Winch assembly for removing slack in a drive member and related systems and methods

Abstract

The winch assembly includes a first winch body part and a second winch body part coupled to one another, the second winch body part rotatable relative to the first winch body part; a first actuation member receiving portion rotationally fixed with the first winch body part and having a surface configured to wind an actuation member; a second actuation member receiving portion rotationally fixed with the second winch body part and having a surface configured to wind an actuation member; and an elastically deformable biasing element coupled between the first winch body part and the second winch body part, the elastically deformable biasing element having a compressed state in a first rotational position of the second winch body part relative to the first winch body part and an expanded state in a second rotational position of the second winch body part relative to the first winch body part.

Description

[0001] Cross-reference to related applications This application claims the benefit of U.S. Provisional Application 63 / 574,554, filed April 4, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to a winch assembly for tensioning an actuating member used to transmit actuating force, such as movement of a component of an actuating device. Related apparatuses, systems, and methods are also disclosed. Background Technology

[0003] Various medical and industrial devices include shafts and have one or more components that give the device one or more degrees of freedom of movement. Such components can be in the form of end effectors that move in one or more degrees of freedom, such as translational mechanisms, opening and closing claws, etc. Other such components can include articulated structures along the shaft, such as joint mechanisms, which are capable of pivoting or otherwise allowing the shaft or component to bend relative to the shaft (e.g., in pitch and / or yaw). These components that give the device one or more degrees of freedom can be actuated and controlled via an actuating member extending along the length of the shaft. Such an actuating member can be in the form of a pull-type (tension) member, such as a cable, thread, filament, etc., which is flexible in all directions and typically transmits stronger forces by pulling the actuating member to place it under tension (sometimes referred to as a pull-pull actuating member).

[0004] An actuating member extends through the instrument shaft to be coupled at a relatively distal portion of the shaft to an actuable component (e.g., a movable end effector component and / or an articulated structure) and at a relatively proximal portion of the instrument shaft to a drive mechanism of a force transmission system. In this way, the actuating member transmits force from the force transmission system to an actuable component adjacent to the working site (e.g., inside the patient's body in the case of a medical device performing a medical procedure), the force transmission system being held at a remote location from the working site (e.g., outside the patient's body in the case of a medical device performing a medical procedure). The force transmission system may have a manual operation input for a manually operated instrument, or may include a drive input interface configured to engage with an output drive, such as a portion of a manipulator system of a remotely operated computer-aided system, the manipulator system including an electrically driven output drive controlled from a remote input mechanism, as is well known to those skilled in the art. The output drive may also include a motor or other actuator on the power transmission system.

[0005] In some force transmission systems, the pull-pull actuator coupling drive includes a rotary drive mechanism, and the rotational motion causes the actuator to be wound (partially wrapped around the rotary drive member) and released (partially unwound from the rotary drive member). The winding tensions the actuator, enabling it to transmit force to apply movement to an actuable component. The rotary drive mechanism coupling the actuator may include an input drive shaft that manually receives input or output drive devices, such as onboard motors or other actuators of the force transmission system, or receives output drive devices, such as servo motors and output drive members of a manipulator system coupled to the force transmission system.

[0006] Furthermore, in order to reduce gaps and facilitate precise movement and control of actuated parts, it is desirable to maintain tension in such pull-pull actuation components and control the development of slack that may cause inaccurate movement and positioning of actuated parts.

[0007] Furthermore, in some applications, a pair (or more pairs) of pull-pull actuating members can operate in series via the same rotary drive mechanism, such that one actuating member is wound onto the rotary drive to provide tension to move the actuated part in one degree of freedom, while another actuating member is released from the rotary drive, and vice versa, to move the actuated part in different (or opposite) degrees of freedom. In such applications, the released actuating member can develop slack, which may interfere with the wiring of the actuating member through various parts of the instrument, such as pulleys or other guide structures along its wiring. When the slack actuating member is wound back to tension it and actuates the actuated part in the degree of freedom associated with that actuating member, the removal and repositioning of the slack introduces additional time, which can adversely affect the responsiveness of the actuated part's movement. Furthermore, during this repositioning, the actuating member may not be wired back to its initial position and / or may become trapped on various elements. Furthermore, during repositioning, the actuating component may slide, rub, or otherwise come into contact with various wiring and other components, potentially damaging the actuating component, such as through increased wear over time.

[0008] Therefore, there is a need to provide the ability to control tension (e.g., remove slack) in an actuating member that is in a released state and does not actively generate tension to actuate a movable component, the actuating member being operatively coupled to the movable component. There is also a need to allow this control using a mechanism with similar dimensional space requirements to the mechanism that can be used to actuate the actuating member. Furthermore, there is a need to provide such a mechanism that is robust in operation and manufacture. Summary of the Invention

[0009] Embodiments of this disclosure can solve one or more of the problems described above and / or demonstrate one or more of the desired features described above. Other features and / or advantages will become apparent from the following description.

[0010] According to at least one aspect of this disclosure, a drive system for controlling tension in an actuating member for transmitting actuation force includes an input drive shaft having a longitudinal axis rotatable about the longitudinal axis; and a winch assembly including: a first winch body part rotatably fixed to the input drive shaft; a second winch body part coupled to the input drive shaft and the first winch body part, the second winch body part rotatable relative to the input drive shaft; a first actuating member receiving part rotatably fixed to the first winch body part; and a second actuating member receiving part rotatably fixed to the second winch body part. The drive system may further include a first actuating member coupled to and configured to be wound relative to the first actuating member receiving part; and a second actuating member coupled to and configured to be wound relative to the second actuating member receiving part. In a tensioned state, responding to being wound into the receiving portion of the second actuating member to transmit actuating force, the first winch body part and the second winch body part are capable of rotating together with the input drive shaft. In a relaxed state, responding to the second actuating member being released from the receiving portion of the second actuating member and when the first actuating member is wound into the receiving portion of the first actuating member and tensioned to transmit actuating force, the first winch body part is capable of rotating together with the input drive shaft, and the second winch body part is capable of rotating relative to the first winch body part and the input drive shaft.

[0011] In at least another aspect of this disclosure, a winch assembly for controlling tension in an actuating member includes a first winch body part; a second winch body part coupled to and rotatable relative to the first winch body part; a first actuating member receiving portion rotatably fixed to the first winch body part and configured to provide a surface for winding an actuating member; a second actuating member receiving portion rotatably fixed to the second winch body part and configured to provide a surface for winding an actuating member; and an elastically deformable biasing element coupled between the first winch body part and the second winch body part, the elastically deformable biasing element having a compressed state at a first rotational position of the second winch body part relative to the first winch body part and an expanded state at a second rotational position of the second winch body part relative to the first winch body part.

[0012] In another aspect of this disclosure, a method for controlling tension in an actuating member used to transmit actuation force includes rotating a first winch body part of a winch assembly in a first direction, thereby winding the first actuating member into the winch assembly to tension the first actuating member; rotating a second winch body part of the winch assembly in the first direction by means of the rotation of the first winch body part, thereby releasing the second actuating member from the winch assembly; and in response to the release of the second actuating member and the tension in the second actuating member decreasing to a sufficient level, rotating the second winch body part in a second direction opposite to the first direction and relative to the first winch body part, thereby winding the second actuating member into the first winch body part of the winch assembly.

[0013] Another aspect of this disclosure contemplates an apparatus comprising a shaft; an end effector including an actuable component coupled to the shaft; and a drive system as discussed above, coupled to the shaft. A first actuating member is operatively coupled to the actuable component and configured to actuate movement of the actuable component in a first degree of freedom in response to the first actuating member being wound up and placed under tension; and a second actuating member is operatively coupled to the actuable component and configured to actuate movement of the actuable component in a second degree of freedom in response to the second actuating member being wound up and placed under tension.

[0014] Additional objects, features, and / or advantages will be set forth in part in the description which follows, and in part will be apparent from the description, or may be learned by practice of this disclosure and / or the claims. At least some of these objects and advantages may be realized and obtained by means of the elements and combinations specifically pointed out in the appended claims.

