Surgical cutting instruments, rotary joints and methods for robotic and / or microsurgery

Abstract

A surgical instrument is provided that includes an articulated end effector, the articulated end effector comprising a support structure, a first tip having a body with a first proximal attachment root and a first distal free end, a second tip having a body with a second proximal attachment root and a second distal free end, the first and second proximal attachment roots being axially adjacent one another and generally interposed on the support structure, the support structure and the first and second tips being articulated to one another about a common axis of rotation to define a relative open / close degree of freedom between the first and second tips, the body of the first tip comprising a blade having a cutting edge and elastically bendable in an axial direction, the second tip comprising an opposing blade adapted to abut the cutting edge to elastically bend the blade in an axial direction, the first proximal attachment root being in direct intimate contact with the support structure, and the second proximal attachment root being in direct intimate contact with the support structure.

Description

[Technical field]

[0001] The present invention relates to a surgical instrument capable of performing a cutting action.

[0002] The surgical instrument according to the present invention is particularly suited to, but is not intended exclusively for, telerobotic microsurgery.

[0003] The present invention further relates to a rotary joint for a cutting joint of a surgical instrument.

[0004] The present invention further relates to a robotic surgical system comprising at least one surgical instrument.

[0005] Additionally, the present invention relates to a manufacturing method, as well as a manufacturing fixture and semi-finished product manufacturing.

[0006] The manufacturing method is particularly suited for producing one or more blades for a surgical instrument.

[0007] The present invention further relates to a method for performing a cutting operation. [Background technology]

[0008] Robotic surgical devices are generally known in the art and typically include a central robotic tower (or cart) and one or more robotic arms extending from the central robotic tower. Each arm includes a motorized positioning system (or manipulator) for moving a distally mountable surgical instrument to perform a surgical procedure on a patient. The patient typically lies on an operating table located in an operating room, where sterility is ensured to avoid bacterial contamination from non-sterile parts of the robotic device.

[0009] In conventional, i.e. non-robotic surgery, needle driver / suture cutter type instruments are commonly known, and such instruments usually comprise a needle driver / suture cutter formed by two free ends at opposite ends of an operating ring, the needle driver / suture cutter having a gripping surface for a surgical needle and a blade for cutting a suture. In some cases, the blade is formed in a seat or recess formed in the body of the gripper, the gripper being accessible through a separate access opening that is different from the opening for accessing the gripping surface for the needle.

[0010] Surgical scissors are also known in the art, which include two opposing blades at the free end, at the ends opposite a manipulation ring. The manipulation ring may be provided with a spring. Typically, the opening angle of the free end useful for performing a cutting action with such conventional surgical scissors must be less than 25°.

[0011] Further, in the field of robotic surgery, laparoscopic needle driver / suture cutter end-effectors have been proposed having opposing gripping surfaces and respective blades disposed at the distal end of an elongated shaft. Typically, the blades are co-molded with the respective gripping surfaces for the needles, and a cantilever projection is formed relative to the gripping surfaces, disposed proximal to the gripping surfaces, i.e., between the gripping surfaces and the pivot hinge of the gripping surfaces. Thus, a single molded part usually comprises a root portion for forming part of the hinge, a free end, the gripping surface, and the blade extending in a closing direction relative to the gripping surfaces towards the other blade facing the opposite side of the needle driver / suture cutter end-effector.

[0012] Scissor-type end effectors have also been proposed for robotic surgery, in which each free end of the end effector is provided with a blade, as shown, for example, in US Patent Application Publication No. 2008 / 0119870.

[0013] In both the needle driver / suture cutter type robotic surgical instruments and the scissors type surgical instruments, multiple "Belleville washer" type elastic washers ensure a preload between the roots of the two parts forming the end effector when closing the mechanical interference between the blades intended to make the cut. Thus, when the end effector closes, the opposing blades enter the interference and slide laterally between their respective roots, counteracting the elastic influence exerted on the hinge by said elastic Belleville washers.

[0014] Also, US Patent Application Publication No. 2019 / 0105032 shows a needle driver / suture cutter type end effector, in which each blade is integrally provided with an elastic cantilever tab, and the two elastic cantilever tabs extend toward each other in a direction parallel to the pin, so that an elastic preload is provided by the contact between the two cantilever beam tabs, which avoids assembling a Belleville type elastic washer on the hinge, and thus leaves an axial space in the hinge between the two blades to accommodate its sliding against the variation of the elastic reaction force exerted by the mutually contacting cantilever beam elastic tabs.

[0015] Another known example is given by US Patent Application Publication No. 2020-0107894, which shows a needle driver / suture cutter solution in which the blade is housed in a longitudinal pocket of the gripping link and is independently rotatable relative to the pocket, thereby allowing the blade to be withdrawn as needed.

[0016] Also, an example of a surgical scissor is shown by US Patent Application Publication No. 2016 / 0175060, which discloses a solution with interchangeable tips, i.e., tips with distal cutting joints that are separable when in an operative state. Moreover, such known solutions both use the same transversely curved elastic cutting blades to obtain a preload between the blades that is provided by their shape and elastic properties.

[0017] A further known example of a surgical instrument scissor for robotic surgery is disclosed in U.S. Patent Application Publication No. 2019 / 0282291.

[0018] In addition to or instead of the "Belleville" type washers, the hinge can be provided with an adjustment screw, which usually forms the articulation pin itself, to adjust the cutting interference between the blades. If an adjustment screw is provided in combination with the "Belleville" type elastic washers, it counteracts the elastic action of the spring and allows the end adjustment of the elastic preload.

[0019] Typically, known surgical scissors of the aforementioned type have two blades that are both axially curved in the same direction to ensure mutual contact of the cutting interference, and these blades are adjusted in such a way that they can cut satisfactorily only for small opening angles, for example not exceeding 25°, i.e. the blades cut satisfactorily only near or at the distal free ends, where the curvature is more pronounced axially (i.e. in the direction of the hinge axis), while in their respective proximal parts these blades are axially spaced apart and therefore not suitable for performing precise cuts (the tissue to be cut bends between the blades without separation). Conversely, if the blades are adjusted in their proximal parts, i.e. at large opening angles, for example exceeding 15°, the blades are not suitable for completely closing, because the distal curvature of the blades actually generates a closing stroke end and prevents the cutting ability at small opening angles. If the clamping force of the blades is strongly increased, the blades can close, but they inevitably again axially space in the proximal parts, losing their cutting ability in the proximal area. For these reasons, it is usually chosen to tighten the adjustment screws of the blades of known surgical scissors so that the mechanical interference condition is achieved only near the free end, since this allows the blades to be more visible, require a smaller opening angle and therefore have a smaller footprint.

[0020] Miniaturization of the ends or end effectors of surgical instruments, particularly for robotic surgery, is particularly desirable as it allows for minimal invasiveness for the patient undergoing surgery as well as opening up advantageous scenarios where millimeter and sub-millimeter dissection capabilities of tissue can be achieved.

[0021] Known solutions of the aforementioned kind are not suitable for further miniaturization, since they impose impossible processes for the manufacture of the parts, as well as complex assembly strategies of the parts to obtain an assembled end effector. One can think, for example, of the necessity to assemble the micro-parts on the hinge while countering the elastic reaction forces of the Belleville-type elastic washers, as well as the objective extreme difficulties of manufacture due to the co-molding of micro-ridges and micro-undercuts, which must be robust enough to withstand rather high stresses during operation and at the same time be geometrically shaped to minimize friction. Indeed, as is well known, at the microscale, surface forces such as friction dominate over volume forces.

[0022] Furthermore, in surgical instruments with cutting end effectors actuated by actuation cables or tendons, in order to ensure high closure forces, such as accurate cutting action without damaging the actuation tendons, it is typically necessary to make reducers, i.e. pulleys, with a relatively large diameter, which limits the miniaturization of parts, especially close to the distal end of the end effector. Otherwise, in order to maintain a compact size of the end effector, it is necessary to increase the tensile strength of the actuation tendons at the expense of their longitudinal bending properties, which in either case results in the fitting of a relatively large diameter distal pulley, or attempts can be made to reinforce the tendons by increasing their diameter, but both of these options are significant obstacles to miniaturization, as will be clear to those skilled in the art.

[0023] Furthermore, as the scale decreases, it becomes increasingly complicated to accurately size the elements that are intended to be formed when assembling a rotary joint, such as the gripping end of an end effector of a surgical instrument, because small machining uncertainties at the level of the fulcrum, i.e., hinge, impose great imprecision close to the free ends of each cantilever and therefore on the cutting blades in the case of scissor-type instruments, or on the gripping surfaces in the case of tools such as needle drivers / suture cutters.

[0024] Thus, likewise, the provision of a linkage associated with the blade (a solution known in the art per se) would be an obstacle in an attempt to transmit high closing forces, such as a precise cutting action without damaging the actuating tendons. Miniaturization is necessary, even if only for the objective difficulty of making parts on such a small scale that they prove robust under operating conditions, due to the footprint in the area close to the common axis of rotation of the free ends, as well as the difficulties of assembly.

[0025] The end effector located distal to the hinge, whether it be just a cutting blade or a cutting blade and a gripping surface, is typically designed to perform very precise tasks while the cutting blade must ensure an accurate and clean cutting action.

