wherein the outer inner wall portion of each of the first pair of longitudinally extending passages is oriented at an angle relative to the second central plane.

[0028] The body portion defines a second pair of longitudinally extending passages located on the second side of the distal hub, opposite to the first pair of longitudinally extending passages and opposite to the first central plane, wherein each of the second pair of passages includes a relatively outer inner wall portion facing the second central plane, wherein the outer inner wall portion of each of the second pair of longitudinally extending passages is angularly oriented relative to the second central plane.

[0029] The end effector further includes a pair of gripper members pivotally connected about a second pivot axis to a first upright support and a second upright of the distal hub. Attached Figure Description

[0030] This document describes embodiments of the disclosure with reference to the accompanying drawings, in which: Figure 1 This is a schematic diagram of a robotic surgical system including robotic surgical components according to this disclosure; Figure 2A This is a perspective view of a robotic surgical assembly and an electromechanical surgical instrument according to embodiments of this disclosure; Figure 2B yes Figure 2A The diagram shows a perspective view of the robotic surgical components and electromechanical surgical instruments, with the components separated. Figure 3 It is used with Figure 2A and Figure 2B A perspective view of an end effector with a wrist gripper for electromechanical surgical instruments used in conjunction with robotic surgical components; Figure 4 yes Figure 3 A perspective view of the end effector, showing the cable laid under the distal hub of the end effector; Figure 5 yes Figure 4 A perspective view of the end effector, in which the distal hub is hidden to show the cable routing; Figure 6 Is it like this? Figure 5 An enlarged perspective view of the end effector shown; Figure 7 yes Figure 6 A side-view perspective view of the end effector; Figure 8 yes Figure 6 Another perspective view of the end effector, in which half of the cable is hidden; Figure 9 yes Figure 6 Alternative side-view perspective of the end effector; Figure 10 yes Figure 6 Alternative side-view perspective of the end effector; Figure 11A yes Figure 10 The schematic distal end view of the end effector shown in the figure; Figure 11B yes Figure 10 Another schematic distal end view of the end effector illustrated in the figure; Figure 12 yes Figure 10 The diagram shows a distal end view of the distal hub of the end effector. Figure 13 yes Figure 10 The distal end view of an embodiment of the distal hub of the end effector illustrated in the figure; Figure 14 It is used with Figure 2A and Figure 2B A perspective view of an alternative embodiment of an end effector with a wrist gripper for use with an electromechanical surgical instrument in conjunction with robotic surgical components; Figure 15 It is like passing through Figure 14 15-15 cut Figure 14 A cross-sectional view of the end effector; Figure 16 yes Figure 14 A three-dimensional view of the yoke of the end effector; Figure 17 It is laid through Figure 16 A diagram of the yoke cable; Figure 18 yes Figure 14 A three-dimensional diagram of the alternative yoke of the end effector; and Figure 19 It is laid through Figure 18 A diagram of the yoke cable. Detailed Implementation

[0031] Embodiments of surgical components (including instrument drive units for actuating the operation of electromechanical surgical instruments) and methods for actuating the operation of electromechanical surgical instruments disclosed herein are described in detail with reference to the accompanying drawings, wherein, in each of the several views, the same reference numerals denote the same or corresponding elements. As used herein, the term "distal" refers to the portion of the robotic surgical system, surgical component, or its component closer to the patient, while the term "proximal" refers to the portion of the robotic surgical system, surgical component, or its component farther from the patient. As used herein, the terms "parallel" and "perpendicular" should be understood to include relative configurations that are substantially parallel and substantially perpendicular to truly parallel and truly perpendicular configurations by approximately + or -10 degrees.

[0032] As used herein, the term "clinician" refers to a physician, nurse, or other care provider, and may include support staff. Well-known functions or structures are not described in detail below to avoid obscuring this disclosure with unnecessary detail.

[0033] As will be described in detail below, a surgical assembly configured to attach to a surgical robotic arm is provided. The surgical assembly includes an instrument drive unit having (e.g., but not limited to) a motor configured to actuate an end effector of an electromechanical instrument. Operation of the electromechanical instrument can be achieved using, for example, a canister motor (brushless or brushed), via a transmission mechanism (gears, belts, and / or cables), via pneumatic devices, and / or via hydraulic devices. The electromechanical instrument can be driven along a rotational axis, which can be an integral part of the instrument drive unit or the robotic arm.

[0034] First refer to Figure 1 A surgical system (e.g., a robotic surgical system 1) typically includes one or more surgical arms 2, 3; a control unit 4; and an operating console 5 coupled to the control unit 4. Either of the surgical arms 2, 3 may have a robotic surgical component 100 and an electromechanical surgical instrument 200 coupled to the robotic surgical component. The electromechanical surgical instrument 200 includes an end effector 1000 disposed at its distal portion. In some embodiments, the robotic surgical component 100 may be removably attached to a slide rail 40 of one of the surgical arms 2, 3. In some embodiments, the robotic surgical component 100 may be fixedly attached to a slide rail 40 of one of the surgical arms 2, 3.

[0035] The operating console 5 includes: a display device 6 configured to display three-dimensional images; and manual input devices 7 and 8, which a clinician (not shown) can use to remotely operate robotic arms 2 and 3 in a first operating mode, as is known in principle to those skilled in the art. Each of the robotic arms 2 and 3 can be composed of any number of components connected by joints. The robotic arms 2 and 3 can be driven by an electric actuator (not shown) connected to a control device 4. The control device 4 (e.g., a computer) is configured to activate the actuator, for example by means of a computer program, such that the robotic arms 2 and 3, the attached robotic surgical assembly 100, and therefore the electromechanical surgical instruments 200 (including the end effector 1000) perform desired movements according to movements defined by means of the manual input devices 7 and 8. The control device 4 can also be configured to adjust the movements of the robotic arms 2 and 3 and / or the actuators.

[0036] The robotic surgical system 1 is configured for: a patient "P" who is positioned (e.g., lying supine) on an operating table "ST" and treated minimally invasively using surgical instruments (e.g., electromechanical surgical instruments 200, more specifically, the end effector 1000 of the electromechanical surgical instruments 200). The robotic surgical system 1 may also include more than two robotic arms 2, 3, which are also connected to a control unit 4 and can be remotely operated via an operating console 5. Surgical instruments, such as the electromechanical surgical instruments 200 (including their end effectors 1000), may also be attached to any additional robotic arms (multiple robotic arms).