[0015] It should be understood that the foregoing general description and the following detailed description are merely illustrative and explanatory, and do not limit the claims; rather, the claims shall enjoy their full scope, including equivalents. Attached Figure Description

[0016] This disclosure may be made alone or in conjunction with the appendix. Figure 1 The contents of this disclosure are understood from the following detailed description. The accompanying drawings are included to provide a further understanding of this disclosure and are incorporated in and form part of this specification. The drawings illustrate one or more embodiments of the present teachings and, together with the description, explain certain principles and operations. In the drawings, Figure 1 This is a perspective view of an embodiment having a rotary drive mechanism for removing a slack winch assembly from an actuating member; Figure 2 This is a perspective view of another embodiment of a rotary drive mechanism having a winch assembly for removing slack from the actuating member; Figure 3 This is an exemplary workflow based on aspects of this disclosure; Figure 4 This is a perspective view of a rotary drive mechanism having a winch assembly for removing slack from an actuating member, according to another embodiment.

[0017] Figure 5 yes Figure 4 A partial exploded view showing parts of the winch assembly and the input drive shaft; Figure 6 yes Figure 4 Detailed view of part 6-6; Figure 7A and Figure 7B It shows Figure 4 The first operating state of the rotary drive mechanism and winch assembly; Figure 8A and Figure 8B It shows Figure 4 The second operating state of the rotary drive mechanism and winch assembly.

[0018] Figure 9 This is another exemplary workflow based on aspects of this disclosure; Figure 10A This is a schematic side view of the apparatus according to aspects of this disclosure; Figure 10B yes Figure 10B A plan view of the drive interface of the force transmission system of the instrument; and Figure 11 This is a perspective view of a control system based on aspects of this disclosure. Detailed Implementation

[0019] This disclosure relates to apparatus, systems, and methods for controlling tension (e.g., for removing slack) in an actuating member that is wound and unwound relative to a rotary drive mechanism, and in which the actuating member transmits force in a wound, tensioned state to move an actuated component operably coupled to the actuating member. Such an actuating member may also be referred to as a pull-pull actuating member and may include, but is not limited to, cables, wires, filaments, etc., and may be made of various metals (e.g., tungsten or stainless steel) or polymers (e.g., high molecular weight polyethylene). Force transmission systems and apparatuses using such rotary drive mechanisms and actuating members are also contemplated.

[0020] Various implementations may include a winch assembly as part of a rotary drive mechanism, and the winch assembly may have different states depending on the amount of force applied by an actuating member operatively coupled to and wound / unwound relative to the winch assembly. For example, a first state may correspond to the wound state of the actuating member, where tension in the actuating member is applied to the winch assembly, and a second state may correspond to the unwound state of the actuating member, resulting from the development of slack in the actuating member and the subsequent release of force from the actuating member on the winch assembly.

[0021] In various implementations, the winch assembly can be provided with different rotational states relative to the input drive shaft driving the winch assembly, with each rotational state corresponding to a slack or tensioned state of the actuating member. For example, when the actuating member is in a tensioned state, the winch assembly can be in a fixed rotational relationship with the input drive shaft. When the actuating member is in a slack state, the winch assembly can be in a differential rotational relationship with the input drive shaft, allowing it to rotate relative to the shaft. More specifically, the winch assembly can rotate relative to the drive shaft to wind up the actuating member, thereby removing slack from the actuating member.

[0022] In various embodiments, a winch assembly allowing for both fixed and differential rotational states relative to an input drive shaft can be used in conjunction with a pair of actuating members that operate in series to transmit force, thereby actuating movement of a movable component. In some configurations, the winch assembly may include multiple winch body sections to allow one section to move in different ways relative to each other. This allows for differential movement of the actuating members, enabling the removal of slack from one actuating member without affecting the tension of another actuating member. While the various embodiments described herein use differential movement of multiple winch body sections to remove slack from one actuating member without affecting the tension of a second actuating member, those skilled in the art will understand that more than two actuating members can be used and slack can be removed from one or more actuating members without affecting the other actuating members among the multiple actuating members. For example, a given number of actuating members can be individually wound / unwound relative to different winch body sections capable of differential rotation. In other embodiments, more than one actuating member may be wound / unwound relative to the same winch body portion and move in a step-synchronous manner with another actuating member, while not exhibiting the same tension state.

[0023] Various embodiments further contemplated in this disclosure include instruments comprising a winch assembly providing differential motion according to various embodiments, to actuate pull-pull actuation members to actuate gripper DOF (degrees of freedom) movement (i.e., opening / closing of the relative claw members of the end effector of the instrument). Various other embodiments and applications will be understood from the description and drawings set forth herein, and the examples shown and described in more detail below are to be considered illustrative and non-limiting.

[0024] refer to Figure 1 This example illustrates an embodiment of a winch assembly used to tension an actuating member to remove a slack rotary drive mechanism according to this disclosure. The rotary drive mechanism 100 includes a winch assembly 130 operatively coupled to an input drive device 140 configured to be driven by an external mechanism, as described above, such as manual drive force, drive force provided by a motor, or drive force provided by a manipulator system, embodiments of which will be further described below. More specifically, the winch assembly 130 may include a shaft portion 136 having a bore receiving an input drive shaft (not shown) coupled to the input drive device 140. The shaft portion 136 may further include an actuating member receiving portion 138. An actuating member 150 may be coupled to the actuating member receiving portion 138 and configured to wind around the portion 138 when the actuating member 150 is wound into the winch assembly 130 and to unwind from the winch assembly 130 when the actuating member 150 is released from the winch assembly 130.

[0025] In various embodiments, as shown, the actuation member receiving portion 138 may include guiding features 138', such as helical grooves, to assist in guiding the actuation member 150 onto the actuation member receiving portion 138 as it is wound up, thereby preventing, for example, the actuation member 150 from winding around itself. The actuation member 150 may be secured to the actuation member receiving portion 138 using crimping fittings, fittings, various types of mechanical fasteners, and other techniques (e.g., welding, fusion, overmolding, etc.) suitable for attaching the actuation member to the actuation member receiving portion 138 of the winch assembly 130. Attachment may also be achieved through various forms of frictional engagement between the winch assembly 130 and the actuation member 150 without the use of mechanical fasteners.

[0026] When the actuating member 150 is in a wound-up, tensioned state, the winch assembly 130 may have a fixed rotational state relative to the input drive shaft (not shown). In the wound-up, tensioned state, the actuating member 150 is transmitting force to actuate its operably connected actuable component (in... Figure 1 (Not shown in the image). When the actuating member 150 is in the released and relaxed state, the winch assembly 130 may have a differential rotation state relative to the input drive shaft. In the released and relaxed state, the actuating member 150 does not transmit force to actuate the actuable component.

[0027] For example, the winch assembly 130 may be aligned with the input drive shaft (and therefore the input drive device 140) along a longitudinal axis A surrounding the input drive shaft and the winch assembly 130. L The first direction of rotation (e.g.) Figure 1 (As indicated by arrow A in the diagram) is rotatably fixed. A first rotational direction A may correspond to an actuating member 150, which is wound into and tensioned by the winch assembly 130 to cause actuation of an actuable component operably connected to the actuating member 150. A second rotational direction opposite to the first rotational direction A (e.g., along the second direction of rotation) is... Figure 1(As indicated by arrow B in the diagram), the winch assembly 130 is capable of providing differential rotation relative to the input drive shaft, such that the winch assembly 130, or at least the actuation member receiving portion 138, can rotate relative to the input drive shaft. In this state, the input drive shaft can be initially driven to release the actuation member 150 from the winch assembly 130. When this release occurs, with sufficient tension on the actuation member 150, the winch assembly 130 can rotate with the input drive shaft in a fixed manner. However, if slack develops in the actuation member 150 and the tension decreases to a sufficient level, the release of the force exerted by the actuation member 150 on the winch assembly 130 allows the winch assembly 130 to rotate relative to the input drive shaft. This allows the winch assembly 130 to rotate relative to the input drive shaft in the opposite direction (i.e., back along direction A) (it can continue to rotate along direction B or remain stationary), thereby winding up the actuation member 150 and tightening the slack developed in the actuation member 150.