[0026] Commonly owned U.S. Pat. No. 10,864,051, WO 2017-064301, WO 2019-220407, WO 2019-220408, WO 2019-220409 and U.S. Patent Publication No. 2021-059776 disclose teleoperated robotic surgical systems having one or more surgical instruments controlled by one or more master interfaces. Furthermore, US Patent No. 10582975, EP Patent No. 3586780, WO 2017-064303, WO 2018-189721, WO 2018-189729, US Patent Application Publication No. 2020-0170727 and US Patent Application Publication No. 2020-0170726 of the same applicant disclose various embodiments of surgical instruments suitable for robotic surgery and microsurgery. These types of surgical instruments generally include a proximal interface portion having an interface adapted to be driven by a robotic manipulator, a shaft, and an articulation cuff at the distal end of the shaft. The articulation cuff is composed of multiple links that are moved by multiple tendons (or actuation cables). The two distal links have free ends and open / close degrees of freedom between them, which can be adapted to manipulate needles and sutures forming a needle holder gripper type end effector for remote robotic surgery to perform anastomosis or other surgical procedures.

[0027] Furthermore, WO 2017-064305, EP 3362218 and EP 3597340 of the same applicant disclose methodologies for manufacturing surgical instruments involving wire electro-erosion, also known by the terms "WEDM", "wire cutting", "electro-erosion", "spark machining" or "spark-eroding".

[0028] For example, WO 2017-064306 of the same applicant shows a surgical instrument in which a tendon for actuating the open / close degree of freedom of an articulated end effector link slides on a convex textured sliding surface of the end effector link, while avoiding routing the tendon in a guide groove or channel having a recess, thereby minimizing the cross section of the sliding contact between the tendon and the link, thus reducing sliding friction and facilitating the miniaturization of the articulated end effector while ensuring the high dexterity provided by end effector joints such as pitch and yaw revolute joints.

[0029] Furthermore, WO 2018-189722 of the same applicant discloses a surgical instrument in which a tendon for actuating the open / close degree of freedom of an articulated end effector is wound on a convexly textured sliding surface of an end effector link in addition to sliding on said convexly textured sliding surface, as previously discussed, and presents an arcuate path underlying a particularly high winding angle. Indeed, due to the low sliding friction of the tendon, the tendon can remain in contact with the convexly textured surface of the link over a relatively long, arcuate longitudinal cross section.

[0030] Additionally, commonly owned U.S. Patent Application Publication No. 2021-0106393 discloses several embodiments of tendons made of entangled polymer fibers. The use of polymer tendons allows for reduced sliding friction relative to the use of metal tendons, while proper sizing of the tendons allows for tortuous longitudinal path movement in articulating end effectors. Summary of the Invention [Problem to be solved by the invention]

[0031] There is therefore a strong felt need to provide a surgical instrument solution that is suitable for extreme miniaturization and at the same time is robust, reliable and capable of performing precise and reproducible cutting actions.

[0032] Furthermore, a need is felt to propose a surgical instrument solution for teleoperated robotic microsurgery that is simple to assemble and construct, reliable under operating conditions, precise and robust, adapted to allow a desired controlled spatial orientation of the cutting action, for example with respect to the main longitudinal extension of the surgical instrument body, which allows for an easy observation of the operation.

[0033] It is felt that there is a need to propose a solution that makes it possible to assemble an articulated tip micro-instrument with a grip and / or scissors, which is composed of a minimum number of components and can be assembled in a non-burdensome, simple and cost-affordable manner, without reducing the dexterity of the articulated end effector.

[0034] For the formation of articulated tip microinstruments with grips and / or pincers, a need is felt to propose a solution that allows micromechanical parts, in particular sharp micromechanical parts, to be manufactured with high geometrical precision and reproducibility.

[0035] Additionally, a need is felt in the medical-surgical field to provide a manufacturing process solution capable of producing one or more miniaturized blades for making miniature surgical cutting instruments, and in particular, a need is felt to provide a robust, repeatable and serializable manufacturing process capable of producing one or more miniaturized blades in an economically sustainable manner for disposable surgical instruments.

[0036] The object of the present invention is to obviate the drawbacks mentioned in the background art. [Means for solving the problem]

[0037] This and other objects are achieved by a surgical instrument according to claim 1, as well as a robotic surgery system according to claim 15 and a rotary joint according to claim 16.

[0038] Some advantageous embodiments are the subject matter of the dependent claims.

[0039] According to one aspect of the present invention, a surgical instrument is provided that includes an articulated end effector.

[0040] An articulated end effector (or articulated end device) can be attached to the distal end of a shaft or rod of a surgical instrument. The articulated end effector is preferably actuated by an actuation tendon.

[0041] The articulated end effector comprises a support structure, a first tip having an elongate body with a first proximal mounting base and a first distal end, and a second tip having an elongate body with a second proximal mounting base and a second distal end. The distal ends of the tips are preferably free ends, however, constraints such as, for example, hinges and / or rails, can be provided at one or both distal ends of the tips.

[0042] The support structure, the first proximal mounting base, and the second proximal mounting base are articulated to one another to define an open / close degree of freedom between the first free end and the second free end.

[0043] The first tip includes a blade having a cutting edge that rotates integrally with the first free end, the blade being axially resiliently bendable.

[0044] The second tip includes an opposing blade that rotates integrally with the second free end.

[0045] An opposing blade is adapted to abut the cutting edge by elastically bending the blade in an axial direction such that the cutting edge at a first tip and the opposing blade at a second tip come into mechanical interference contact to effect a cutting action.

[0046] The support structure, the first proximal attachment root and the second proximal attachment root form a rotary joint of the cutting joint. The distal rotary joint can be an axially rigid rotary joint in which no elastic element is provided at the joint, but elasticity is provided distal to the rotary joint, i.e. at the blade.

[0047] Preferably, but not necessarily, said support structure comprises two protrusions. The support structure can be comprised in a support link which is made in one piece.

[0048] The first and second extremities can be constituted by a single part forming a link or the first and second extremities can be formed by assembling several links, for example two links. According to one embodiment, the first extremity is formed by a blade link and a blade holder link rotating together. According to one embodiment, the second extremity is constituted by a single part forming the second extremity link or reaction link.

[0049] According to one embodiment, a first root portion of the first tip is in direct contact with the support structure, e.g. a first protrusion of the support structure, and a second root portion of the second tip is in direct contact with the support structure, e.g. a second protrusion of the support structure.

[0050] The support structure is preferably a rigid structure, eg, no resilient preload elements are provided between the projections.

[0051] According to one embodiment, the first root portion of the first tip and the second root portion of the second tip are axially adjacent to each other.

[0052] The first root portion of the first tip and the second root portion of the second tip may be entirely interposed within the support structure, for example, interposed between protrusions of the support structure.

[0053] According to one embodiment, the support structure, the first extremity and the second extremity are articulated to one another at a common axis of rotation and define an axial direction that is coincident with or parallel to the common axis of rotation.

[0054] According to one embodiment, a first root portion of a first tip and a second root portion of a second tip are articulated to a support structure about said common axis of rotation to define a directional degree of freedom between the support structure and an assembly formed by said first tip and said second tip.

[0055] According to one embodiment, the first root portion of the first tip and the second root portion of the second tip are articulated to one another about said common axis of rotation to define a relative open / close degree of freedom between the first tip and the second tip.

[0056] According to one embodiment, the axial resilience required to perform the cutting action is provided by the blades, with the roots packed axially into the support structure, which counteracts the elastic bending of the blades and prevents axial displacement between the roots.

[0057] According to one embodiment, the first root portion of the first tip comprises a first external contact surface facing in an axial direction, the first protrusion of the support structure comprises a first internal contact counter surface facing in an axial direction, the second root portion of the second tip comprises a second external contact surface facing in an axial direction, and the second protrusion of the support structure comprises a second internal contact surface facing in an axial direction. The first external contact surface of the first root portion, the first internal contact surface of the first protrusion, the second external contact surface of the second root portion, and the second internal contact surface of the second protrusion may all be parallel to one another.

[0058] The opposing blade of the second tip may protrude axially to bend the first tip. Preferably, said opposing blade is a curved protruding surface having a concave surface facing axially inwardly.

[0059] The body of the counter-blade of the second tip can be elastically bent in the axial direction, preferably axially outward, whereby the axial elasticity required to perform the cutting action is provided by the blade and the counter-blade, jointly or separately, for example depending on the opening angle of the tip. According to one embodiment, the body of the second tip comprises a proximal cantilever arm, which is elastically deformable in the outward axial direction and has a proximal free end and a proximal part of the counter-blade included in said proximal cantilever arm.

[0060] The proposed solution allows the surgical instrument to perform cutting actions over an opening angle of up to 60° open / close degree of freedom.

[0061] The sharpening of the blade can be achieved by wire electroerosion (WEDM). Thus, the cutting edge of the blade can be cut sharply by wire electroerosion machining.

[0062] At least one of the first tip and the second tip may include an axial deformation seat defining an axial recess for accommodating elastic deformation of the blade and / or the opposing blade during a cutting operation.