[0037] The control device 4 can control one or more motors (e.g., multiple motors (not shown)), each motor configured to drive movement of robotic arms 2, 3 in any number of directions. Further, the control device 4 can control an instrument drive unit 110, which includes motors 52a, 52b, and 52c of a motor assembly 50 disposed within a sterile barrier housing 130 of the robotic surgical assembly 100. Motors 52a, 52b, and 52c of the motor assembly 50 drive various operations of the end effector 1000 of the electromechanical surgical instrument 200. Motors 52a, 52b, and 52c may include rotary motors, such as, for example, canister motors. One or more of motors 52a, 52b, and 52c (or different motors, not shown) can be configured to drive relative rotation of the electromechanical surgical instrument 200 or its components along its longitudinal axis. In some embodiments, each motor 52a, 52b, and 52c of the motor assembly 50 may be configured to actuate (e.g., rotate) a corresponding drive screw (or, for example, a linear actuator, winch, etc.) operatively connected to a drive rod or lever arm to cause operation and / or movement of the electromechanical end effector 1000 of the electromechanical surgical instrument 200. In another embodiment, the instrument drive unit 110 may include additional motors located within the motor assembly 50.

[0038] Continue to refer to Figure 1 The robotic surgical system 1 includes a robotic surgical assembly 100 coupled to or connected to a robotic arm 2 or 3, and an electromechanical surgical instrument 200 coupled to the robotic surgical assembly 100. The robotic surgical assembly 100 transmits power and actuation from its motors to the driven members of the electromechanical surgical instrument 200 to ultimately drive the movement of components of the end effector 1000 of the electromechanical surgical instrument 200 (e.g., articulation / rotation / pitch / yaw of the end effector 1000). The robotic surgical assembly 100 can also be configured to actuate or fire instruments based on electrosurgical energy (e.g., cable drivers, pulleys, friction wheels, rack and pinion arrangements, etc.).

[0039] As described above, the instrument drive unit 110 of the robotic surgical assembly 100 includes a motor assembly 50 and a sterile barrier housing 130. The motor assembly 50 includes motors 52a, 52b, and 52c for controlling various operations of the end effector 1000 of the electromechanical surgical instrument 200. The electromechanical surgical instrument 200 can be removably coupled to the instrument drive unit 110, and the instrument drive unit 110 can be removably coupled to or fixedly coupled to a slide rail 40 of one of the surgical robotic arms 2 and 3. Figure 1 ).

[0040] In use, when motors 52a, 52b, and 52c of motor assembly 50 are actuated, the rotation of drive shafts 54a, 54b, and 54c of motors 52a, 52b, and 52c is correspondingly transmitted to the electromechanical surgical instrument 200. The electromechanical surgical instrument 200 may have a surgical instrument or end effector 1000 fastened to or capable of being fastened to its distal end. Figures 3 to 9 The electromechanical surgical instrument 200 is configured to convert rotational force / movement supplied by the robotic surgical component 100 (e.g., motors 52a, 52b, 52c via motor assembly 50) into longitudinal movement or translation of cable assemblies 380a and 380b to enable various functions of the end effector 1000.

[0041] The electromechanical surgical instrument 200 may support an electrical connector configured for selective connection to the instrument drive unit 110 of the robotic surgical assembly 100. Figure 2A and Figure 2B The plug 140 of the electromechanical surgical instrument 200 may include electronic devices, including but not limited to a memory (for storing identification information, usage information, etc.) and a wired or wireless communication circuit system (for receiving data or information from the electromechanical surgical instrument 200 / control device 4 / remote central processing system and transmitting data or information to the electromechanical surgical instrument / control device / remote central processing system).

[0042] Now for reference Figures 3 to 9 This document describes an end effector for connecting to robotic arms 2 and 3 and for operation by a control device 4 of an electromechanical surgical instrument 200, and the end effector of this electromechanical surgical instrument is generally designated as end effector 1000. As described above, the end effector 1000 is disposed at the distal portion of the electromechanical surgical instrument 200. In one aspect, the end effector 1000 can be removably coupled to the distal portion of the electromechanical surgical instrument 200, thereby allowing various interchangeable end effectors to be used with the electromechanical surgical instrument 200. In another aspect, the end effector 1000 is fixed and cannot be removed from the distal portion of the electromechanical surgical instrument.

[0043] The end effector 1000 comprises a wrist assembly 1100 and a medical device or surgical instrument "T". The wrist assembly 1100 is configured to be articulated, allowing the instrument or surgical instrument "T" to be controlled by a control device 4. Figure 1 The surgical instrument "T" can be a gripper-type instrument (e.g., cutting tool 150) that is connected to the electrosurgical generator 10 via a power cable. Figure 1 Electrical connection. In some configurations, a return pad (not shown) may be required, which connects a portion of the patient station “ST” or patient “P” to the electrosurgical generator 10, thereby forming a return path to the electrosurgical generator 10.

[0044] The electrosurgical generator 10 is configured to generate electrosurgical radiofrequency energy and transmit the generated electrosurgical radiofrequency energy via a power cable to the cutting tool 150 of the end effector 1000 for tissue treatment. It is conceivable that generators, such as those sold by Covidien (a division of Medtronic), can be used as electrosurgical energy sources (electrosurgical generator 10), for example, Ligasure® generators, FORCE EZ® electrosurgical generators, FORCE FX® electrosurgical generators, FORCE 1C™, FORCE 2™ generators, SurgiStat® II, FORCETRIAD®, VALLEYLAB™ FT10 energy platform, and FORCETRIAD™ energy platform electrosurgical generators, or other envisioned generators that can perform different or enhanced functions. Such a system is described in co-owned U.S. Patent No. 6,033,399, filed April 9, 1997, entitled “ELECTROSURGICAL GENERATOR WITH ADAPTIVEPOWER CONTROL,” the entire contents of which are incorporated herein by reference. Furthermore, further details of the electrosurgical generator 10 can be found in U.S. Patent No. 7,648,499, filed March 21, 2006, entitled “SYSTEM AND METHOD FOR GENERATING RADIO FREQUENCY ENERGY,” the entire contents of which are incorporated herein by reference.