[0028] In various embodiments, limitations are provided on the differential rotation of the actuation member receiving portion 138 of the winch assembly 130 relative to the input drive shaft and the corresponding amount of winding of the actuation member 150 in the slack state to avoid tensioning the actuation member 150 to the amount required to actuate the actuable component. Instead, the amount of slack that is desired to be removed by the differential rotation state of the winch assembly 130 is to maintain the desired wiring path and prevent the actuation member 150 from “derailing” from the guide and wiring path. The actuation member 150 is configured to remain in its tensioned state without being tensioned to the level intended to transmit force to actuate the actuable component.

[0029] As described above, the winch assembly 130 can be configured such that the shaft portion 136 and the actuation member receiving portion 138 are rotatably fixed together in two rotational states, or the actuation member receiving portion 138 can rotate relative to the shaft portion 136 and the input drive shaft in a differential rotational state of the winch assembly 130, wherein the shaft portion 136 is rotatably fixed to the input drive shaft in both states.

[0030] Now for reference Figure 2 This example illustrates another implementation using a winch assembly to tension the actuating member to remove a slack rotary drive mechanism. Figure 2In this configuration, a rotary drive mechanism 200 is operatively coupled to a pair of actuating members 250, 251 for transmitting force to an actuated component (not shown) to which the actuating members 250, 251 are operatively coupled. More specifically, actuating member 250 transmits force to actuate the actuated component for movement in a first degree of freedom, and actuating member 251 transmits force to actuate the actuated component for movement in a second degree of freedom. The actuating members 250, 251 operate in series such that one for transmitting force to the actuated component is tensioned, while the tension is released from the other.

[0031] Figure 2 The implementation plan has the same Figure 1 In some implementation schemes, similar parts are labeled as series 2xx instead of 1xx, but the last two numbers remain the same for similar parts. Specifically, as... Figure 1 As shown, Figure 2 The rotary drive mechanism 200 includes a winch assembly 230 operably coupled to a drive input 240, which is configured to be driven by an external mechanism, such as manual drive force, drive force provided by a motor, or drive force provided by a manipulator system. More specifically, the winch assembly 230 may include a shaft portion 236 having a hole that receives an input drive shaft 241 coupled to the input drive device 240 (a portion of which is located in…). Figure 2 (See above). The winch assembly 230 may further include an actuation member receiving portion 238 configured to be coupled to and provide a surface for winding (rewinding) and unwinding (releasing) an actuation member 250 coupled to the actuation member receiving portion 238, as referenced above. Figure 1 The actuation member receiving portion 238 may include guiding features 238', such as a spiral groove, to assist in guiding the actuation member 250 onto the actuation member receiving portion 238 when the actuation member 250 is wound up, as also described in reference. Figure 1 The actuating component 250 can be referenced above. Figure 1 Any method discussed is fixed to the receiving part of the actuating component.

[0032] exist Figure 2 In some embodiments, in addition to the actuation member receiving portion 238, the winch assembly 230 also includes a second actuation member receiving portion 239, which is operatively coupled to another actuation member 251 using any of the aforementioned fastening techniques. The actuation member receiving portion 239 also provides surfaces for winding and unwinding the actuation member 251 and may include guide features 239', such as helical grooves, to assist in guiding the actuation member 251 onto the actuation member receiving portion 239, as described above.

[0033] As in Figure 2 As can be seen, actuating members 250 and 251 are wound and unwound relative to the winch assembly 230 and the corresponding actuating member receiving portions 238 and 239 in opposite rotational directions. Specifically, when the actuating member receiving portion 238 rotates in direction A, the actuating member 238 is unwound from the actuating member receiving portion 238 and the tension is released. When the actuating member receiving portion 238 rotates in direction B, the actuating member 250 is wound into the actuating member receiving portion 238 and placed under tension. Actuating member 251 operates in the opposite manner. That is, when the actuating member receiving portion 239 rotates in direction A, the actuating member 251 is wound and under tension, while when the actuating member receiving portion 239 rotates in direction B, the actuating member 251 is unwound.

[0034] and Figure 1 Similar to the implementation examples, in Figure 2 In the winding and tensioned state, the actuating member 250 may have a fixed rotational state relative to the input drive shaft 241, wherein the actuating member 250 is transmitting force to actuate the operable actuated component (not in the winding and tensioned state) operably connected to the actuating member 250. Figure 2 (As shown in the figure). When the actuating member 250 is in a relaxed state, the actuating member receiving portion 238 may have a differential rotational state relative to the input drive shaft 241, in which the actuating member 250 does not transmit force to actuate the actuable component.

[0035] For example, the actuation component receiving portion 238 may be aligned with the input drive shaft 241 (and the input device 240 and the actuation component receiving portion 239) along the longitudinal axis A surrounding the input drive shaft 241 and the winch assembly 230. L The first direction of rotation (e.g.) Figure 2 (As shown by arrow B in the diagram) is rotatably fixed, corresponding to the winding of the actuating member 250. Along a second rotational direction opposite to the first rotational direction B (as shown by arrow B in the diagram)... Figure 2(As indicated by arrow A in the diagram), the winch assembly 230 can provide at least differential rotation of the actuation member receiving portion 238 relative to the input drive shaft 241, such that the actuation member receiving portion 238 can rotate relative to the input drive shaft 241. In this state, the input drive shaft 241 can be initially driven to rotate the winch assembly 230, including the actuation member receiving portions 238, 239, in direction A, thereby releasing the actuation member 250 when winding the actuation member 251. When this release occurs, with sufficient tension in the actuation member 250, the winch assembly 230, including the two portions 238, 239, can rotate with the input drive shaft 251. However, when sufficient slack develops in the actuation member 250, the reduction in tension in the actuation member 250 reduces the force acting on the actuation member receiving portion 238 of the winch assembly 230. This reduction in force on the actuating member 250 allows the actuating member receiving portion 238 to disengage from the rotation of the input drive shaft 241, allowing the actuating member receiving portion 238 to rotate in the opposite direction (i.e., back along direction B) relative to the input drive shaft 241 (which may continue to rotate along direction A or remain stationary depending on whether the input drive shaft continues to drive its rotation). The rotation of the actuating member receiving portion 238 relative to the input drive shaft 241 along direction B thus winds up the actuating member 250 and tightens the slack that develops in the actuating member 250.

[0036] To avoid affecting the tension state of the actuating member 251 when it is tensioned by the winch assembly 230, in this embodiment, the actuating member receiving portion 239 has a fixed rotational state relative to the input drive shaft 241 along two rotational directions A and B. By fixing the rotation of the actuating member receiving portion 239 relative to the input drive shaft 241, tension can be maintained in the actuating member 251 even when slack is removed by winding the actuating member 250, because the actuating member 251 is wound up due to rotation along direction A. In other words, because the actuating member receiving portion 239 is rotatably fixed to the input drive shaft 241, the actuating member receiving portion 238 exhibits differential rotational movement relative to the actuating member receiving portion 239 and the input drive shaft 241.

[0037] and Figure 1 The implementation plan is the same, in Figure 2In one implementation, the differential rotation of the actuator receiving portion 238 relative to the input drive shaft 241, and therefore the amount of winding of the actuator 250 in a relaxed state, can be limited to avoid tensioning the actuator 250 to the point of actuating the actuable component. Instead, the desired amount of relaxation removal in the differential rotation state of the actuator receiving portion 238 is to maintain the desired wiring path and prevent the actuator 250 from “derailing” from the guide and wiring path. The actuator is configured to remain in its tensioned state as it traverses from the rotary drive mechanism to the actuable component, rather than being tensioned to the level intended to transmit force to actuate the actuable component.

[0038] As described above, the winch assembly 230 can be configured such that the shaft portion 236 and the actuation member receiving portion 239 are rotatably fixed together in two rotational states, or the actuation member receiving portion 239 can rotate relative to the shaft portion 236 and the input drive shaft in a differential rotational state of the winch assembly 230, wherein the shaft portion 236 is rotatably fixed to the input drive shaft 241 in both states.