[0063] Preferably, the first root of the first tip comprises a first through hole and the second root of the second tip comprises a second through hole, all of which are circular through holes and coaxial with the common axis of rotation. The holes are capable of receiving one articulating pin.

[0064] The body of the first tip may be formed by two separate parts or links, comprising a blade link having a body integrally comprising the blade with the cutting edge and a blade link root, and a blade holder link having a blade holder link root. In such a case, the blade link root and the blade holder link root are adjacent to each other and directly in close contact, and jointly form the first root of the first tip. In such a case, a rotational resistance engagement is provided between the blade link and the blade holder link of the first tip, which may be located distal to the first root of the first tip, and preferably along the longitudinal extension of the blade. The blade link is provided with a closing stroke end, which is located distal to the first root of the first tip. In such a case, the blade link root may be axially interposed between and directly in close contact with the blade holder link root and the second root of the second tip.

[0065] According to one embodiment, a first root portion of a first tip rotates together with the blade about said common axis of rotation and comprises a first termination seat for at least one working tendon of the first tip, and a second root portion of a second tip rotates together with the opposing blade about said common axis of rotation and comprises at least a second termination seat for at least one working tendon of the second tip.

[0066] The support link articulated about the proximal axis of rotation may integrally comprise at least a third terminal seat for at least one actuating tendon of the support link about the proximal axis of rotation.

[0067] The support structure may have a body including one or more integral convex ruled surfaces of support links having parallel generatrices, and a distal connection portion that may include two protrusions.

[0068] According to one embodiment, an articulated end effector comprises a connection link connected to a distal end of a rod having a body integral with one or more convex ruled surfaces of the connection link having parallel generatrix lines, and a first distal connection portion connected to a proximal connection portion of the support link and defining a proximal rotation joint for the connection link and the support link such that they can rotate relative to one another about a common proximal rotation axis.

[0069] The articulated end effector can include a first tip, e.g., a blade holder link, articulated to a support link having a proximal attachment root having a body integral with a pulley formed by one or more convex ruled surfaces having parallel generatrix lines.

[0070] A drag portion may be provided integral with the proximal mounting root to rotate the root together with the blade, the blade being made in a separate piece.Indeed, the articulated end effector may comprise a blade link which rotates together with the blade holder link at the first tip, the blade link having a body integral with a cutting edge and a drag counter portion which engages the drag portion of the mounting root.

[0071] The articulated end effector can, for example, include a second tip including a reaction link articulated to a support link and an assembly formed by a blade link and a blade holder link, and has a body integral with a mounting root having a pulley formed by one or more convex ruled surfaces having parallel generatrices.

[0072] According to one embodiment, the first mounting root and the second mounting root together with the distal connection portion of the support structure define a distal rotation joint that defines a common distal rotation axis for the cut joint.

[0073] According to one embodiment, a first antagonistic tendon pair is connected to a first attachment root, e.g., a blade holder link root, to move the cutting edge about the common distal axis of rotation, and a second antagonistic tendon pair is connected to a second root to move the opposing blade about the common distal axis of rotation.

[0074] According to one embodiment, a first mounting root, e.g. a blade holder link root, is integral with at least a first terminal seat for receiving the first antagonistic tendon pair, and a second mounting root is integral with at least a second terminal seat for receiving the second antagonistic tendon pair.

[0075] The one or more convex ruled surfaces having parallel generatrices of the links may be parallel to the common proximal axis of rotation.

[0076] Preferably, at least one of said one or more convex ruled surfaces having parallel generatrices of the support link is parallel to said common proximal axis of rotation.

[0077] Preferably, said one or more convex ruled surfaces of the blade holder root portion with parallel generatrix of the first root portion and said one or more convex ruled surfaces of the second root portion with parallel generatrix are parallel to a common distal rotation axis.

[0078] The first antagonistic tendon pair and the second antagonistic tendon pair, if provided, are adapted to slide longitudinally over the one or more convex ruled surfaces of the connecting link and the one or more convex ruled surfaces of the supporting link, and are adapted to wrap / unwrap without sliding over the respective convex ruled surfaces of the blade holder link root portion, i.e., the first root portion, or the reaction link, i.e., the second root portion, to open / close the blade link and the opposing blade, respectively.

[0079] A first distance in a direction parallel to the common distal axis of rotation can be identified between a first termination seat of the first root portion and the one or more convex ruled surfaces of a support structure, e.g., a support link, which is constant in any cutting state.

[0080] A second distance in a direction parallel to the common distal axis of rotation can be identified between the second terminal seat of the second root portion and the one or more convex ruled surfaces of the support structure, e.g., the support link, which is constant in any cutting state.

[0081] According to one embodiment, a first cantilevered drag leg extends from a first root portion forming a free end of the first leg and axially delimiting said first termination seat, and a second cantilevered drag leg extends from a second root portion forming a free end of the second leg and axially delimiting said second termination seat, said first and second cantilevered legs each including an abutment and a drag wall arranged as an undercut relative to the respective termination seat acting as drag abutments for the respective tendon terminations. In such a case, a first axial distance between a first cantilever leg and a support structure, e.g., a support link, one or more convex ruled surfaces, is identified, which first distance is constant for any cutting condition, and a second distance in a direction parallel to the common distal axis of rotation between a second cantilever leg and a support structure, e.g., a support link, one or more convex ruled surfaces, is identified, which first distance can be constant for any cutting condition.

[0082] The first distance and the second distance may be equal to each other.

[0083] The first distance and / or the second distance may be zero.

[0084] The first mounting root portion can have a first surface facing axially outward and the second root portion can have a second surface facing axially outward, and an axial further distance can be distinguished between the first and second surfaces that is constant for any cutting condition.

[0085] According to one embodiment, when in the operating state, the total sliding friction force exchanged between each tendon and all the ruled surfaces of the links on which it slides is much smaller than the tensile force transmitted by the same tendon, achieving the elastic bending deformation of the blade when the open / close degree of freedom is moved during closure to perform the cutting action. In other words, the sliding friction force of the tendon can be much smaller than the mechanical interference contact friction force between the blade and the opposing blade. For this purpose, the tendons can be made of a polymer material and the links can be made of a metallic material, and the convex ruled surfaces with parallel generatrices of the links are smooth, which can reduce the longitudinal sliding friction of the tendons on the links. For example, the ruled surfaces of the links are obtained by wire electroerosion.

[0086] Preferably, all of the convex ruled surfaces of the connecting links, the supporting links, the first root pulley and the second root pulley are free of longitudinal channels, so that the actuating tendons do not slide in the concave channels.

[0087] A third antagonistic pair of tendons may be provided for moving the supporting links about said common proximal axis of rotation relative to the connecting links, the supporting links comprising at least a third termination seat for receiving a tendon termination of said third antagonistic pair of tendons. Preferably, the working tendons of the supporting links of said third pair of antagonist tendons wind / unwind without longitudinal sliding on said one or more convex ruled surfaces of the supporting links, such that the convex ruled surfaces act as pulley surfaces for the working tendons of the third pair of antagonist tendons.

[0088] According to one aspect of the invention, a method of cutting a surgical instrument includes providing an articulated end effector on a distal end of a rod or shaft having a support structure, a first tip, and a second tip.

[0089] The method includes the steps of sliding actuating tendons of at least one pair of antagonistic tendons longitudinally on one or more convex ruled surfaces having parallel generatrix of the support structure to orient the cutting edge of the blade link in a desired orientation, and sliding actuating tendons of at least one pair of antagonistic actuating tendons of the distal rotary joint longitudinally on one or more convex ruled surfaces having parallel generatrix of the support structure to contact the cutting edge with the opposing blade.

[0090] The method further includes resiliently bending at least one of the cutting edge and the opposing blade to bring them into mechanical interference contact to perform the cutting action.

[0091] A connecting link may be provided having a convex ruled surface parallel to the proximal axis of rotation along which all of the working tendons of the supporting link, the first tip, and the second tip slide. The step of longitudinally sliding an antagonist tendon of at least a pair of antagonist working tendons of the distal rotating joint on the convex ruled surface having parallel generatrix of the connecting link and the supporting link may include winding at least one working tendon of the distal rotating joint on the convex ruled surface along which it slides with a wrap angle between 60° and 300°, preferably greater than 120°.

[0092] According to one aspect of the invention, the rotary joint of the cut joint comprises a distal connection portion of the support structure, a mounting root portion rotating together with the blade having a cutting edge and a body elastically bendable in the axial direction, and a mounting root portion rotating together with the opposing blade, the cutting edge of the blade link adapted to abut against said opposing blade during movement in the open / close degree of freedom in a mechanical interference contact state to perform a cutting action.

[0093] The blade and counter-blade preferably rotate together with their respective distal free ends relatively movable according to the open / close degree of freedom, the free ends preferably being generally orientable relative to the support structure about an axis of rotation of the rotary joint.

[0094] The blade is preferably axially elastically bendable to impart axial elasticity to the cutting action, but the rotary joint is axially rigid, i.e. relative movement between the roots and between the roots and the support structure is avoided.

[0095] The cut joint is preferably a distal joint of an articulated end effector that includes a first free end that rotates together with the blade and a second free end that rotates together with an opposing blade.