[0045] The wrist assembly 1110 of the end effector 1000 includes a proximal hub 112 in the form of a distally extending U-shaped clevis, defining a first longitudinal axis “X1-X1”. The proximal hub 112 defines a first pivot axis “AA”, oriented orthogonally to the first longitudinal axis “X1-X1”. In an embodiment, the first pivot axis “AA” may extend through the first longitudinal axis “X1-X1”. The first longitudinal axis “X1-X1” and the first pivot axis “AA” define a first plane “P1” (see [link to documentation]). Figures 10 to 13 The proximal hub 112, in the form of a U-shaped clamp, includes: a pair of spaced-apart opposing upright supports 112a, 112b; a proximal pulley pin 112c; and a distal pulley pin 112d through which a first pivot axis “AA” extends. The wrist assembly 1100 further includes a distal hub 114 (i.e., a yoke) pivotally connected to the upright supports 112a, 112b of the proximal hub 112 via the distal pulley pin 112d. Specifically, the proximal portion of the distal hub 114 is pivotally connected to the opposing upright supports 112a, 112b of the proximal hub 112 via the distal pulley pin 112d. In this respect, the distal hub 114 can pivot relative to the proximal hub 112 about the first pivot axis “AA”.

[0046] The distal hub 114 may be in the form of a U-shaped clamp extending distally, and defines a second longitudinal axis "X2-X2". For example... Figure 7 As shown, the distal hub 114 defines a second pivot axis “BB”, which is oriented orthogonal to the second longitudinal axis “X2-X2”. In an embodiment, when the first longitudinal axis “X1-X1” is parallel to the second longitudinal axis “X2-X2” (e.g., the electromechanical surgical instrument 200 is in an axial alignment orientation), the second pivot axis “BB” can extend through the first longitudinal axis “X1-X1” and the second longitudinal axis “X2-X2”. Further, the second longitudinal axis “X2-X2” and the second pivot axis “BB” define a second plane “P2” (see [reference]). Figure 10 and Figure 11A ).like Figure 10 and Figure 11A As shown, the second plane "P2" forms a non-orthogonal angle with respect to the first plane "P1". Specifically, the second plane "P2" forms an angle of approximately 73 to 77 degrees with respect to the first plane "P1". For example, the second plane "P2" may form an angle of approximately 75 degrees with respect to the first plane "P1". The distal hub 114, which is in the form of a U-shaped clamp, includes: a pair of spaced-apart opposing upright supports 114a and 114b; a proximal pulley pin 114c; and a distal hub pin 114d through which the second pivot axis "BB" extends.

[0047] The wrist assembly 1100 further includes a gripper-type instrument (here, a cutting tool 150) pivotally connected via a distal hub pin 114d to upright supports 114a, 114b of a distal hub 114. Specifically, the proximal portion of the cutting tool 150 is pivotally coupled via the distal hub pin 114d to opposing upright supports 114a, 114b of the distal hub 114. The cutting tool 150 pivots about a second pivot axis “BB” defined by the distal hub 114. The cutting tool 150 includes a first gripper member 150a and a second gripper member 150b, each of which is independently pivotable via the distal hub pin 114d about the second pivot axis “BB”.

[0048] Continue to refer to Figures 3 to 9 The wrist assembly 1100 of the end effector 1000 includes a pulley system 400. The pulley system 400 includes pulleys 411, 413, 415, 417, 419, 421, 423, and 425 disposed between upright supports 112a and 112b of the proximal hub 112. Specifically, in an assembly configuration, pulleys 411, 413, 415, and 417 are connected to the upright supports 112a and 112b of the proximal hub 112 via a proximal pulley pin 112c, such that pulleys 411, 413, 415, and 417 can rotate about the proximal pulley pin 112c. In one configuration, pulleys 411 and 413 are disposed on one side of the proximal portion of the proximal hub 112, while pulleys 415 and 417 are disposed on the other side of the proximal portion of the proximal hub 112. Additionally, pulleys 419, 421, 423, and 425 are connected to the upright supports 112a and 112b of the proximal hub 112 via the distal pulley pin 112d, allowing pulleys 419, 421, 423, and 425 to rotate about the distal pulley pin 112d and to pivot the wrist assembly 1100 about axis "AA". In one configuration, pulleys 419 and 421 are located on one side of the distal portion of the proximal hub 112, while pulleys 423 and 425 are located on the other side of the distal portion of the proximal hub 112.

[0049] The pulley system 400 further includes idler wheels 427 and 429 disposed between the upright supports 144a and 114b of the distal hub 114. In the assembly configuration, the idler wheels 427 and 429 are connected to the upright supports 114a and 114b of the distal hub 114 via a proximal pulley pin 114c, allowing the pulleys 427 and 429 to rotate about the proximal pulley pin 114c. In one configuration, pulley 427 is disposed on one side of the proximal portion of the distal hub 114, while pulley 429 is disposed on the other side of the proximal portion of the distal hub 114.

[0050] As previously described, the shearing tool 150 is pivotally connected to the upright supports 114a, 114b of the distal hub 114 via the distal hub pin 114d. Specifically, the first gripper member 150a and the second gripper member 150b are connected to the upright supports 114a, 114b of the distal hub 114 via the distal hub pin 114d, such that the first gripper member 150a and the second gripper member 150b can pivot about the distal hub pin 114d, and thus about the axis “BB” ( Figure 7 Pivoting. In one configuration, a first gripper member 150a is disposed on one side of the distal portion of the distal hub 114, while a second gripper member 150b is disposed on the other side of the distal portion of the distal hub 114.

[0051] Cable assemblies 380a and 380b can extend from the proximal portion of the electromechanical surgical instrument 200 to the end effector 1000. Each of the cable assemblies 380a and 380b can consist of one or more cables. For example, as will be referred to later... Figures 5 to 9 In more detail, cable assembly 380a may consist of cables 382 and 384. Each of cable assemblies 380a and 380b may extend from the electromechanical surgical instrument 200 through one or more cable conduits. Cable assembly 380b in... Figure 3 The entire structure is shown, while cable group 380a is... Figure 4 The cable group 380a and cable group 380b are fully shown in the diagram. Figure 3 and Figure 4 Part of it is shown. For example... Figure 3 and Figure 4 As shown, cable group 380b extends around a portion of pulleys 411, 413, 419 and 421, while cable group 380a extends around a portion of pulleys 415, 417, 423 and 425. Figure 4 The cable assembly 380a is shown in particular below the distal hub 114, as indicated by dashed lines.