[0039] Figure 3 This describes an example workflow 300 for removing slack from the actuating member, which can be implemented using various embodiments of the rotary drive mechanism described herein, including those discussed above. Figure 1 and Figure 2 The implementation scheme is as follows. At action 302 of the workflow 300, an input rotation drive, including any input drive shaft described herein, may be rotatably driven in a first direction, which in turn causes the actuator receiving portion of the winch assembly (such as actuator receiving portion 138 or 238) to rotate in a fixed rotational manner relative to the input rotation drive in the first direction, thereby resulting in the winding of the actuator operatively coupled to the actuator receiving portion. At action 304, driving the input rotation drive in a second rotational direction opposite to the first rotational direction may cause the actuator receiving portion of the winch assembly to rotate in the second direction and release the actuator coupled to the actuator receiving portion. At action 306, in response to reducing tension (relaxation development) in the released state of the actuator, the workflow may include rotating the actuator receiving portion relative to the input rotation drive to wind up the actuator.

[0040] In the various embodiments described herein, slack development occurring in the actuating member can trigger the release of the actuating member receiving portion of the winch assembly from fixed rotation with the input rotary drive. In this sense, slack development or a slack state of the actuating member, as used herein or otherwise similarly, can correspond to a reduction in tension in the actuating member to a sufficiently low level such that it no longer holds the actuating member receiving portion, which is operatively coupled to the actuating member receiving portion relative to the rotary drive input mechanism in a fixed rotational state. By way of a non-limiting example, the force terminating the slack could be about 1 pound (lbf) to reduce the slack by about 30 degrees of angular rotation about the winch or about 0.05 inches of the actuating member length. As described above, the rotation of the actuating member receiving portion at action 306 to rewind the actuating member and thus remove the slack can be limited to prevent over-tensioning of the actuating member, which could trigger actuation of its operatively coupled actuating component. Furthermore, due to the separation of the rotation of the actuating member receiving portion and the input rotary drive device, the input rotary drive device can continue to be driven to rotate in the second direction without affecting or causing the actuating member receiving portion to rotate in that direction.

[0041] Now for reference Figure 4-8B This example illustrates yet another implementation of a rotary drive mechanism utilizing a winch assembly that provides for tensioning the actuating member to remove slack differential motion. Figure 4 The winch assembly provides a relatively simple construction for a differential winch assembly and illustrates an example of a mechanism for separating and allowing differential rotational movement of one actuating member receiving portion of the winch assembly relative to the input drive shaft and the other actuating member receiving portion of the winch assembly. The mechanism implemented in this embodiment of the winch assembly can be used for the aforementioned... Figure 1 and Figure 2 In the embodiments described above.

[0042] Figure 4-6 The examples illustrate a perspective view of a rotary drive mechanism 400 including a winch assembly 430, an input drive device 440, and an input drive shaft 441, wherein corresponding actuating members 450 and 451 are operably connected to the winch assembly 430; portions of the winch assembly and the input drive shaft are shown. Figure 4 A partially exploded view; and Figure 4 Detailed views of section 6-6. Figure 4-6 In each of these, a portion of the winch assembly 430 is also shown as transparent to allow view of the internal components. The rotary drive mechanism 400 is related to the above... Figure 1 and Figure 2 Components similar to those described in the figure are labeled 4xx using similar reference numerals, where the last two digits are from... Figure 1 and Figure 2The changes in the 1xx and 2xx numbering.

[0043] Figure 4-6 The rotary drive mechanism includes a winch assembly 430 operably coupled to an input drive device 440, which is configured to be driven by an external mechanism, such as manual drive, a drive provided by a motor, or a drive provided by a manipulator system, as in other embodiments described herein. More specifically, the winch assembly 430 may include a shaft portion 436 having a bore for receiving an input drive shaft 441, which is coupled to the input drive device 440 and configured to rotate with the input drive device 440. The winch assembly 430 also has two actuation member receiving portions 438, 439, similar to those described above. Figure 2 The described actuating member receiving portion, and it is in accordance with the above reference. Figure 2 The actuating members 450 and 451 are operably coupled to the actuating members 450 and 451 respectively in the same manner as described above. The actuating members 450 and 451 are also operably coupled to the actuable component (not shown) and are configured to drive the actuation of the actuable component (not shown) with different degrees of freedom, as described above.

[0044] To provide differential motion of the actuator receiving portion 438 relative to the input drive shaft 441 during relaxation development in the actuator member 450, thereby allowing the actuator receiving portion 438 to rotate relative to the input drive shaft 441 and retract the actuator member 450 (in order to tension the actuator member 450 and remove relaxation from the actuator member 450), the winch assembly 430 utilizes a separation mechanism 460. The separation mechanism 460 allows the actuator receiving portion 438 to be placed in a fixed rotational state together with the input drive shaft 441 and the actuator receiving portion 439, or to be placed in a separated differential rotational state together with the input drive shaft 441 and the actuator receiving portion 439.

[0045] The separation mechanism 460 includes a two-part assembly consisting of a fixed winch body part 469 fixedly connected to the input drive shaft 441 and a rotatable winch body part 468 rotatably connected to the input drive shaft 441. The two parts 468 and 469 are joined together to form an annular cylindrical end piece of the winch assembly 430, which fixes the winch assembly 430 in a fixed axial position on the input drive shaft 441, as will be further explained below.

[0046] Since the fixed winch body part 469 is rotatably fixed to the input drive shaft 441, it is also rotatably fixed to the actuation member receiving portion 439 fixed to the input drive shaft 441. The rotatable winch body part 468 is fixedly connected to (or integrally formed with) the actuation member receiving portion 438, and both parts are rotatably connected to the input drive shaft 441. In other words, the rotatable winch body part 468, connected to the actuation member receiving portion 438, is rotatably floating relative to the input drive shaft 441, and therefore rotatably floating relative to the fixed winch body part 469 and the actuation member receiving portion 439.

[0047] Fixed winch body part 469 and rotatable winch body part 468 are configured to be assembled together, forming two parts of the overall annular cylindrical structure. More specifically, fixed winch body part 469 has an open ring configuration including an annular plate defining an annular end face 471, which is configured to extend around the entire circumference of the input drive shaft 441. Extending from the annular end face 471 are partial annular arc segments 473, which have a thickness in the longitudinal axial direction of fixed winch body part 469 and terminate at the end of the arc defined by the segment 473 in radially inward extending surfaces 473', 473'', which can function as stop surfaces as described below.

[0048] The rotatable winch body part 468 includes an annular plate defining an annular end face 470, which is configured to extend circumferentially around an input drive shaft 441. Extending longitudinally from the annular end face 470 in one direction is an actuation member receiving portion 438, and in the opposite direction is an arcuate outer lateral wall 472 extending partially along the outer peripheral edge of the annular end face 470. For example, the wall 472 may have an angular range from about 0 degrees to about 30 degrees. A radially extending surface 474 may extend radially inward from one end of the lateral wall 472.

[0049] like Figure 4 and Figure 6 As described, the fixed winch body part 469 and the rotatable winch body part 468 are configured to be assembled together to form a generally annular cylindrical structure, wherein end faces 470, 471 form the end faces of the annular cylindrical structure. When assembled on the input drive shaft 441, these end faces 470, 471 are transverse (perpendicular) to the longitudinal axis and the axis of rotation A of the structure. LA portion of the annular segment 473 is received between the ends of the lateral wall 472. In the assembled configuration, the annular segment 473 and the lateral wall 472 form the outer lateral wall of the entire annular cylindrical structure. The relative circumferential lengths of the outer surfaces of the lateral wall 472 and the annular segment 473 provide a gap, thereby allowing space in the wall 472 around the longitudinal axis A as the rotatable winch body part 468 rotates. L The movement is to a certain extent. This gap, as well as the rotation of the rotatable winch body part 468 and the side wall 472, will be described in further detail below.