[0096] The proposed solution allows a much improved miniaturization of the articulated end effector. For example, the pulleys can be replaced by a one-piece ruled surface with links having a very small radius, recreating a wrist without pulleys. Thus, the known metal tendons can be replaced by miniaturized polymer tendons, which, due to the low friction, can slide on such ruled surfaces that define their movements.

[0097] It is possible to create a minimal size surgical cutting instrument with a simplified opening / closing and cutting mechanism, where the adjustable dowel and / or Belleville spring train are replaced with a resilient blade (and preferably a curved opposing blade) with a closure that provides the deformation and cutting action through its interference.

[0098] These components (pulleys rotatably connected to keyed pulleys or links, or Belleville type springs on distal joint pins, blade adjustment screws, metal actuated tendons) are relatively bulky and difficult to assemble as dimensions are reduced. These components, which represent an obstacle to miniaturization and risk unacceptable clearances, are virtually eliminated.

[0099] According to one embodiment, the mounting root of the first tip and / or the second tip has a convex textured winding surface for the respective tendon forming a pulley without a longitudinal channel and is provided with a geometrical reaction element adapted to enable the interlocking of a further component, preferably a flat elastic blade, such that it integrally guides the blade relative to the opposing blade in the opening / closing movement.

[0100] At least the blade may be made by wire electroerosion.

[0101] According to one aspect of the invention, a method for manufacturing one or more blades by wire electroerosion includes the steps of: (i) providing a wire electroerosion machine having a cutting wire and providing a fixture attached to the wire electroerosion machine, (ii) mounting at least one workpiece in the fixture, and (iii) sharpening at least one edge of the at least one workpiece to be sharpened by making a sharpening through cut in the at least one workpiece with the cutting wire. The sharpening step performs a sharpening process to obtain said cutting edge of the blade.

[0102] According to one aspect of the invention, a method for manufacturing one or more blades by wire electroerosion includes the steps of: (i) providing a wire electroerosion machine having a cutting wire and providing a fixture attached to the wire electroerosion machine, the fixture being mounted such that the fixture can rotate about an axis of rotation at least a portion of which is transverse to the longitudinal extension of the cutting wire; (ii) mounting at least one workpiece in the fixture; (iii) sharpening at least one edge of the at least one workpiece to be sharpened by making a sharpening through cut in the at least one workpiece with the cutting wire; and (iv) shaping the at least one workpiece by making a shaping through cut in the at least one workpiece with the cutting wire.

[0103] Between the sharpening and shaping steps, a further step is performed of rotating at least a portion of the fixture about its axis of rotation through a sharpening rotation angle other than 90°.

[0104] Such a method may produce one or more blades, hi one embodiment, such a method may produce one or more blade links.

[0105] Such sharpening rotation angle may be the same as the angle formed in the cross section of the cutting edge made in the workpiece.

[0106] In this manner, replacement of at least one workpiece on the fixture is avoided.

[0107] The method can produce multiple blades on the same workpiece, where the sharpening and shaping steps are the same for all of said multiple blades. The sharpening step can be performed by one cut trajectory (or one cut path) with a start point and an end point that determine the sharpening of the multiple edges to be sharpened. The shaping step can be performed by one cut trajectory (or one cut path) with a start point and an end point that determine the shaping of the multiple parts to be machined.

[0108] The workpiece may comprise a plate-like body such as a plate, strip, belt, etc., and the sharpening and shaping steps each comprise forming a through cut through the thickness of the plate-like body of the workpiece. The thickness of the plate-like body may be less than 1 millimeter, for example between 0.05 and 0.5 millimeter. The plate-like body may be an elastic body, e.g. blade steel, that is elastically deformable by bending.

[0109] The molding step may include forming at least one hole edge intended to define a through hole penetrating the thickness of the blade link 30, for example said through hole may be a centering hole and the hole edge may have an open profile defining a cut channel on the body of the part by the path of the cutting wire.

[0110] The mounting step can include assembling a plurality of workpiece parts in a fixture, and the sharpening and shaping step is performed by individually sharpening and shaping each of the plurality of workpiece parts.

[0111] The fixture can be made in such a way that the individual parts to be machined can be machined individually by the cutting wire on at least two cutting surfaces that are not aligned with each other by said sharpening rotation angle. In other words, the workpieces to be machined can be mounted in the fixture in such a way that the cutting edge that runs substantially straight intersects at most one of the workpieces to be machined at a time on each of the provided cutting surfaces.

[0112] The fixture can include fixing a plurality of planar elements (strips) that are individually machinable by wire electroerosion in one or more rotational configurations about an axis of rotation.

[0113] After the forming step, a step of reshaping the workpiece by performing a second formed through cut in the workpiece at a second, different cut plane may be included, and between the forming and reshaping steps, the fixture completes a rotation that may be substantially equal to 90°. A sharpening step may be performed between the forming and reshaping steps. The reshaping step may be performed on a subgroup of the workpiece.

[0114] A zeroing and calibration strategy for the electroerosion machine may be included, which includes identifying an origin by contacting a known fiducial on the fixture and / or workpiece with the cutting wire. According to one embodiment, the method includes the further step of identifying an origin or fiducial of the cutting path, for example approaching with the cutting wire until the origin or fiducial is reached. The origin may be included on the workpiece, such as an edge of the workpiece to be sharpened.

[0115] The origin or reference may be a single origin for both the sharpening and shaping steps as well as the reshaping step, and the control system of the wire electroerosion machine may store said single origin or reference and relate it geometrically (e.g., trigonometrically) to the kinematic rotation of the fixture at said sharpening rotation angle to process the next cut path. Both the sharpening cut and the shaping cut may start from the same point that is geometrically related to the origin or reference. After the identification step and before the sharpening and / or shaping steps, it is possible to perform a rotation of the fixture about the rotation axis by a predetermined angle, which may be an acute angle.

[0116] The sharpening through-cut may be performed with repeated multiple passes of the cutting wire along the same sharpening cut path, the number of repeated multiple passes of the cutting wire to perform the sharpening through-cut being greater than the number of passes made to perform the shaping through-cut.

[0117] The sharpening of the cutting edge 34 performed may be a "no back bevel" or "chisel edge" type sharpening.

[0118] The shaping step may include not separating the blades and leaving at least one bridge of material on each blade intact.

[0119] According to one aspect of the invention, a semi-finished product is provided that includes a plate-like body, e.g. a sheet-like body, having integral therewith a plurality of molded blades, e.g. blade links, connected to one another by connecting bridges.

[0120] The fixture may include a number of seats for receiving the workpieces.

[0121] The links of the articulating end effector, including the blade (e.g., if fabricated on a blade link), may be fabricated by wire electroerosion.

[0122] According to one aspect of the invention, a method for manufacturing an articulated surgical cutting instrument by wire electroerosion includes the steps of: (i) providing a wire electroerosion machine including a cutting wire and a fixture rotatable relative to the cutting wire about an axis of rotation transverse to a longitudinal extension of the cutting wire; (ii) assembling a plurality of workpieces to be machined on the fixture; (iii) sharpening at least one edge of at least one workpiece of the plurality to be sharpened by making a sharpening through-cut in the at least one workpiece with the cutting wire; (iv) shaping at least some but all of the workpieces of the plurality of workpieces at one time on a first cut surface; and (v) reshaping at least some but all of the workpieces of the plurality of workpieces on a second cut surface by making shaping through-cuts with the cutting wire in succession at one time for at least some but all of the workpieces of the plurality of workpieces.

[0123] Between the sharpening step and the shaping step on the first cut surface, a step of rotating the fixture through a sharpening rotation angle other than 90° is performed. In other words, during the sharpening step and the shaping step on the first cut surface, the fixture completes a rotation of a sharpening angle other than 90°.

[0124] Between the steps of shaping at the first cut surface and reshaping at the second cut surface, there is preferably a step of rotating the fixture about its axis of rotation through a rotation angle substantially equal to 90°.

[0125] At least one of the plurality of workpieces may be a small cylinder of material.

[0126] At least one of said plurality of workpieces may be a plate-like body, for example a strip or ribbon or a plate.

[0127] The arrangement of the workpieces of the plurality of workpieces on the fixture should preferably satisfy the condition that the cutting wire crosses at most one workpiece in each cutting step (i.e., sharpening, shaping and reshaping).

[0128] The method may include separating the molded parts.

[0129] The method can include assembling separate parts together, at least one of the parts having a cutting edge.

[0130] According to one aspect of the invention there is provided a fixture (or jig) for an electroerosion machine having a mount to the machine and a housing for receiving at least one workpiece, the housing being rotatable relative to the mount. A motor can be provided to effect the rotation.

[0131] The fixture can receive a plurality of workpieces and the machine can process the plurality of workpieces individually with at least two cutting surfaces, at least one of the cutting profiles being for forming.

[0132] The fixture is configured to position the workpiece in each housing seat such that the cutting edge intersects one workpiece at a time in at least two cut planes. The fixture can be configured to position the workpiece in each housing seat such that the cutting wire intersects one workpiece at a time in at least three cut planes, two of which are orthogonal to one another.