[0052] Figures 5 to 9The end effector 1000 is shown, with the distal hub 114 hidden from view to better illustrate the arrangement of the cable assembly 380a. As shown, the outer cable portion 382 of the cable assembly 380a extends from the electromechanical surgical instrument 200 toward the end effector 1000. Upon reaching the end effector 1000, the outer cable portion 382 is first arranged around a portion of pulley 417, and then around a portion of pulley 425, each of which is positioned closest to the upright support 112b. The outer cable portion 382 is then arranged around a portion of a protrusion 431 of the first gripper member 150a. The protrusion 431 may resemble a pulley and may include grooves or channels for the cable assembly 380a to travel in various directions. The inner cable portion 384 is then arranged around a portion of the protrusion 431, and then around a portion of the idler pulley 427. Upon exiting idler pulley 427, the inner cable portion 384 is substantially aligned with pulley 423, and extends around a portion of pulley 423. The inner cable portion then extends around a portion of pulley 415 before returning toward the electromechanical surgical instrument 200. In each respect, the outer cable portion 384 and the inner cable portion 384 are part of the same cable. In another respect, the outer cable portion 384 and the inner cable portion 384 are separate cables and can be connected by a connecting member (not shown). This connecting member may be disposed along the outer portion of protrusion 431.

[0053] Cable assembly 380b may be arranged in a mirror image of cable assembly 380a. Similar in many respects to cable assembly 380a, cable assembly 380b may include an outer cable portion and an inner cable portion, and may be a single cable or composed of multiple cables. Cable assembly 380b extends from electromechanical surgical instrument 200 toward end effector 1000. Upon reaching end effector 1000, cable assembly 380b may first extend around a portion of pulley 411, and then around a portion of pulley 419, each of which is positioned adjacent to upright support 112a. Cable assembly 380b is then arranged around a portion of protrusion 433 of second gripper member 150b. Protrusion 433 may resemble a pulley and may include grooves or channels for the cable assembly 380b to travel in various directions. Cable assembly 380b is then arranged around a portion of idler pulley 429. As it exits idler pulley 429, cable assembly 380b is substantially aligned with pulley 421, and the cable assembly extends around a portion of pulley 421. Cable assembly 380a then extends around a portion of pulley 413 before returning toward electromechanical surgical instrument 200.

[0054] As will be described in more detail below, the idler wheels 427, 429 and the distal hub 114 (and therefore the cutting tool 150) can be angled to produce an approximately zero-degree deviation angle from the pulleys 419, 421, 423, and 425. The deviation angle is defined as the angle of the cable as it leaves the pulley. The deviation angle is measured between the pulley centerline and the centerline of the cable leaving the pulley. The larger the deviation angle, the more sliding contact occurs between the cable and the pulley, resulting in friction and shortening the cable's lifespan. Therefore, by reducing or eliminating the deviation angle, an increase in cable lifespan can be achieved. To reduce the deviation angle, the distal hub 114 and the cutting tool 150 can rotate relative to the pulleys 419, 421, 423, and 425, and the first and second idler wheels can rotate relative to the pulleys 419, 421, 423, and 425.

[0055] To more clearly illustrate the alignment of the shearing device 150 and idler wheels 427, 429 relative to pulleys 419, 421, 423, and 425, Figures 7 to 9 A side perspective view of the end effector 1000 is shown. Figures 7 to 9 Includes cable assembly 380a, and for clarity, the distal hub 114 and cable assembly 380b are concealed. Figure 8 Additionally, the external cable portion 382 is concealed. The distal hub 114 and the cutting tool 150 can each rotate approximately fifteen degrees relative to pulleys 419, 421, 423, and 425. In other words, refer to... Figure 10 and Figure 11A The second plane "P2" can be positioned relative to the first plane "P1" at an angle θ. For example, the angle θ can be approximately seventy-five degrees, therefore, the second plane "P2" can be at an angle of approximately seventy-five degrees relative to the first plane "P1". At the aforementioned angle θ, the protrusion 431 of the first gripper member 150a forms an approximately zero-degree offset angle relative to the pulley 425 for the outer cable portion 382 of the cable assembly 380a. Similarly, the protrusion 433 of the second gripper member 150b forms an approximately zero-degree offset angle relative to the pulley 419 for the cable assembly 380b.

[0056] Each of the idler pulleys 427 and 429 can then rotate approximately ten degrees relative to pulleys 419, 421, 423, and 425, thus forming an offset angle of approximately zero degrees. That is, as by Figure 10 and Figure 11BAs shown, the distal hub 114 may define a third axis "CC" oriented orthogonally to the second longitudinal axis "X2-X2". Specifically, the third axis "CC" may extend through the proximal pulley pin 114c that holds the idler wheels 427, 429 of the distal hub 114. In an embodiment, when the first longitudinal axis "X1-X1" is parallel to the second longitudinal axis "X2-X2", the third axis "CC" may extend through both the first longitudinal axis "X1-X1" and the second longitudinal axis "X2-X2". Further, the second longitudinal axis "X2-X2" and the third axis "CC" define a third plane "P3" (see...). Figure 10 and Figure 11B In an embodiment, the third plane "P3" and the second plane "P2" may form equal angles relative to the first plane "P1". Figure 10 and Figure 11B As illustrated in the diagram, similar to the second plane "P2", the third plane "P3" forms a non-orthogonal angle with respect to the first plane "P1". Specifically, the third plane "P3" forms an angle of approximately 78 to 82 degrees with respect to the first plane "P1". The third plane "P3" can be positioned relative to the first plane "P1" by an angle φ, for example, the angle φ can be approximately 80 degrees. Therefore, the second plane "P2" can form an angle of approximately 80 degrees with respect to the first plane "P1".