[0050] A resiliently deformable biasing element 480, as shown in the compression spring, extends radially inward from and along the side wall 472 of the rotatable winch body part 468, such that one end of the spring biasing element presses against the radially inward extending surface 474, while the other end of the spring biasing element presses against the radially inward extending surface 473'. The biasing element 480 in... Figure 4 and Figure 6 The configuration shown has a relaxed (uncompressed) static state, such that the end of the lateral wall 472 is spaced apart from the radially inwardly extending surface 473'. The biasing element 480 can be in a compressed state by rotating the rotatable winch body part 468 relative to the input drive shaft 441 and the fixed winch body part 469, such that the radially extending surface 474 moves toward the radially extending surface 473' and the distance between the two surfaces decreases.

[0051] from Figure 6 As can be clearly seen, the radially inwardly extending surface 473' has a recessed region 473' r The recessed area 473' r The end of the biasing element 480 (compression spring) is captured. This recessed area helps prevent the spring from disengaging due to possible gaps between 468 and 469, as shown in... Figure 4 and Figure 6 The state of those elements shown. Since the bias element 480 is completely captured (without gap) at its end where it intersects the radially inwardly extending surface 474 between the rotatable winch body part 468 and the input drive shaft 441, a similar recessed area is not required to capture that end of the bias element 480.

[0052] In addition to helical compression springs, various resiliently deformable biasing elements can be used, such as, but not limited to, torsion springs located at the same position as element 480 or nested between the rotatable winch body part 468 and the fixed winch body part 469, wherein a positional stop is outside the torsion spring; extension springs that can be wound and attached to the outer surface between the rotatable winch body part 468 and the fixed winch body part 469; and constant force helical springs nested between the rotatable winch body part 468 and the fixed winch body part 469. Many other types and arrangements of resiliently deformable biasing elements will be understood by those skilled in the art.

[0053] The open ring configuration of the fixed winch body part 469 allows for easy assembly of parts 468, 469 and the biasing element 480 to each other and to the input drive shaft 441. (As in...) Figure 6 As may be best shown, the through-hole 475 can be tunneled through the annular segment 473 and through the separation gap 477 of the open ring configuration to allow a fixing device (not shown) such as a bolt or the like to be received and fastened to clamp and secure the fixed winch body part 469 to the input drive shaft 441. The through-hole 475 may terminate in opposing openings 475', 475'' in the outer sidewall portion of the annular segment 473 to allow access to the fixing device, for example via a tool, for tightening and loosening the fixing device.

[0054] The fixed winch body part 469 is fastened and fixed to the input drive shaft 441, so that the winch body part 469 and the input drive shaft 441 are in a fixed rotational and axial relationship. Due to the cooperation between the fixed winch body part 469 and the rotatable winch body part 468, wherein the lateral portions 472, 473 are sandwiched between the end faces 470, 471, fastening and fixing the fixed winch body part 469 to the input drive shaft 441 also axially fixes the rotatable winch body part 468 to the shaft 441, while allowing it to float rotatably relative to the shaft 441.

[0055] The rotation range of the rotatable winch body part 468 is limited by the abutment of the lateral wall 472 and the inwardly extending surface 474 against the radially inwardly extending stop surfaces 473' and 473'' of the annular segment 473, respectively. In various embodiments, the rotatable winch body part 468 can rotate about + / - 0-30 degrees about the longitudinal axis between surfaces 473' and 473''. Therefore, surfaces 473' and 473'' act as stop surfaces to limit the rotation range of the rotatable winch body part 468. As described above, limiting the rotation range of the rotatable winch body part 468 helps to limit the winding of the actuating member 450 to the extent necessary to remove slack, without tensioning the actuating member to the extent that it would transmit force to actuate its operably connected actuable component.

[0056] refer to Figures 7A-8B It will now be described how, during the period when the actuating member 450 is not actively tensioned, the winch assembly 430 and the separation mechanism 460 are operated to remove slack in the actuating member 450, thereby transmitting force to actuate the actuable component.

[0057] Figure 7A and Figure 8A This is a perspective view of the rotary drive mechanism 400 and actuating components 450, 451, showing a winch assembly 430 with rotatable winch body parts 469 in different states, as further described below. Figure 7B and Figure 8B They are respectively through Figure 7A Section 7B-7B and Figure 8A The cross-sectional views obtained from sections 8B-8B are shown to illustrate different states of the rotatable winch body part 469 and the elastically deformable biasing element 480.

[0058] Figure 7A and Figure 7B A winch assembly 430 and a separation mechanism 460 are shown in a state in which the actuating member 450 is under tension (winding) to actuate the actuable component connected to the actuating member 450. In this state, the elastically deformable biasing element 480 is compressed, and the distance between the radially inwardly extending surfaces 474 and 473' is at the minimum separation distance. (See reference...) Figure 7A As shown, in this state, the end of the lateral wall 472 also abuts the surface 473' (reaching the bottom), as reflected by arrow S1. On the other hand, the opposite end of the lateral wall 472 where the radially inwardly extending surface 474 is located is spaced apart by a gap G from the radially inwardly extending surface 473'' of the arcuate segment 473.

[0059] exist Figure 7A and Figure 7B In this state, the rotatable winch body portion 468 is held in the position shown due to the tension in the actuating member 450. The input drive shaft 441 along... Figure 7B Rotation in direction C, as shown, causes the fixed winch body part 469 to rotate in the same direction. Due to the abutment between the stop surface 473' and the side wall 472, the rotation of the fixed winch body part 469 further drives the rotation of the rotatable winch body part 468 in direction C, causing the actuating member 450 to be further wound in the tensioned state, thereby enabling the actuating member 450 to transmit force to the actuated component (not shown). When the fixed winch body part 469 rotates in direction C, the actuating member 451 is released and does not actively transmit force to actuate the actuated component. Therefore, in Figure 7A and Figure 7BIn this state, the rotatable winch body part 468 is in a fixed rotational relationship with the input drive shaft 441, the fixed winch body part 469, and the actuation member receiving part 439.

[0060] Figure 8A and Figure 8B The diagram shows a winch assembly 430 and a disengagement mechanism 460 in a state where the actuating member 451 is under tension and wound up to actuate the actuable component connected to the actuating member 451. In this state, the direction of rotation of the input drive shaft 441, and thus fixing the rotatable winch body part 469 and the actuating member receiving part 439, is indicated by arrow D, which is in the direction of rotation of the input drive shaft 441 and the rotatable winch body part 469 and the actuating member receiving part 439. Figure 7A and Figure 7B The direction of rotation is opposite to that of C. Along this direction of rotation, due to the tension still applied by the actuating member 450, the rotatable winch body part 468 and the actuating member receiving part 438 are able to rotate at least initially in the direction of D, which releases the actuating member 450.

[0061] When this release of the actuating member 450 occurs, tension is released on the actuating member 450, which can lead to a relaxed state. In the relaxed state (when the tension in the actuating member 450 decreases to a sufficient level), the actuating member 450 applies force to hold the elastically deformable biasing element 480 and the rotatable winch body part 468 in place. Figure 7A and Figure 7B The force at the position is released. This returns the bias element 480 to its biased, relatively uncompressed elongated state. In doing so, the bias element 480 applies a force to surface 474, pushing it away from surface 473, thereby causing the rotatable winch body part 468 to rotate differentially again in direction C (opposite to direction D) relative to the input drive shaft 441, the fixed winch body part 469, and the actuation member receiving part 439.

[0062] The biasing element 480 can rotate the rotatable winch body part 468 along direction C until surface 474 abuts against and reaches the bottom at surface 473', as indicated by arrow S2. In this state, the distance between the radially inwardly extending surfaces 474 and 473' is at its maximum separation distance (as measured along direction C). See reference... Figure 8A and Figure 8B It can be seen that the end of the lateral wall 472 is separated from the radially inwardly extending surface 473' of the arc segment 473 by a gap G.

[0063] exist Figure 8A and Figure 8BIn this state, the rotatable winch body part 468 rotates differentially about the input drive shaft 441 and relative to the fixed winch body part 469 and the actuation member receiving portion 439. The rotation of the actuation member receiving portion 438 in this state along direction C allows the actuation member 450 to be wound up, thereby removing slack without affecting the additional winding of the actuation member 451 or the tension state of the actuation member 451. In other words, in Figure 8A and Figure 8B In this state, the separation mechanism 460 separates the rotation of the rotatable winch body part 468 from the input drive shaft 441, the fixed winch body part 469, and the actuation member receiving part 439. This separation of rotation allows force to be transmitted in the actuation member 450 without actively actuating the slack removal of the actuable part, without affecting the ability of the actuation member 451 to be wound up to transmit force and thus actuate the actuable part in the degrees of freedom associated with the actuation member 451.