[0133] According to one aspect of the present invention, a robotic surgical system is provided that includes at least one surgical instrument.

[0134] The robotic surgical system can be a master-slave telesurgical system.

[0135] The robotic surgical system can be an automated system.

[0136] Further features and advantages of the present invention will become apparent from the following description of preferred embodiments, given by way of non-limiting example, with reference to the accompanying drawings (references in this disclosure to "one" embodiment and "one" mode of operation do not necessarily refer to the same embodiment or mode of operation, but should be understood as at least one, and further, it should be noted that for purposes of brevity and reducing the total number of drawings, a given drawing may be used to show features of multiple embodiments and multiple modes of operation, and not all elements of a drawing are necessary for a given embodiment / mode of operation). [Brief description of the drawings]

[0137] [Figure 1] An axonometric view of a robotic surgical system according to one embodiment. [Diagram 2] An axonometric view of a surgical instrument according to one embodiment. [Figure 3A] 1A-1D are schematic diagrams of an end effector of a surgical instrument in one of two operating configurations according to one embodiment, showing schematic actuation tendons; [Figure 3B] 1A-1D are schematic diagrams of an end effector of a surgical instrument in two operating configurations according to one embodiment, showing schematic actuation tendons; [Figure 4] FIG. 1 is an axonometric view of a portion of a surgical instrument with an end effector at the distal end of a shaft according to one embodiment, showing a schematic of an actuating tendon; [Diagram 5] FIG. 1 is an axonometric view of an end effector of a surgical instrument according to one embodiment, showing schematic actuation tendons; [Figure 6] FIG. 1 is an axonometric view of a portion of an end effector of a surgical instrument according to one embodiment. [Figure 7] Axonometric view of a portion of the end effector in Figure 6, showing the parts in an exploded view. [Figure 8A] FIG. 1 is an axonometric view of a surgical instrument with an end effector at the distal end of a shaft according to one embodiment, showing a schematic of an actuating tendon; [Figure 8B]FIG. 8B is a schematic diagram of the actuating tendon of FIG. 8A showing the end effector; [Figure 9] FIG. 1 is an axonometric view of a surgical instrument with an end effector according to an embodiment, showing a schematic of an actuating tendon; [Figure 10] FIG. 1 is a plan view in exploded view of a portion of an end effector of a surgical instrument according to one embodiment; [Figure 11] 11 is a top view of a portion of the end effector of FIG. 10 in a cutting configuration, showing the assembled parts; [Figure 12] Axonometric view of a portion of the end effector in the cutting configuration shown in FIG. [Figure 13A] 11 is a vertical elevation view of a portion of the blade link of the end effector of FIG. [Figure 13B] FIG. 11 is a vertical elevation view of a portion of the blade holder link of the end effector of FIG. 10 according to one embodiment; [Figure 14] FIG. 1 is a plan view diagram illustrating schematic configurations assumed by a blade and an opposing blade in various mechanical cutting interference configurations, according to one embodiment; [Figure 15A] 12 is a vertical elevation view of the end effector of FIG. 11 from the viewpoint indicated by arrow A. [Figure 15B] 12 is a vertical elevation view of the end effector of FIG. 11 from the viewpoint indicated by arrow B. [Figure 16] FIG. 12 is an axonometric view of a portion of the end effector of FIG. 11 in an exploded view. [Figure 17A] 12A-12C are diagrams illustrating a portion of the end effector of FIG. 11 in a possible sequence for cutting the suture. [Figure 17B] 12A-12C are diagrams illustrating a portion of the end effector of FIG. 11 in a possible sequence for cutting the suture. [Figure 17C] 12A-12C are diagrams illustrating a portion of the end effector of FIG. 11 in a possible sequence for cutting the suture. [Figure 18] FIG. 1 is a plan view in exploded view of a portion of an end effector of a surgical instrument according to one embodiment; [Figure 19] FIG. 1 is a plan view in exploded view of a portion of an end effector of a surgical instrument according to one embodiment; [Figure 20]FIG. 20 illustrates the end effector of FIG. 19 in a cutting configuration, showing the assembled configuration. [Figure 21] FIG. 20 is an axonometric view of a portion of the end effector of FIG. 19, showing the assembled configuration. [Figure 22] 20 is a vertical elevation view of the opposing blade links of the end effector of FIG. [Diagram 23] FIG. 20 is a vertical elevation view of a portion of the opposing blade holder link of the end effector of FIG. [Figure 24] FIG. 20 is an axonometric view of a portion of the end effector of FIG. 19 in an exploded view; [Diagram 25] FIG. 25 is a vertical elevation view of a portion of the end effector of FIG. 24, showing the assembled configuration; [Figure 26] Electron microscope image showing the blade links and opposing blade links arranged on the face of a 5 euro cent coin [Figure 27] FIG. 1 is a vertical elevation view of a portion of an end effector of a surgical instrument according to one embodiment; [Figure 28] FIG. 1 is a top view of a cutting configuration of a portion of an end effector of a surgical instrument according to one embodiment; [Figure 29A] FIG. 1 is a vertical elevation view of a portion of a first tip of an end effector of a surgical instrument according to one embodiment; [Figure 29B] 29B is a close-up view of the blade link of FIG. 29A from the perspective indicated by arrow B; [Figure 29C] FIG. 29B is an axonometric view of a detail of a portion of the first tip shown in FIG. [Figure 30A] FIG. 1 is a vertical elevation view of a blade link according to an embodiment; [Figure 30B] FIG. 1 is a vertical elevation view of an opposed blade link according to an embodiment; [Figure 30C] 30B is a vertical elevation view of a portion of an end effector of a surgical instrument including the blade link of FIG. 30A and the opposing blade link of FIG. 30B, shown in an assembled configuration; [Diagram 31] FIG. 1 is an axonometric view of a portion of a surgical instrument with an end effector articulated at a distal end of a shaft according to one embodiment, showing a schematic of an actuating tendon; [Diagram 32]FIG. 1 is an axonometric view of an end effector of a surgical instrument according to one embodiment, showing schematic actuation tendons; [Diagram 33] Axonometric view of a portion of the end effector of FIG. 31 [Figure 34A] FIG. 34 is an axonometric view of a portion of the end effector of FIG. 33 in an exploded view from a different perspective. [Figure 34B] FIG. 34 is an axonometric view of a portion of the end effector of FIG. 33 in an exploded view from a different perspective. [Diagram 35] FIG. 1 is a plan view in exploded view of a portion of an end effector of a surgical instrument according to one embodiment; [Diagram 36] 36A-36C are top views that are schematic illustrations of configurations assumed by the blade and opposing blade of the end effector of FIG. 35 in various mechanical cutting interference configurations, according to one embodiment; [Figure 37] FIG. 32 is a plan view of a portion of the end effector of FIG. 31 in a partially closed and partially open configuration with the open / close degree of freedom showing the actuated tendons in schematic form; [Figure 38] 38 is a plan view of a portion of the end effector of FIG. 37 in a configuration with the open / close degree of freedom closed; [Figure 39A] FIG. 1 illustrates an axonometric view of a portion of an end effector of a surgical instrument with the open / close degree of freedom in a partially closed and partially open configuration, according to one embodiment; [Figure 39B] FIG. 39B is a view of the end effector of FIG. 39A from the perspective indicated by arrow B. [Figure 39C] FIG. 39B is an axonometric view of a portion of the end effector of FIG. 39A from a different perspective; [Figure 39D] FIG. 39D shows the end effector of FIG. 39C from the perspective indicated by arrow D. [Figure 40A] 39B is a vertical elevation view of a portion of the end effector of FIG. 39A in a configuration with the open / close degree of freedom closed; [Figure 40B] FIG. 40B is a view of the end effector of FIG. 40A from the perspective indicated by arrow B. [Figure 40C] 40B is a vertical elevation view of a portion of the end effector of FIG. 40A from a different perspective; [Figure 40D] FIG. 40D shows the end effector of FIG. 40C from the perspective indicated by arrow D. [Diagram 41] FIG. 13 is a plan view of a second tip according to an embodiment. [Diagram 42] FIG. 1 is a plan view of a blade holder link according to an embodiment; [Diagram 43] FIG. 1 shows a first tip according to an embodiment. [Diagram 44] Axonometric view of a portion of the end effector of FIG. 32 [Diagram 45] FIG. 45 is an axonometric view of a portion of the end effector of FIG. 44 in an exploded view. [Figure 46] FIG. 1 is an exploded plan view of an end effector of a surgical instrument according to one embodiment; [Figure 47A] Axonometric views of the second tip of the end effector of FIG. 46 from different perspectives. [Figure 47B] Axonometric views of the second tip of the end effector of FIG. 46 from different perspectives. [Figure 48A] FIG. 1 is a vertical elevation view of a portion of an end effector in an open configuration according to one embodiment; [Figure 48B] FIG. 48B is a view showing a portion of the end effector of FIG. 48A from the