[0057] refer to Figures 7 to 8 Each idler wheel 427, 429 includes a corresponding central axis, wherein the central axes of the idler wheels 427, 429 are coaxial with each other, such that the idler wheels 427, 429 are oriented parallel to a plane extending therebetween. However, in another embodiment, it is conceivable that the central axes of each idler wheel 427, 429 may extend at an angle relative to each other (e.g., each idler wheel forms an angle of about 5° to 45° with the plane extending between these idler wheels, or in other embodiments, an angle of about 10° to 30° with the plane, or in yet another embodiment, an angle of about 25° with the plane). In yet another embodiment, the central axes of each idler wheel 427, 429 may be parallel to each other but radially offset from each other, may extend through the longitudinal axes “X1-X1” or “X2-X2”, or may be spaced a radial distance from the longitudinal axes “X1-X1” or “X2-X2”.

[0058] At the aforementioned angle φ, the idler wheel 427 is positioned such that the cable assembly 380a, after extending partially around the idler wheel 427, is aligned to extend directly onto the pulley 423. At the aforementioned angle φ, after the inner cable portion 384 is arranged partially around the protrusion 431 of the first gripper member 150a and the idler wheel 427, an approximately zero-degree deviation angle is achieved when the inner cable portion 384 extends from the idler wheel 427 to the pulley 423. Similarly, the idler wheel 429 is positioned such that the cable assembly 380b, after extending partially around the idler wheel 429, is aligned to extend directly onto the pulley 421. After the cable assembly 380b has traveled around the protrusion 433 of the second gripper member 150b and a portion of the idler wheel 429, an approximately zero-degree deviation angle is achieved when the cable assembly 380b extends from the idler wheel 429 to the pulley 421.

[0059] Depending on the size and shape of the idler wheels 427 and 429, the angle θ of the second plane "P2" and the angle φ of the third plane "P3" can be varied accordingly. In various aspects, the angles θ and φ can be further influenced by the size and shape of the protrusion 431 of the first gripper member 150a and the protrusion 433 of the second gripper member 150b. For example... Figure 10 , Figure 12 and Figure 13 As shown, in one embodiment, the distal hub 114 may include an inner surface to help properly angle the idler wheels 427, 429 with the protrusions 431 of the first gripper member 150a and the protrusions 433 of the second gripper member 150b. The upright support 114a may include: a first inner surface 118a that contacts the protrusions 431 of the first gripper member 150a; and a second inner surface 118b that contacts the idler wheel 427. The upright support 114b may include: a first inner surface 120a that contacts the protrusions 433 of the second gripper member 150b; and a second inner surface 120b that contacts the idler wheel 429. The second inner surfaces 118b, 120b may protrude from, be recessed into, or correspond to the first inner surfaces 118a, 120a. The first inner surfaces 118a, 120a and the second inner surfaces 118b, 120b can prevent undesirable changes in the angle between the protrusions 431, 433 and the idlers 427, 429 during the movement of the cable assemblies 380a, 380b, thus enabling the idlers 427, 429 to rotate smoothly.

[0060] For example, especially in Figure 12 and Figure 13As can be observed, the first inner surfaces 118a and 120a can deviate from the first plane "P1" by an angle α, while the second inner surfaces 118b and 120b can deviate from the first plane "P1" by an angle β. Angle α can be related to the angle θ by which the second plane "P2" deviates from the first plane "P1", and angle β can be related to the angle φ by which the third plane "P3" deviates from the first plane "P1". For example, as... Figure 12 As shown, the angle α between the first inner surfaces 118a and 120a and the first plane "P1" can be between thirteen and seventeen degrees, specifically, angle α can be approximately fifteen degrees. Correspondingly, the angle θ between the second plane "P2" and the first plane "P1" can be approximately seventy-five degrees. Along a similar line, the angle β between the second inner surfaces 118b and 120b and the first plane "P1" can be between eight and twelve degrees, specifically, angle β can be approximately ten degrees. Therefore, the angle φ between the third plane "P3" and the first plane "P1" can be approximately eighty degrees. In an embodiment, any one of the first inner surfaces 118a and 120a or the second inner surfaces 118b and 120b can be offset from the first plane "P1" at a unique angle. In addition, compared with the idler wheels 427, 429 sharing the proximal pulley pin 114c and the protrusions 431, 433 sharing the distal hub pin 114d, any one of the idler wheels 427, 429 or the protrusions 431, 433 can be respectively set on the corresponding pin, and thus each can be at a different angle relative to the first plane "P1".

[0061] It can be envisioned that increasing the size (e.g., increasing the diameter) of each of the idler gears 427 and 429 could increase the angle β. Figure 13 As shown, angle α can be maintained at approximately 15 degrees, so the angle θ between the second plane "P2" and the first plane "P1" is approximately 75 degrees. To accommodate larger idler wheels 427, 429, and to maintain an approximately zero-degree deviation angle of the cables 380a, 380b located between protrusions 431, 433, idler wheels 427, 429, and pulleys 419, 421, 423, 425, the angle β between the second inner surfaces 118b, 120b and the first plane "P1" can range between 28 and 32 degrees. Specifically, angle β can be approximately 30 degrees, resulting in an angle φ between the second inner surfaces 118b, 120b and the first plane "P1" of approximately 60 degrees. It is further conceivable that the dimensions, angles β, and φ can be relatively reduced to obtain relatively smaller idler wheels 427, 429. Other suitable angles θ, φ, α, and β are conceivable to maintain an approximately zero-degree deviation angle in each of the cable assemblies 380a, 380b.

[0062] The end effector 1000 can be moved around axis “AA” via cable assemblies 380a and 380b through electromechanical surgical instruments 200. Figure 3 Partially pivoting, or allowing the end effector to rotate along the axis "BB" of its respective wrist assembly 1100. Figure 7 The first gripper member 150a and the second gripper member 150b are pivoted to open and close. As previously described, cable assemblies 380a and 380b may include two separate cables (e.g., the outer cable portion 382 and the inner cable portion 384 of cable assembly 380a), or may include a first half and a second half of a single cable, or both sides of a single integral cable causing corresponding movement of the support hub 116. One or both cable assemblies 380a, 380b, or portions thereof may be pulled proximally or advanced distally to affect rotation about axes “AA” and “BB”. For example, to pivot the end effector 1000 about axis “AA”, each of the cable assemblies 380a and 380b may be advanced or pulled simultaneously in the same direction. To open or close the shearing tool 150, thereby pivoting the first gripper member 150a and the second gripper member 150b apart, each of the cable assemblies 380a and 380b may be advanced or pulled in opposite directions. The input from the control device 4 (which can start motors 52a, 52b, 52c) can actuate the movement of cable assemblies 380a and 380b.