[0064] As described above, by using the stop surface 473'' to limit the overall rotation of the rotatable winch body part 468 and the actuation member receiving part 438 in the direction C, a limit is provided on the amount of winding and tension to be applied to the actuation member 450, so as not to affect the actuation of the actuable part based on the force transmitted by the actuation member 450.

[0065] When the input drive shaft 441 is rotated again along direction C, and it is desired to actuate the actuable component to move in the second degree of freedom via the tensioning actuation member 450 and the release actuation member 451, the fixed winch body part 469 will rotate along direction C so that surface 473' abuts against the lateral wall 472. The winding of the tensioning member 450 toward the actuation member receiving portion 438 will again increase the tension of the actuation member 450 to a level that will cause the rotatable winch body part 468 and the fixed winch body part 469 to rotate together, having a force sufficient to keep the elastically deformable element 480 compressed, such as Figure 7A and Figure 7B The state in.

[0066] Now for reference Figure 9 Examples of various implementation schemes using the rotary drive mechanism described herein (including) Figure 4-8B The implementation scheme and the instruments and systems thereunder are another example of a workflow 900 for removing slack in actuating components. Figure 9The workflow 900 includes, at action 902, rotation of a first winch body part operably coupled to the input rotary drive device along a first direction, such that a first actuating member is wound up and placed under tension. At action 904, rotation of a second winch body part of the winch assembly along the first direction by the first winch body part causes the second actuating member to release from the winch assembly. At action 906, in response to the release of the second actuating member, tension in the second actuating member is reduced. When the tension is reduced to a sufficient level (relaxation development), the second winch body part is rotated in a second direction opposite to the first direction and relative to the first winch body part, thereby causing the second actuating member to be wound back into the winch assembly. In various embodiments, as described above, the winding of the second actuating member at action 906 is limited to an amount that does not increase the tension of the second actuating member to the level required to transmit actuation force to actuate an actuable component.

[0067] While various rotary drive mechanisms and winch assemblies can be used in a variety of applications to remove slack, one such application includes an instrument in which the rotary drive mechanism is part of an integral force transmission mechanism configured to transmit actuation force along the axis of the instrument to one or more actuable parts located distal to the axis, such as one or more articulated segments of an end effector along the axis and / or the instrument. Instruments of this type can be configured to remotely actuate the actuable parts via forces applied to a drive input of the force transmission mechanism, whether manually or via a computer-aided manipulator system, as further described below. Instruments of this type can be medical devices configured for minimally invasive surgical, diagnostic, or therapeutic procedures, or other types of industrial instruments that perform multiple procedures (such as examinations or other procedures) at a work site.

[0068] Now for reference Figure 10A and Figure 10B ,exist Figure 10A A schematic side view of a device 1000 according to some embodiments of the present disclosure is shown, wherein... Figure 10B The diagram shows a plan view illustrating an embodiment of the drive interface of the force transmission system 1010. The device 1000 may be or include instruments for performing medical (e.g., surgery, diagnosis, and / or treatment) or non-medical procedures (e.g., industrial inspection applications). The device 1000 includes a longitudinal axis A between a proximal portion 1001 and a distal portion 1002. LAn elongated shaft 1024. In embodiments where the device is a medical device, such as for use in minimally invasive medical procedures, the diameter of the shaft 1024 is on the order of a few millimeters, for example, from 5 to 8 millimeters. Those skilled in the art will understand that the scale of the mechanism in such a medical device can produce unique mechanical conditions and construction problems different from those found in similar mechanisms built at a much larger scale, because the forces and strengths of the materials do not scale in the same proportion to the size of the mechanism.

[0069] The instrument 1000 also includes an end effector 1020 coupled to the distal portion 1002 and a force transmission system 1008 (only its housing portion is shown) coupled to the proximal portion 1001. The end effector 1020 is configured to perform medical or non-medical (e.g., industrial) procedures. For example, the end effector 1020 may include one or more tools such as clamping tools, suture devices, scissors, ligation clamp applicators, electrosurgical tools, ultrasonic tools, suture tools, translational prying tools, translational cutting tools, or other types of tools. Although Figure 10A The example depicts an end effector 1020 having claw members 1028 configured to move toward and away from each other (by pivoting one or both claw members about a pivot axis), but this configuration is exemplary and non-limiting, and those skilled in the art will understand that the device 1000 may have any of a variety of end effectors without departing from the scope of this disclosure.

[0070] exist Figure 10A In this device 1000, the device 1000 may also optionally include a hinged component 1030 that connects the end effector 1020 to the shaft 1024. For example... Figure 1 As shown, the articulated structure 1030 can be positioned along the distal portion 1002 of the shaft 1024. However, this disclosure is not so limited, and the articulated structure 1030 can be positioned at any location along the shaft 1024 without limitation. Additionally, the device 1000 may include more than one articulated structure 1030, such as two, three, or more articulated structures positioned in series or at multiple spaced locations along the length of the shaft 1024. The articulated structure 1030 can be actuated via an actuating member (not in... Figure 10A (Example) Control and actuation, such as the pull-pull or push-pull actuation member described herein, are operatively coupled to one or more drive components of the force transmission system 1008, and are thus capable of being actuated via the force transmission system through a manipulator. In various embodiments, as is well known to those skilled in the art, an articulated structure may serve as a wrist mechanism that supports the end effector 1020 and couples it to the shaft 1024, thereby allowing the end effector 1020 to be pitched and / or yawed relative to the shaft.

[0071] exist Figure 10A and Figure 10B In one embodiment, the force transmission system 1008 is coupled to the proximal portion 1001 of the shaft 1024. In other embodiments, the force transmission system 1008 may be coupled at various locations along the shaft 1024 and, in some cases, may be movable along the shaft, but is typically positioned such that it remains outside a distal portion (such as a patient's body) where an end effector 1020 and the distal portion 1002 of the shaft 1024 are inserted to execute a program, thereby allowing access to inputs on the force transmission system 1008.

[0072] The force transmission system 1008 includes a housing 1025 supporting an input drive section 1026. The input drive section 1026 includes a drive interface 1027. The drive interface 1027 provides mechanical connections to other control features of the force transmission system 1008, such as movable parts configured to be operated to transmit force to control the operation of the distal portion 1002 of the device 1000 and various output drives. Figure 10A and Figure 10B In one implementation, the drive interface 1027 is configured to be coupled to a manipulator system, as further described below.

[0073] like Figure 10B As shown, the drive interface 1027 includes a plurality of input drive devices 1032, each of which is capable of controlling different aspects of movement of movable parts of the instrument 1000 (e.g., articulated structures, end effector components). Of course, more or fewer input drive devices 1032 may be provided in different embodiments. When the drive interface 1027 is coupled to the actuator of the manipulator system, each of the drive input devices 1032 is connected to an actuator of the drive steering input. In this example, the drive input devices 1032 are configured to form a direct mechanical engagement with a corresponding rotary actuator (e.g., a servo motor) of the manipulator system's actuator. However, other suitable configurations for power transmission may also be used (e.g., indirect mechanical couplings including speed and / or torque converters, fluid couplings, and / or electrical couplings).

[0074] In an embodiment, one of the input drive devices 1032 may be an input drive device (such as 140, 240, 440 of the rotary drive mechanism described herein), which drives the rotation of an input drive shaft (such as input drive shaft 241, 441) to wind / unwind an actuating member (such as actuating member 150, 250, 251, 450, 451) thereby controlling the movement of the end effector 1020 or other movable part of the instrument 1000.