perspective indicated by arrow B. [Figure 48C] FIG. 48C is a schematic diagram showing, in plan view, the shape assumed by the blade and second tip of the end effector of FIG. 48B in a mechanical cutting interference configuration; [Figure 48D] Axonometric view of a portion of the end effector of FIG. [Figure 49A] 48B are vertical elevation views of a portion of the end effector of FIG. 48A in a partially closed configuration and a partially open configuration; [Figure 49B] FIG. 49B is a view showing a portion of the end effector of FIG. 49A from the perspective indicated by arrow B. [Figure 49C] FIG. 49C is a plan view illustrating a schematic configuration assumed by the blade and second tip of the end effector of FIG. 49B in a mechanical cutting interference configuration; [Figure 49D] FIG. 49B is an axonometric view of a portion of the end effector of FIG. [Figure 50A] FIG. 48B is a vertical elevation view of a portion of the end effector of FIG. 48A in a partially closed configuration; [Figure 50B]FIG. 50B is a view showing a portion of the end effector of FIG. 50A from the perspective indicated by arrow B. [Figure 50C] FIG. 50C is a plan view illustrating a schematic configuration assumed by the blade and second tip of the end effector of FIG. 50B in a mechanical cutting interference configuration; [Figure 50D] FIG. 49B is an axonometric view showing a detail of a portion of the end effector of FIG. [Figure 51] FIG. 1 is an exploded plan view of an end effector of a surgical instrument according to one embodiment; [Figure 52A] FIG. 1 is an axonometric view of a surgical instrument with an end effector at the distal end of a shaft according to one embodiment, showing a schematic of an actuating tendon; [Figure 52B] FIG. 8B is a schematic diagram of the actuating tendon of FIG. 8A showing the end effector; [Diagram 53] FIG. 1 is an axonometric view of a surgical instrument with an end effector according to an embodiment, showing a schematic of an actuating tendon; [Figure 54] Electron micrograph image showing a needle driver / scissor gripper type surgical instrument end effector at the distal end of a shaft according to one embodiment. [Figure 55] Electron micrograph image showing a scissor-type surgical instrument end effector at the distal end of a shaft according to one embodiment. [Figure 56] Electron microscope image showing a blade link according to one embodiment [Figure 57A] FIG. 1 is a plan view of a rotary joint according to some embodiments; [Figure 57B] FIG. 1 is a plan view of a rotary joint according to some embodiments; [Figure 57C] FIG. 13 is a top view of a rotary joint according to an embodiment showing one of two open configurations of the open / close degree of freedom; [Fig. 57D] FIG. 13 is a plan view of a rotary joint according to an embodiment showing the other of the two open configurations of the open / close degree of freedom; [Figure 58A] FIG. 1 is a block diagram showing, in schematic form, some possible steps of a manufacturing method according to a given mode of operation; [Figure 58B]FIG. 1 is a block diagram showing, in schematic form, some possible steps of a manufacturing method according to a given mode of operation; [Figure 58C] FIG. 1 is a block diagram showing, in schematic form, some possible steps of a manufacturing method according to a given mode of operation; [Fig. 58D] FIG. 1 is a block diagram showing, in schematic form, some possible steps of a manufacturing method according to a given mode of operation; [Figure 59] FIG. 1 shows a schematic diagram of a wire electroerosion machine for assembling a workpiece according to a possible mode of operation. [Figure 60A] FIG. 1 is a top view of a portion of a wire electroerosion machine according to possible modes of operation. [Figure 60B] FIG. 1 is a vertical elevation view of a fixture according to one embodiment. [Figure 60C] FIG. 60C shows the housing of the fixture of FIG. [Figure 61A] FIG. 1 shows an axonometric view of the sharpening step according to a possible mode of operation. [Figure 61B] FIG. 1 shows a vertical elevation view of a fixture for assembling the workpiece at the end of the sharpening step, according to a possible mode of operation. [Figure 61C] FIG. 1 shows a cross-sectional view of a workpiece, illustrating a sharpening step according to a possible mode of operation. [Figure 61D] FIG. 1 shows a cross-sectional view of a workpiece at the end of a sharpening step, according to one embodiment. [Figure 61E] 1 shows a schematic cross-sectional view of a workpiece during a sharpening step according to a possible mode of operation; [Fig.61F] FIG. 1 shows a cross-sectional view of a workpiece at the end of a sharpening step, according to one embodiment. [Figure 62A] FIG. 1 shows axonometric views of the rotation steps according to possible modes of operation. [Figure 62B] FIG. 1 shows the vertical height of the rotation steps according to possible modes of operation. [Figure 63A] FIG. 1 shows axonometric views of the forming steps according to possible modes of operation. [Figure 63B] Enlarged view of the circled area in Figure 63A. [Figure 63C]FIG. 1 shows a cross-sectional view of a workpiece that has been sharpened and shaped according to possible modes of operation. [Figure 64] FIG. 2 shows a schematic diagram of the bending steps according to a possible mode of operation. [Figure 65] FIG. 11 is a plan view of the sharpening and shaping cut paths according to possible modes of operation. [Figure 66A] FIG. 1 illustrates the shape cut path for several possible modes of operation. [Figure 66B] FIG. 1 illustrates the shape cut path for several possible modes of operation. [Figure 66C] FIG. 1 illustrates the shape cut path for several possible modes of operation. [Figure 66D] FIG. 1 illustrates a workpiece including multiple forming blades, according to one embodiment. [Figure 67A] FIG. 1 illustrates the shape cut path for several possible modes of operation. [Figure 67B] FIG. 1 illustrates the shape cut path for several possible modes of operation. [Figure 67C] FIG. 1 illustrates the shape cut path for several possible modes of operation. [Fig. 67D] FIG. 1 illustrates a workpiece including multiple forming blades, according to one embodiment. [Figure 68] A photographic image showing a collection basket, according to one embodiment. [Figure 69A] FIG. 1 shows a sequence of sharpening, turning and shaping steps according to a possible mode of operation. [Figure 69B] FIG. 1 shows a sequence of sharpening, turning and shaping steps according to a possible mode of operation. [Figure 69C] FIG. 1 shows a sequence of sharpening, turning and shaping steps according to a possible mode of operation. [Figure 70A] FIG. 1 shows a sequence of sharpening, rotating and shaping steps for several possible modes of operation. [Figure 70B] FIG. 1 shows a sequence of sharpening, rotating and shaping steps for several possible modes of operation. [Figure 70C]FIG. 1 shows a sequence of sharpening, rotating and shaping steps for several possible modes of operation. [Figure 71] FIG. 1 illustrates several possible steps of the method according to several possible modes of operation, as well as several embodiments of a fixture. [Figure 72] FIG. 1 illustrates several possible steps of the method according to several possible modes of operation, as well as several embodiments of a fixture. [Figure 73] FIG. 1 illustrates several possible steps of the method according to several possible modes of operation, as well as several embodiments of a fixture. [Fig. 74A] FIG. 1 shows a sequence of sharpening, rotating and shaping steps for several possible modes of operation. [Fig. 74B] FIG. 1 shows a sequence of sharpening, rotating and shaping steps for several possible modes of operation. [Fig. 74C] FIG. 1 shows a sequence of sharpening, rotating and shaping steps for several possible modes of operation. [Fig. 74D] Schematic diagram from the viewpoint indicated by arrow D in FIG. 74C. [Figure 75] FIG. 1 is an axonometric view of an embodiment of a fixture for assembling multiple workpieces; [Figure 76] FIG. 2 is a vertical elevation view showing, in schematic form, possible steps of the method according to possible modes of operation; [Figure 77A] FIG. 2 is a vertical elevation view showing, in schematic form, some possible steps of the method according to some possible modes of operation; [Fig. 77B] FIG. 2 is a vertical elevation view showing, in schematic form, some possible steps of the method according to some possible modes of operation; [Fig. 77C] FIG. 2 is a vertical elevation view showing, in schematic form, some possible steps of the method according to some possible modes of operation; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0138] References throughout this specification to an "embodiment" are meant to indicate that a given feature, structure, or function described in connection with the embodiment is included in at least one embodiment of the invention. Thus, the appearances of "in one embodiment" in various parts of this specification do not necessarily all refer to the same embodiment. Moreover, a given feature, structure, or function as shown in different figures may be combined in any suitable manner in one or more embodiments, unless otherwise stated. Similarly, references throughout this specification to an "operational mode" are meant to indicate that a given feature, structure, or function described in connection with the operation mode is included in at least one operation mode of the invention. Thus, the appearances of "in an operation mode" in various parts of this specification do not necessarily all refer to the same operation mode. Moreover, a given feature, structure, or function as shown in different figures may be combined in any suitable manner in one or more operation modes.