[0063] Now go to Figures 14 to 19 An end effector according to an alternative embodiment of this disclosure is shown as 2000, and will be described therein. End effector 2000 is generally similar to end effector 1000, and therefore only the differences between the two will be described below. End effector 2000 includes a distal hub or yoke 2114 configured to pivotally support a first gripper member 150a and a second gripper member 150b of a shearing tool 150. The yoke 2114 is pivotally connected to a proximal hub 112 of end effector 2000.

[0064] The yoke 2114 includes a pair of upright supports 2114a, 2114b extending from the body portion 2115. These upright supports 2114a, 2114b define a first central plane and a second central plane. The first central plane is located between the upright supports and extends along the central longitudinal axis of the end effector 2000, while the second central plane is oriented orthogonally to the first central plane. The upright supports 2114a, 2114b of the yoke 2114 support a distal hub pin 2114d, on which the first jaw member 150a and the second jaw member 150b of the shearing tool 150 are pivotally supported / connected. The body portion 2115 of the yoke 2114 defines a first pair of longitudinal extension paths 2117a, 2117b and a second pair of longitudinal extension paths 2119a, 2119b. The first pair of longitudinal extension paths is located on a first side of the yoke relative to the central longitudinal extension axis of the yoke 2114 (or defined in a second central plane between a pair of upright supports 2114a, 2114b). The second pair of longitudinal extension paths is located on a second side of the yoke 2114 and is opposite to the first pair of longitudinal extension paths 2117a, 2117b.

[0065] The first pair of longitudinally extending passages 2117a, 2117b accommodates passages for cable 382, ​​which is secured to, for example, the first gripper member 150a of a cutting tool 150. The second pair of longitudinally extending passages 2119a, 2119b accommodates passages for another cable 384, which is secured to, for example, the second gripper member 150b of a cutting tool 150.

[0066] The passages 2117a and 2119a of the yoke 2114 each include corresponding wall portions 2117a1 and 2119a1, which are radially outwardly positioned relative to a plane extending between the pair of passages 2117a and 2117b and between the pair of passages 2119a and 2119b. The wall portions 2117a1 and 2119a1 may be arranged at a relatively sharp angle relative to the longitudinal axis of the yoke 2114 (e.g., ...). Figure 17 (as shown in the figure), or it can be set at a relatively gentle angle relative to the longitudinal axis of the yoke 2114 (or the second central plane defined between the pair of upright supports 2114a, 2114b) (as shown in the figure). Figure 19 (As shown in the figure). The angles of the wall portions 2117a1 and 2119a1 relative to the longitudinal extension axis (or second center plane) of the yoke 2114 can be between about 25 degrees and about 50 degrees, wherein a relatively gentle angle provides a larger surface contact with the cable 382 or 384, and wherein a relatively sharp angle provides a smaller surface contact with the cable 382 or 384.

[0067] The passages 2117b and 2119b of the yoke 2114 each include corresponding wall portions 2117b1 and 2119b1, which are radially outwardly positioned relative to a plane extending between the pair of passages 2117a and 2117b and between the pair of passages 2119a and 2119b. The wall portions 2117b1 and 2119b1 may be arranged at a relatively sharp angle relative to the longitudinal axis of the yoke 2114 (e.g., ...). Figure 17 (as shown in the image), or it can be set at a relatively gentle angle relative to the longitudinal axis of the yoke 2114 (e.g. Figure 19 (As shown in the figure). The angles of the wall portions 2117b1 and 2119b1 relative to the longitudinal extension axis (or second center plane) of the yoke 2114 can be between about 5 degrees and about 45 degrees, wherein a relatively gentle angle provides a larger surface contact with the cable 382 or 384, and wherein a relatively sharp angle provides a smaller surface contact with the cable 382 or 384.

[0068] Passages 2117a, 2117b, 2119a, 2119b define the wall portions or surfaces 2117a1, 2117b1, 2119a1, 2119b1 that can slide against them, and provide guidance for cables 382, ​​384 to / from pulleys 419, 421 of the proximal hub 112 of the end effector 2000. It is conceivable that passages 2117a, 2117b, 2119a, 2119b of the yoke 2114 are axially aligned with the corresponding outer radial surfaces of pulleys 419, 421 to minimize or reduce the offset angle of cables 382, ​​384 located between the yoke 2114 and the proximal hub 112.

[0069] Additionally, refer to Figure 14 Each upright support of the proximal hub 112 of the end effector 2000 may include a lip 430 projecting from each of its side edges (only lip 430 positioned along one side edge is shown). Each lip 430 projects inward toward each other and / or toward pulleys 419, 421. Moreover, the lip 430 is positioned along the length of the side edge of the upright support of the proximal hub 112 so as to align (axially along the length of the cutting tool 150) with cables 382, ​​384 that cross and extend between the yoke 2114 and the proximal hub 112. The lip 430 helps guide and retain the cables 382, ​​384 within the channels of the pulleys 419, 421 and / or prevents or inhibits the cables 382, ​​384 from disengaging from the pulleys 49, 421. Additionally, the lip 430 helps to mitigate or reduce misalignment issues related to the positioning and arrangement of the cables 382, ​​384 within the wrist assembly of the cutting tool 150. In other embodiments, the proximal hub 112 of the end effector 2000 may include only one lip 430 along one side of the upright support, or may not include the lip 430 at all.

[0070] It should be understood that various modifications can be made to the embodiments disclosed herein. For example, although the cables disclosed herein have been shown and described as connecting to specific portions of the proximal hub, distal hub, and gripper device, it is contemplated (and within the scope of this disclosure) that the cables can be operatively connected to any part of the hub, support, or device. Therefore, the above description should not be construed as limiting, but rather as illustrative of the various embodiments only. Other modifications will be contemplated by those skilled in the art within the scope and spirit of the appended claims.