[0075] In one implementation, this disclosure considers various rotary drive mechanisms of the above embodiments, such as Figure 4-8B In one embodiment, the jaws are operably coupled to drive the opening / closing movement of the jaws 1028 to provide clamping force. For example, an actuating member operably coupled to a rotatable winch body part and a corresponding actuating member receiving portion (such as actuating member 250, 450) can be coupled to the jaws 1028 to actuate the jaws 1028 to move the clamping open degree of freedom (the jaw members pivot away from each other), and an actuating member operably coupled to a fixed winch body part and a corresponding actuating member receiving portion (such as actuating member 251, 451) can be coupled to the jaws 1028 to actuate the clamping close degree of freedom (the jaw members pivot toward each other).

[0076] In the use of the various rotary drive mechanisms described herein and winch assemblies (such as winch assemblies 230, 430) that allow differential motion, even if the actuation receiving member portion of the winch assembly is operatively coupled to the same input drive, slack can be removed from the actuation member (such as actuation member 250, 450) that actuates the clamp opening degree of freedom when the actuation member (such as actuation member 251, 451) configured to actuate the clamp closing degree of freedom when the clamp closing degree of freedom is actuated, without affecting the clamp closing.

[0077] This document provides various embodiments of the ability to selectively engage and disengage the movement of the actuation member receiving portion, allowing for reduced part count, ease of manufacture, and relatively minimal space requirements. The actuation member receiving portion retracts the actuation member associated with the actuation of the clamp opening degree of freedom movement. Furthermore, the ability to remove slack from the actuation member reduces wear and tear on the actuation member, the responsiveness of the clamp opening actuation, and / or prevents wiring errors or other undesirable interference between the actuation member and other components.

[0078] Various embodiments provide selective separation and relaxation removal on the clamp opening actuation member (the actuation member controlling the clamp opening degree of freedom) because the clamp closing actuation member (the actuation member controlling the clamp closing degree of freedom) can be stretched and over-driven to provide high clamping forces, thereby creating relaxation in the clamp opening cable. Such over-driving on the clamp opening cable may not be necessary, and therefore relaxation removal on the clamp closing actuation member may not be necessary; however, in other embodiments, such relaxation removal may be desirable, and those skilled in the art will understand how the embodiments described herein can be modified to implement them based on the operating principles described herein.

[0079] As described above, according to various embodiments, the force transmission system of this disclosure is configured for remote operation of a computer-assisted surgical system (sometimes referred to as a robotic surgical system) using robotic technology. Reference is now made to... Figure 11An embodiment of a manipulator system 1100 for a computer-assisted surgical system is shown, to which surgical instruments are configured for use. Such a surgical system may further include a user control system, such as a physician console (not shown) for receiving input from a user to control instruments coupled to the manipulator system 1100, and auxiliary systems, such as those associated with the da Vinci® system described above.

[0080] like Figure 11 As shown in the embodiment, the manipulator system 1100 includes a base 1120, a main column 1140, and a main boom 1160 connected to the main column 1140. The manipulator system 1100 also includes a plurality of manipulator arms 1110, 1111, 1112, and 1113, each connected to the main boom 1160. Each manipulator arm 1110, 1111, 1112, and 1113 includes an instrument mounting portion 1122 to which the instrument 1000 can be mounted. The instrument mounting portion 1122 is exemplarily attached to the manipulator arm 1110. Although... Figure 11 The manipulator system 1100 is shown and described as having a main boom 1160 with multiple manipulator arms 1110, 1111, 1112, 1113 connected and supported therefrom. However, in other embodiments, the multiple manipulator arms 1110, 1111, 1112, 1113 may be connected and supported by other structures, such as an operating table, ceiling, wall, or operating room floor.

[0081] The device mounting portion 1122 includes a drive output assembly 1123 and a sleeve mounting member 1124, and has a transmission mechanism 1108 (according to an embodiment, the transmission mechanism 1108 may generally correspond to the connecting device 1000). Figure 10A and Figure 10B The force transmission system 1008 discussed is connected to the drive output assembly 1123. The cannula mount 1124 is configured to hold the cannula 1136 through which the axis of the instrument 1130 extends to the surgical site during the surgical procedure. The drive output assembly 1123 includes various drives and other mechanisms controlled to respond to input commands at the physician's console and transmit force to the transmission mechanism 1134 to actuate the instrument 1130. Although the embodiment of FIG13 shows the instrument 1130 attached only to the manipulator arm 1010 for easy observation, the instrument can be attached to any and each of the manipulator arms 1110, 1111, 1112, and 1113.

[0082] Other configurations of the surgical system, such as those configured for single-port surgery, are also considered.

[0083] The embodiments described herein can be used, for example, with remotely operated computer-aided systems (such as, for example, remotely operated surgical systems), such as those described in, for example, U.S. Patent No. 9,358,074 entitled “Multi-port Surgical Robot System Architecture” (filed May 31, 2013) by Schena et al., U.S. Patent No. 9,295,524 entitled “Redundant Axes and Degrees of Freedom of a Hardware-Constrained Remote Central Robotic Manipulator” (filed May 31, 2013) by Schena et al., and U.S. Patent No. 8,852,208 entitled “Surgical System Instrument Assembly” (filed August 12, 2010) by Gomez et al., the entire contents of which are incorporated herein by reference. Furthermore, the embodiments described herein can be used, for example, with various daVinci® Surgical Systems commercialized by Intuitive Surgical, Inc. of Sunnyvale, California.

[0084] The embodiments described herein are not limited to the surgical systems described above, and various other remotely operated, computer-aided surgical and manipulator system configurations can be used in conjunction with the embodiments described herein. Furthermore, while the various embodiments described herein are discussed in conjunction with the operating system of a remotely operated surgical system, this disclosure is not limited to use with remotely operated surgical systems. The various embodiments described herein can optionally be used in conjunction with handheld manual instruments.

[0085] Other configurations of the manipulator system that can be used in conjunction with this disclosure may use several separate manipulator arms. Additionally, a separate manipulator arm may include a single instrument or multiple instruments. Furthermore, as mentioned above, the instrument may be a surgical instrument with an end effector, or it may be a camera instrument or other sensing instrument used in a surgical procedure to provide information about a remote surgical site (e.g., visualization, electrophysiological activity, pressure, fluid flow, and / or other sensing data).

[0086] This specification and the accompanying drawings illustrating various embodiments should not be considered limiting. Various mechanical, compositional, structural, electrical, and operational changes can be made without departing from the scope of this specification and the claimed invention (including equivalents). In some cases, well-known structures and techniques have not been shown or described in detail so as not to obscure the nature of this disclosure. Identical numbers in two or more figures denote identical or similar elements. Furthermore, elements and their associated features described in detail with reference to one embodiment may, wherever feasible, be included in other embodiments where they are not specifically shown or described. For example, if an element is described in detail with reference to one embodiment but not with reference to another embodiment, that element may still be claimed to be included in the other embodiment.

[0087] For the purposes of this specification and the appended claims, unless otherwise stated, all figures expressing quantities, percentages, or proportions, as well as other numerical values ​​used in the specification and claims, should be understood to be modified in all cases by the term "about" until they have been so modified. Therefore, unless indicated to the contrary, the numerical parameters set forth in the following specification and the appended claims are approximations that may vary depending on the desired characteristics sought. At least, and not in an attempt to limit the application of the equivalence doctrine to the scope of the claims, each numerical parameter should be interpreted at least according to the number of significant figures reported and the application of ordinary rounding techniques.

[0088] It should be noted that, as used in this specification and the appended claims, unless expressly and unambiguously limited to one reference, the singular forms of any word “a,” “an,” and “the,” as well as any singular use of any word, include multiple references. The term “comprising / including” and its grammatical variations as used herein are non-limiting, and therefore statements of items in the list do not exclude the possibility of replacing or adding other similar items to the listed items.

[0089] Furthermore, the terminology used in this specification is not intended to limit the invention. For example, spatially relative terms such as “below,” “below,” “below,” “above,” “above,” “near,” “far,” etc., can be used to describe the relationship of one element or feature to another, as shown in the figures. These spatially relative terms are intended to include different positioning (i.e., location) and orientation (i.e., rotational placement) of the device in use or operation, in addition to the positioning and orientation shown in the figures. For example, if the device in the figures is flipped, an element described as “below or below” other elements or features would be “above or above” other elements or features. Thus, the exemplary term “below” can include both above and below positioning and orientation. The device may be oriented in other ways (rotated 90 degrees or otherwise), and the spatially relative descriptors used herein are interpreted accordingly.