[0139] According to a general embodiment, there is provided a surgical instrument 1 adapted to perform cutting operations. The surgical instrument 1 is particularly, but not exclusively, intended for robotic surgery and may be connectable to a robotic manipulator 103 including a motorized actuator of a robotic surgery system 101, for example as shown in Figure 1. For example, the surgical instrument 1 may be associated with mechanical and manual controls and actuation devices.

[0140] The robotic surgical system 101 comprising said surgical instrument 1 is particularly suited, but not uniquely intended for, robotic microsurgical operations. The robotic surgical system 101 may be intended for robotic laparoscopic surgery.

[0141] The surgical instrument 1 comprises an articulated end effector 9, in other words an articulated end device 9. According to one embodiment, the surgical instrument 1 comprises a shaft 7 or rod 7 and the articulated end effector 9 at a distal end 8 of the shaft 7. According to a preferred embodiment, the shaft 7 is a rigid shaft, although it is not necessarily a rigid shaft, for example it may be a bendable shaft and / or an articulated shaft. For example, as shown in FIG. 2, a proximal interface part 104 or back end 104 of the surgical instrument 1 can be provided at the proximal end 102 of the shaft 7 to form an interface with a robotic manipulator 103 of a robotic surgery system 101. A sterile barrier can be interposed between the robotic manipulator and the proximal interface part 104 of the surgical instrument. For example, the proximal interface part 104 can comprise a set of interface transmission elements for receiving drive movements applied by the robotic manipulator 103 and transmitting them to the articulated end effector 9. According to one embodiment, the surgical instrument 1 is removably associated with a robotic manipulator 103 of a robotic surgical system 101 .

[0142] The articulated end effector 9 at the distal end 8 of the shaft 7 may comprise a number of links articulated to one another at one or more revolute joints that are movable by pairs of antagonistic actuating tendons that extend within the shaft 7 from the proximal interface 104 to the articulated end effector 9. The pairs of antagonistic actuating tendons may terminate in termination seats on at least some of the links of the articulated end effector 9. A pair of actuating tendons of one or more of the antagonistic tendon pairs may consist of a single tendon that forms a round trip path from the proximal interface 104 of the instrument to the links of the articulated end effector of the instrument.

[0143] Preferably, the term "link" refers to a body made in a single piece, ie a monobloc body.

[0144] Not all of the links making up the articulated end effector 9 are necessarily articulated, i.e., movable relative to each other and / or relative to the distal end 8 of the shaft 7 .

[0145] For example, the end effector 9 may be a "roll-pitch-yaw" type articulated cuff, according to the terminology widely adopted in the art. For example, the end effector 9 may be a "snake" type articulated end effector 9, i.e., equipped with a number of coplanar and / or non-planar rotational joints.

[0146] The articulated end effector 9 of the surgical instrument 1 comprises a support structure. The support structure may comprise protrusions 3, 4 comprising a first protrusion 3 and a second protrusion 4 forming a support fork. Preferably, the support fork is made in a single piece, i.e. the two protrusions 3, 4 are formed in one piece. According to a preferred embodiment, the articulated end effector 9 comprises a support link 2 comprising the support fork comprising the two protrusions 3, 4.

[0147] For example, according to the embodiment shown in Fig. 4 and for example in Fig. 31, the support link 2 with the support fork including said projections 3, 4 is a separate part relative to the shaft 7 and is articulated to the shaft 7 by being interposed between the support link 2 and the distal end 8 of the shaft 7 of a further connecting link 90. ​​The further connecting link 90 is fixedly fixed to the distal end of the shaft 7 by a fixing device 94 and comprises two projections 91, 92 articulated to the support link 2 relative to the shaft 7 around a common proximal axis of rotation PP, or pitch axis PP. (The term "pitch" is used arbitrarily here and can denote any orientation of the common axis of rotation PP). In such a case the projections 3 and 4 are therefore articulated to the distal end 8 of the shaft 7.

[0148] For example, according to the embodiment shown in Figures 8A and 8B and 52A and 52B, the support link 2, for example comprising the support fork having said projections 3, 4, is a separate part with respect to the shaft 7 and is rigidly fixed to the shaft 7 by a fixing device 94 (in the example shown as a pair of pins), i.e. is not articulated. Thus, in such a case, the projections 3 and 4 are integral with the distal end 8 of the shaft 7.

[0149] For example, according to the embodiment shown in Figures 9 and 53, the support structure or fork with said protrusions 3, 4 is formed integrally with the distal end 8 of the shaft 7. Thus, in such a case, the protrusions 3 and 4 are integral with respect to the distal end 8 of the shaft 7, and the articulated end effector 9 further comprises a distal end 8 of the shaft 7 having two protrusions 3, 4, i.e. for the purposes of the present disclosure, in this embodiment, the distal end 8 of the shaft 7 with the two protrusions 3, 4 is understood as belonging to the articulated end effector 9.

[0150] The articulating end effector 9 of the surgical instrument 1 includes a first tip body 10 or first tip 10 including a first proximal attachment base 11 and a first distal free end 12. Although not necessarily, the body of the first tip 10 is integrally formed, according to one embodiment, the body of the first tip 10 is integrally formed, thereby forming a first tip link.

[0151] The articulating end effector 9 of the surgical instrument 1 further comprises a second tip body 20 or second tip 20 including a second proximal attachment base 21 and a second distal free end 22. The body of the second tip 20 is not necessarily integrally formed, however, according to one embodiment, the body of the second tip 20 is integrally formed, thereby forming a second tip link.

[0152] The distal ends 12 and 21 of the first and second tips 10, 20 are not necessarily free ends, for example, according to a variant, at least one of said distal ends 12, 22 is guided or constrained, for example, by hinges and / or rails of a pantograph mechanism. According to a preferred embodiment, the distal ends 12 and 21 of the first and second tips 10, 20 are free distal terminal ends of the surgical instrument.

[0153] Preferably, said first and second tips 10 and 20 each have an elongated body, which are constrained to one another at their respective proximal or root parts 11, 21 to rotate about a common axis of rotation YY adapted to form a terminal gripping device of an articulated end effector 9 adapted to perform at least one cutting operation. The root parts 11, 21 are therefore adapted to form a rotation joint of the common axis of rotation YY and preferably do not have elastic elements at the level of the root part, i.e. near or at the articulation pin 5, so as to avoid forming a seat for accommodating elastic deformations.

[0154] In said support structure, the first extremity 10 and the second extremity 20 are articulated to one another at a common axis of rotation YY and define an axial direction coincident with or parallel to the common axis of rotation YY.

[0155] Preferably, for clarity of presentation, an axial direction is defined which coincides with or is parallel to the direction of the common axis of rotation YY. Preferably, for clarity of presentation, for the first tip 10, an inner axial direction is also defined which faces the second tip 20 along the axial direction, and similarly, for the second tip 20, said inner axial direction is opposite, i.e. facing the first tip 10.

[0156] The proximal and distal directions (or senses) are understood to refer according to the common meaning of the terms, as indicated by the arrows in FIG.

[0157] Preferably, for clarity of presentation, the term "radial" refers to a direction substantially perpendicular to and incident on the common axis of rotation YY. Preferably, for clarity of presentation, it also means a longitudinal direction which may substantially coincide with the longitudinal extension of the surgical instrument 1 overall, but also substantially coincides locally with the longitudinal extension of the elongate body of the first tip 10 and / or the longitudinal extension of the elongate body of the second tip 20.

[0158] The first root portion 11 of the first tip 10 and the second root portion 21 of the second tip 20 are adjacent to each other in the axial direction.

[0159] The first root portion 11 of the first tip 10 and the second root portion 21 of the second tip 20 are generally interposed between the protrusions 3, 4 of the support structure. In other words, the assembly formed by the first root portion 11 of the first tip 10 and the second root portion 21 of the second tip 20 is interposed between the protrusions 3, 4 of the support structure.

[0160] The first root part 11 of the first tip 10 and the second root part 21 of the second tip 20 are articulated to the prongs 3, 4 of the support structure around said common axis of rotation YY, defining a directional degree of freedom Y between the support structure and the assembly formed by said first tip 10 and said second tip 20. The common axis of rotation YY (or a linear extension thereof) thus intersects said two prongs 3, 4 and said first and second root parts 11, 12 and can be defined by an articulation pin 5. The support structure is preferably rigid, i.e. for example a rigid support fork, and the relative positions of the prongs 3, 4 are firmly determined.

[0161] Furthermore, the first root portion 11 of the first tip 10 and the second root portion 21 of the second tip 20 are articulated to one another about said common rotation axis YY to define a relative opening / closing degree of freedom G between the first tip 10 and the second tip 20 for performing a cutting action (or cutting degree of freedom G, or gripping degree of freedom G in the widely adopted terminology, although actuation of this degree of freedom does not necessarily result in a gripping action), whereby the first free end 12 and the second free end 22 are relatively movable in an opening / closing direction, i.e. a relative approaching / separating direction.

[0162] Preferably, the first tip 10 includes a cutting edge 34 which rotates integrally with the first free end 12, and the second tip 20 includes an opposing blade 24 which rotates integrally with the second free end 22. The opposing blade 24 preferably includes an opposing blade surface 24 which faces axially inwardly.

[0163] The blade 14 of the body of the first tip 10 is elastically bendable in the axial direction, and said opposing blade 24 of the second tip 20 is adapted to abut said cutting edge 34 by elastically bending said body of the first tip 10 in the axial direction. The blade 14 is preferably part of the body of the first tip 10 which integrally comprises said cutting edge 34, i.e. the cutting edge 34 is included in the blade 14 of the body of the first tip 10.

[0164] This causes the cutting edge 34 of the first tip 10 and the opposing blade 24 of the second tip 20 to reach a mechanical interference contact to perform a cutting action.