[0071] The following examples illustrate the techniques described in this article.

[0072] Example 1. An end effector for use with a robotic system, the end effector comprising: a proximal hub including a first upright support opposite to a second upright support; a distal hub pivotally connected about a first pivot axis to the first and second upright supports of the proximal hub, the distal hub including the first and second upright supports; a first gripper member pivotally connected about a second pivot axis to the first upright support of the distal hub; and a second gripper member pivotally connected about a second pivot axis to the second upright support of the distal hub; An idler wheel rotatably connected to a first upright support of a distal hub, wherein a first cable assembly is configured to extend around a portion of the first idler wheel and a first gripper member to rotate the first gripper member; and a second idler wheel rotatably connected to a second upright support of a distal hub, wherein a second cable assembly is configured to extend around a portion of the second idler wheel and a second gripper member to rotate the second gripper member, wherein the distal hub, the first idler wheel, and the second idler wheel are angled to create a first deviation angle of approximately zero degrees between the distal hub and the first idler wheel, and a second deviation angle of approximately zero degrees between the distal hub and the second idler wheel.

[0073] Example 2. The end effector according to Example 1 further includes a first pulley, a second pulley, a third pulley, and a fourth pulley, each of which is connected to a proximal hub via a distal pulley pin, wherein the first pulley is disposed adjacent to a second upright support of the proximal hub, and the fourth pulley is disposed adjacent to a first upright support of the proximal hub, and wherein a third deviation angle of approximately zero degrees is generated between the first idler pulley and the first pulley, a fourth deviation angle of approximately zero degrees is generated between the first idler pulley and the second pulley, a fifth deviation angle of approximately zero degrees is generated between the second idler pulley and the third pulley, and a sixth deviation angle of approximately zero degrees is generated between the second idler pulley and the fourth pulley.

[0074] Example 3. The end effector according to Example 2, wherein the distal hub forms an angle of approximately fifteen degrees with respect to the first pulley, the second pulley, the third pulley, and the fourth pulley.

[0075] Example 4. The end effector according to Example 2, wherein the first idler wheel and the second idler wheel are each at an angle of about ten degrees relative to the first pulley, the second pulley, the third pulley and the fourth pulley.

[0076] Example 5. The end effector according to Example 2, wherein the first gripper member further includes a protrusion, and wherein a first cable assembly surrounds a portion of a first pulley, a portion of the protrusion of the first gripper member, a portion of a first idler wheel, and a portion of a second pulley.

[0077] Example 6. The end effector according to Example 2, wherein the second gripper member further includes a protrusion, and wherein the second cable assembly surrounds a portion of the fourth pulley, a portion of the protrusion of the second gripper member, a portion of the second idler wheel, and a portion of the third pulley.

[0078] Example 7. The end effector according to Example 2 further includes a fifth pulley, a sixth pulley, a seventh pulley, and an eighth pulley, each of which is connected to a proximal hub via a proximal pulley pin, wherein the fifth pulley is disposed adjacent to a second upright support of the proximal hub, and the eighth pulley is disposed adjacent to a first upright support of the proximal hub.

[0079] Example 8. The end effector according to Example 7, wherein the first gripper member further includes a protrusion, and wherein a first cable assembly surrounds a portion of a firth pulley, a portion of a first pulley, a portion of the protrusion of the first gripper member, a portion of a first idler pulley, a portion of a second pulley, and a portion of a sixth pulley.

[0080] Example 9. The end effector according to Example 7, wherein the second gripper member further includes a protrusion, and wherein the second cable assembly surrounds a portion of the eighth pulley, a portion of the fourth pulley, a portion of the protrusion of the second gripper member, a portion of the second idler pulley, a portion of the third pulley, and a portion of the seventh pulley.

[0081] Example 10. The end effector according to Example 1, wherein at least one of the first cable group or the second cable group includes an outer cable portion and an inner cable portion, and wherein the inner cable portion of the first cable group or the second cable group extends accordingly around the first idler wheel or the second idler wheel.

[0082] Example 11. An end effector according to Example 1, wherein: the end effector defines a longitudinal axis; a first pivot axis and the longitudinal axis define a first plane; a second pivot axis and the longitudinal axis define a second plane; and the second plane is oriented at a non-orthogonal angle relative to the first plane.

[0083] Example 12. The end effector according to Example 11, wherein the second plane forms an angle of approximately seventy-five degrees with respect to the first plane.

[0084] Example 13. An end effector according to Example 11, wherein a first idler wheel and a second idler wheel rotate about a third axis, and wherein the third axis and a longitudinal axis define a third plane, which is oriented at a non-orthogonal angle relative to the first plane.

[0085] Example 14. The end effector according to Example 13, wherein the third plane forms an angle of approximately eighty degrees with respect to the first plane.

[0086] Example 15. The end effector according to Example 13, wherein the third plane forms an angle of approximately sixty degrees with respect to the first plane.

[0087] Example 16. The end effector according to Example 13, wherein the angle of the third plane relative to the first plane is determined at least in part by the size of at least one of the first idler wheel or the second idler wheel.

[0088] Example 17. The end effector according to Example 11, wherein: the first upright support of the distal hub further includes a first inner surface and a second inner surface, wherein the first inner surface of the first upright support is configured to angle the first gripper member, and the second inner surface of the first upright support is configured to angle the first idler wheel, and the second upright support of the distal hub further includes a first inner surface and a second inner surface, wherein the first inner surface of the second upright support is configured to angle the second gripper member, and the second inner surface of the second upright support is configured to angle the second idler wheel.

[0089] Example 18. The end effector according to Example 17, wherein the first inner surface of the first upright support and the first inner surface of the second upright support form an angle of approximately fifteen degrees with respect to the first plane.

[0090] Example 19. The end effector according to Example 17, wherein the second inner surface of the first upright support and the second inner surface of the second upright support form an angle of about ten to thirty degrees with respect to the first plane.