[0090] Given the disclosure herein, further modifications and alternative embodiments will be apparent to those skilled in the art. For example, apparatus and methods may include additional components or steps that are omitted from the figures and descriptions for clarity of operation. Therefore, this specification is to be interpreted only as illustrative and for the purpose of teaching those skilled in the art the general manner of implementing the teachings. It is to be understood that the various embodiments shown and described herein are to be considered exemplary. Elements and materials, and arrangements of these elements and materials, may replace those exemplified and described herein, parts and processes may be reversed, and certain features of the teachings may be used independently, all of which will become apparent to those skilled in the art upon benefiting from the description herein. Changes may be made to the elements described herein without departing from the spirit and scope of the teachings and the following claims.

[0091] It should be understood that the specific examples and embodiments described herein are non-limiting, and modifications to the structure, dimensions, materials, and methods may be made without departing from the scope of this teaching.

[0092] Other embodiments based on this disclosure will be apparent to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This specification and embodiments are to be considered exemplary only, and the appended claims shall enjoy their full scope, including equivalents, in accordance with applicable law.

Claims

1. A drive system for controlling tension in an actuating member for transmitting actuating force, the drive system comprising: An input drive shaft having a longitudinal axis and being rotatable about the longitudinal axis; Winch assembly, the winch assembly comprising: The first winch body component is rotatably fixed to the input drive shaft. A second winch body component is connected to the input drive shaft and the first winch body component, and the second winch body component is rotatable relative to the input drive shaft. The first actuating component receiving part is rotatably fixed to the first winch body part, and The second actuating component receiving part rotates fixedly with the second winch body part; A first actuating member, the first actuating member being coupled to a first actuating member receiving portion and configured to be wound relative to the first actuating member receiving portion; and A second actuating member is coupled to a second actuating member receiving portion and configured to be wound up relative to the second actuating member receiving portion. When the second actuating member is in a tension state in response to being wound into the receiving portion of the second actuating member to transmit actuating force, the first winch body component and the second winch body component can rotate together with the input drive shaft, and In the state where the second actuating member is relaxed in response to the second actuating member being released from the second actuating member receiving portion, and when the first actuating member is wound into the first actuating member receiving portion and tensioned to transmit actuating force, the first winch body part can rotate together with the input drive shaft, and the second winch body part can rotate relative to the first winch body part and the input drive shaft.

2. The drive system according to claim 1, wherein, in the relaxed state of the second actuation member, the second winch body component is capable of rotating in a direction opposite to that of the first winch body component and the input drive shaft.

3. The drive system according to claim 1, wherein, in the relaxed state of the second actuating member, the second winch body part is capable of rotating in one direction to wind up the second actuating member.

4. The drive system of claim 1, wherein the winch assembly further comprises an elastically deformable biasing element connected between the first winch body part and the second winch body part.

5. The drive system of claim 4, wherein the elastically deformable biasing element resists the force applied by the second actuating member in a state of tension and applies a biasing force to the second winch body part.

6. The drive system of claim 5, wherein the biasing force is sufficient to rotate the second winch body part relative to the first winch body part and the input drive shaft in a relaxed state of the second actuation member.

7. The drive system of claim 1, wherein the first winch body component includes a stop surface arranged to restrict rotation of the second winch body component relative to the first winch body component.

8. The drive system according to claim 1, wherein the first actuating member and the second actuating member are pull-pull actuating members.

9. The drive system according to claim 1, wherein the first actuating member and the second actuating member are selected from cables, filaments, or threads.

10. The drive system of claim 1, wherein the first actuation member receiving portion and the second actuation member receiving portion include helical grooves configured to guide the winding of the first actuation member and the second actuation member, respectively.

11. A winch assembly for controlling tension in an actuating member, the winch assembly comprising: First winch body components; The second winch body component is connected to the first winch body component and is rotatable relative to the first winch body component. The first actuating member receiving portion is rotatably fixed to the first winch body part and configured to provide a surface for winding the actuating member. The second actuation member receiving portion is rotatably fixed to the second winch body part and configured to provide a surface for winding the actuation member; as well as An elastically deformable biasing element is connected between a first winch body part and a second winch body part. The elastically deformable biasing element is in a compressed state at a first rotational position of the second winch body part relative to the first winch body part, and in an expanded state at a second rotational position of the second winch body part relative to the first winch body part.

12. The winch assembly of claim 11, wherein the first winch body part includes a stop surface defining a range of rotation of the second winch body part relative to the first winch body part.

13. The winch assembly of claim 11, wherein the first winch body part and the second winch body part form a generally annular cylindrical structure configured to receive a rotatable drive shaft.

14. The winch assembly of claim 13, wherein the elastically deformable biasing element is a helical spring extending at least partially around the longitudinal axis of the annular cylindrical structure.

15. The winch assembly of claim 13, wherein the first winch body part has an open ring configuration.

16. The winch assembly of claim 15, wherein the first winch body part includes a through hole configured to receive a fixing means for securing the first winch body part to a rotatable drive shaft received by the annular cylindrical structure.

17. The winch assembly of claim 16, wherein the first winch body part fixes the axial position of the second winch body part to the rotatable drive shaft received by the annular cylindrical structure in a fixed position of the first winch body part.

18. A method for controlling tension in an actuating member used for transmitting actuating force, the method comprising: The first winch body part of the winch assembly is rotated in a first direction, thereby causing the first actuating member to be wound into the winch assembly to tension the first actuating member; The second winch body component of the winch assembly is rotated along the first direction by the rotation of the first winch body component, thereby releasing the second actuating member from the winch assembly; as well as In response to the release of the second actuating member and the reduction of tension in the second actuating member to a sufficient level, the second winch body part is rotated in a second direction opposite to the first direction and relative to the first winch body part, thereby causing the second actuating member to be wound into the winch assembly.

19. The method of claim 18, further comprising limiting the range of rotation of the second winch body component relative to the first winch body component.

20. The method of claim 18, wherein rotation of the first winch body component occurs via rotation of an input drive shaft, the input drive shaft being in a fixed rotational relationship with the first winch body component.

21. The method of claim 20, wherein rotating the second winch body component in the second direction includes rotating the second winch body component relative to the input drive shaft.

22. The method of claim 18, further comprising: The first winch body component is rotated in the second direction, thereby releasing the first actuating member from the winch assembly and reducing the tension in the first actuating member; as well as As the first winch body component rotates, the second winch body component rotates in the second direction, thereby causing the second actuating member to be wound up and placed under tension.

23. The method according to claim 22, wherein: Rotating the first winch body component along the first direction tensions the first actuating member, thereby actuating the movement of the actuable component in the first degree of freedom; as well as As the first winch body component rotates in the second direction, the second winch body component rotates in the second direction to tension the second actuating member, thereby actuating the movement of the actuable component in the second degree of freedom.

24. The method of claim 23, wherein rotating the second winch body part relative to the first winch body part in the second direction tensions the actuating member to remove slack.

25. An apparatus comprising: axis; An end effector, the end effector including an actuable component coupled to the shaft; as well as According to claim 1, the drive system is coupled to the shaft. The first actuating member is operably coupled to the actuable member and configured to actuate movement of the actuable member in a first degree of freedom in response to the first actuating member being wound up and placed under tension. The second actuating member is operatively coupled to the actuable component and configured to actuate the movement of the actuable component in a second degree of freedom in response to the second actuating member being wound up and placed under tension.

26. The apparatus of claim 25, wherein the actuable component comprises a claw, and the first degree of freedom is an opening movement of the claw, and the second degree of freedom is a closing movement of the claw.

27. The apparatus of claim 25, wherein the drive system includes an input rotation drive device.

28. The apparatus of claim 27, wherein the input drive device is configured to engage with a drive output of the manipulator and receive a rotational drive force from the drive output of the manipulator.

29. The instrument of claim 28, further comprising a drive interface including the input drive device, the drive interface being configured to removably mount the instrument to the manipulator.

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