[0091] Example 20. An end effector for use with a robotic system, the end effector comprising: a proximal hub including a first upright support opposing a second upright support; a distal hub pivotally connected about a first pivot axis to the first and second upright supports of the proximal hub, the distal hub including: the first upright support; and a second upright support positioned juxtaposed with respect to the first upright support; a body portion supporting the first and second upright supports such that a first central plane is defined between the first and second upright supports, the body portion defining a second central plane oriented orthogonally to the first central plane, the body portion defining: a first pair of longitudinally extending pathways, the first pair of longitudinally extending pathways... The pathway is located on a first side of the distal hub relative to a first central plane, wherein each of the first pair of pathways includes a relatively outer inner wall portion facing a second central plane, wherein the outer inner wall portion of each of the first pair of longitudinally extending pathways is angularly oriented relative to the second central plane; and a second pair of longitudinally extending pathways is located on a second side of the distal hub, opposite to the first pair of longitudinally extending pathways and opposite to the first central plane, wherein each of the second pair of pathways includes a relatively outer inner wall portion facing the second central plane, wherein the outer inner wall portion of each of the second pair of longitudinally extending pathways is angularly oriented relative to the second central plane; and a pair of gripper members pivotally connected about a second pivot axis to a first upright support and a second upright of the distal hub.

Claims

1. An end effector for use with a robotic system, the end effector comprising: The proximal hub includes a first upright support member, which is opposed to a second upright support member; The distal hub is pivotally connected about a first pivot axis to a first upright support and a second upright support of the proximal hub, the distal hub including the first upright support and the second upright support. A first gripper member, which is pivotally connected about a second pivot axis to a first upright support member of the distal hub; A second gripper member, which is pivotally connected about the second pivot axis to a second upright support member of the distal hub; A first idler wheel, rotatably coupled to a first upright support member of the distal hub, wherein a first cable assembly is configured to extend around the first idler wheel and a portion of the first gripper member to allow the first gripper member to rotate; and A second idler wheel, rotatably connected to a second upright support member of the distal hub, wherein a second cable assembly is configured to extend around the second idler wheel and a portion of the second gripper member to allow the second gripper member to rotate. The distal hub, the first idler wheel, and the second idler wheel are angled to create a first deviation angle of approximately zero degrees between the distal hub and the first idler wheel, and a second deviation angle of approximately zero degrees between the distal hub and the second idler wheel.

2. The end effector of claim 1, further comprising a first pulley, a second pulley, a third pulley, and a fourth pulley, each pulley being connected to the proximal hub via a distal pulley pin. in, The first pulley is disposed adjacent to the second upright support member of the proximal hub, and the fourth pulley is disposed adjacent to the first upright support member of the proximal hub. Specifically, a third deviation angle of approximately zero degrees is generated between the first idler wheel and the first pulley, a fourth deviation angle of approximately zero degrees is generated between the first idler wheel and the second pulley, a fifth deviation angle of approximately zero degrees is generated between the second idler wheel and the third pulley, and a sixth deviation angle of approximately zero degrees is generated between the second idler wheel and the fourth pulley.

3. The end effector according to any one of the preceding claims, wherein, The distal hub forms an angle of approximately fifteen degrees with respect to the first pulley, the second pulley, the third pulley, and the fourth pulley.

4. The end effector according to any one of the preceding claims, wherein, The first idler wheel and the second idler wheel each form an angle of approximately ten degrees relative to the first pulley, the second pulley, the third pulley, and the fourth pulley.

5. The end effector according to any one of the preceding claims, wherein, The first gripper member further includes a protrusion, and wherein the first cable assembly wraps around a portion of the first pulley, a portion of the protrusion of the first gripper member, a portion of the first idler wheel, and a portion of the second pulley.

6. The end effector according to any one of the preceding claims, wherein, The second gripper member further includes a protrusion, and wherein the second cable assembly wraps around a portion of the fourth pulley, a portion of the protrusion of the second gripper member, a portion of the second idler wheel, and a portion of the third pulley.

7. The end effector according to any one of the preceding claims, further comprising a fifth pulley, a sixth pulley, a seventh pulley, and an eighth pulley, each pulley being connected to the proximal hub via a proximal pulley pin. in, The fifth pulley is disposed adjacent to the second upright support of the near-side hub, while the eighth pulley is disposed adjacent to the first upright support of the near-side hub.

8. The end effector according to any one of the preceding claims, wherein, The first gripper member further includes a protrusion, and wherein the first cable assembly wraps around a portion of the Frost pulley, a portion of the first pulley, a portion of the protrusion of the first gripper member, a portion of the first idler wheel, a portion of the second pulley, and a portion of the sixth pulley.

9. The end effector according to any one of the preceding claims, wherein, The second gripper member further includes a protrusion, and wherein the second cable assembly wraps around a portion of the eighth pulley, a portion of the fourth pulley, a portion of the protrusion of the second gripper member, a portion of the second idler pulley, a portion of the third pulley, and a portion of the seventh pulley.

10. The end effector according to any one of the preceding claims, wherein, At least one of the first cable group or the second cable group includes an outer cable portion and an inner cable portion, wherein the inner cable portion of the first cable group or the second cable group extends accordingly around the first idler wheel or the second idler wheel.

11. The end effector according to any one of the preceding claims, wherein: The end effector defines the longitudinal axis; The first pivot axis and the longitudinal axis define a first plane; The second pivot axis and the longitudinal axis define the second plane; and The second plane is oriented at a non-orthogonal angle relative to the first plane.

12. The end effector according to any one of the preceding claims, wherein, The second plane forms an angle of approximately seventy-five degrees with respect to the first plane.

13. The end effector according to any one of the preceding claims, wherein, The first idler wheel and the second idler wheel rotate about a third axis, wherein the third axis and the longitudinal axis define a third plane, which is oriented at a non-orthogonal angle relative to the first plane.

14. The end effector according to any one of the preceding claims, wherein, The angle of the third plane relative to the first plane is determined at least in part by the dimensions of at least one of the first idler wheel or the second idler wheel.

15. The end effector according to any one of the preceding claims, wherein: The first upright support of the distal hub further includes a first inner surface and a second inner surface, wherein the first inner surface of the first upright support is configured to angle the first gripper member, and the second inner surface of the first upright support is configured to angle the first idler wheel. The second upright support of the distal hub further includes a first inner surface and a second inner surface, wherein the first inner surface of the second upright support is configured to angle the second gripper member, and the second inner surface of the second upright support is configured to angle the second idler wheel.

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