[0165] The mechanical interference contact between the cutting edge 34 and the opposing blade 24, which produces the cutting action, simultaneously causes a bending deformation of the blade 14 of the body of the first tip 10. The bending deformation of the blade 14 of the body of the first tip 10 during the cutting action is preferably axially directed, i.e. substantially parallel to the common axis of rotation YY.

[0166] The deformed configuration of the blade 14 when the first tip 10 and the second tip 20 are in a substantially closed configuration is maximally bent and in any case more bent than the configuration of the blade 14 when the first tip 10 and the second tip 20 are in a partially closed and partially open configuration. Preferably, but not necessarily, when the opening angle is maximally open and the blade 14 is free, the cutting edge 34 is straight and the blade 14 has a substantially flat configuration.

[0167] At least one contact point POC between the cutting edge 34 and the opposing blade 24 preferably changes position and / or size as a function of the opening angle of the open / close degree of freedom G, and preferably tends to move distally as the opening angle decreases, thereby increasing bending due to elastic deformation of the body of the blade 14.

[0168] "Point of contact POC" preferably means the distal most portion of the contact area between the cutting edge 34 and the opposing blade 24, although the contact area may be similar in some configurations of the embodiment.

[0169] The elastically deformable bending cutting edge 34 can be sharp, i.e. can be subjected to sharpening so as to have a locally reduced thickness compared to the thickness of the body of the blade 14 and / or a sharp shape in its cross section. For example, the cross section of the blade 14 has a pointed shape in which, at the cutting edge 34, the face of the blade link forms an angle in the range of 30°-60°. Preferably, the cutting edge 34 of the first tip 10 is sharpened so as to be flush with the axially facing blade surface 35 of the blade 14 of the first tip 10 arranged axially opposite the counter blade 24. In other words, the blade 14 of the body of the first tip 10 comprises a blade surface 35 facing axially inwards, said cutting edge 34 forming the edge of the blade surface 35.

[0170] During the cutting action, the blade surface 35 of the blade 14 can be in contact with the counter blade 24 at least in part, exchanging frictional forces substantially directed in the opening / closing direction G.

[0171] According to a preferred embodiment, said opposing blade 24 of the second tip 20 protrudes axially to bend the first tip 10. The inclusion of such a protruding opposing blade 24 allows it to abut the cutting edge 34 of the first tip 10 and bend the body of the first tip 10.

[0172] According to one embodiment, the projection of the opposing blade 24 is accentuated in the distal direction along the longitudinal extension of the body of the second tip 20 .

[0173] According to one embodiment, the opposing blade 24 includes a curved protruding surface having a concave surface facing axially inwardly.

[0174] According to one embodiment, the opposing blade 24 of the second tip 20 protrudes towards the rotational approach footprint of the blade 14 of the first tip 10, elastically bending the blade 14 when the opposing blade 24 is in mechanical interference contact with the cutting edge 34. In other words, the opposing blade 24 protrudes axially inwards. According to one embodiment, said protrusion of the opposing blade 24 increases towards the distal direction, i.e. away from the common axis of rotation YY along the longitudinal extension of the second tip 20, preferably said protrusion being maximum near or at the distal end 32 of the blade 14 of the first tip 10.

[0175] Preferably, the term "rotational approach footprint" is meant to indicate the volume of space occupied by the body of the element during the relative rotational movement of the closure of the gripping degree of freedom G.

[0176] According to the embodiment, the blade 14 is a planar portion, however, the blade 14, and therefore the blade surface 35 of the first tip 10, is not necessarily a planar portion, i.e. it may be planar or it may be a curved or arched portion.

[0177] According to one embodiment, the body of the blade 14 has a two-dimensional main extension, i.e., located on a preferably flat or arched lying surface, and preferably has a substantially reduced thickness relative to the extension on the flat or arched lying surface.

[0178] According to one embodiment, the cutting edge 34 of the blade 14 is substantially straight, preferably with a flat or arcuate lying surface, avoiding any concavities in the lying surface of the blade 14 .

[0179] Preferably, the thickness of the blade 14 is significantly smaller than the thickness of the first root portion 11 of the first tip 10 and the second root portion 21 of the second tip 20 and is selected so that, when in the operating state, the blade 14 is elastically bendable in a direction transverse to the longitudinal extension of the cutting edge 34, in particular in the thickness direction of the blade 14. In particular, the blade 14 is preferably more bendable than the body of the second tip 20 and more curveable than the body of the opposing blade 24. The bending of the blade 14, and therefore of the cutting edge 34, is understood in the direction of its thickness, i.e. in a direction perpendicular to the lying surface of the blade 14, whether flat or arched. For example, the blade 14 has an arched, i.e. concave, shape with a concave surface facing out of / into the lying plane, in such a case the lying surface of the body of the blade 14 is an arched surface, as is the blade surface 35.

[0180] The blade 14, and therefore the cutting edge 34, is not necessarily elastically deformable in the plane in which it lies, i.e., it does not necessarily include bendability perpendicular to its thickness.

[0181] The ratio between the thickness of the body of the blade 14 at the level of the blade surface 35 (excluding in this assessment the thickness of the cutting edge 34, which is preferably sharp as mentioned above) and the thickness of the first root portion 11 of the first tip 10 and / or the thickness of the second root portion 21 of the second tip 20 may be between 1 / 5 and 1 / 20. In absolute value, the thickness of the blade 14 may be between 0.1 mm and 0.5 mm and, according to one embodiment, is substantially equal to 0.2 mm.

[0182] As mentioned above, the blade 14 rotates integrally with the first tip 10. This allows the cutting edge 34 to rotate integrally with the first free end 12 and to bend elastically, and when in an operating state, the cutting edge 34 can be elastically deformed relative to the first tip 10 with which it is integral in rotation. The elastic deformation of the cutting edge 34 preferably occurs transversely to the longitudinal extension of the elongate body of the first tip 10, i.e. transversely to the direction joining the first proximal attachment root 11 and the first distal free end 12 of the first tip 10, in other words in the thickness direction of the blade 14.

[0183] According to one embodiment, the blade 14 is substantially flat when in an undeformed configuration, i.e. when lying on a definable lying plane. Elastic bending of the blade 14 tends to return the blade 14 to said undeformed planar configuration. The axially inwardly facing blade surface 35 is therefore parallel to the axially facing inner contact surface 83 of the first root portion 11 of the first tip 10, and may preferably also be aligned, for example seamlessly. Preferably, the cutting edge 34 is straight when in the undeformed state, i.e. extends substantially linearly, preferably as a linear extension parallel to the axially facing inner contact surface 83 of the first root portion 11 of the first tip 10. In other words, according to one embodiment, the cutting edge 34 extends parallel to a definable lying plane of the blade 14.

[0184] The cutting edge 34 of the blade 14 can be aligned with the longitudinal extension XX of the shaft 7 or rod 7 in at least one operating configuration, for example, when the shaft 7 is a straight, rigid shaft and the cutting edge 34 is not in contact with the protruding portion of the opposing blade 24.

[0185] Preferably, for clarity of presentation, the first back side D1 of the first tip 10 and the second back side D2 of the second tip 20 are defined with reference to a relative opening / closing degree of freedom G, said first back side D1 and second back side D2 being opposite to each other and defining a first cutting side P1 of the first tip 10, said cutting edge 34 belonging to the first cutting side P1 of the first tip 10 and a second cutting side P2 of the second tip 20 opposite to the first cutting side P1 and substantially opposite in rotation, but preferably they are mainly adjacent to each other and can be in contact at least at said cutting edge 34 and said opposing blade 24 when the opening / closing degree of freedom G is in a closed configuration or at least partially closed to perform a cutting action.

[0186] According to one embodiment, the opposing blade 24 can be made to be inclined transversely, preferably perpendicularly, to the longitudinal extension of the body of the second tip 20 and also to be inclined transversely, preferably perpendicularly, to the common axis of rotation YY. In other words, the opposing blade 24 can be made to be inclined in the direction connecting the back side D2 and the gripping side of the second tip 20, preferably protruding more towards the back side D2. Note that the opposing blade 24 does not necessarily have to be inclined even if it protrudes.

[0187] According to one embodiment, said opposing blade 24 is curved, which makes it protrude due to its arch shape. The concave surface of the opposing blade 24 preferably faces axially and inwardly, i.e. in a direction parallel to the common axis of rotation YY and facing the rotation footprint of the blade 14.

[0188] The opposing blade 24 can act as a wedge to properly bend the cutting edge 34 and the blade 14 to effect a cutting action substantially along the entire longitudinal extension of the opposing blade 24 .

[0189] As previously mentioned, the first tip 10 may be integrally formed to form a first tip link, or the first tip 10 may be formed from separate pieces, i.e., separate links that rotate together.

[0190] According to a preferred embodiment, the first tip 10 is formed by two links, comprising a blade link 30 and a blade holder link 50, rotating together with each other, the blade link 30 being formed in one piece and the blade holder link 50 being formed in one piece. Providing a first tip 10 formed only by two links 30, 50 rotating together still makes it possible to keep the number of parts to be assembled small and at the same time makes it possible to adjust the mechanical properties as well as the manufacturing parameters of the individual links 30, 50. Thus, the blade link body 30 of the first tip 10 integrally comprises said blade 14 with said cutting edge 34 and the blade link root 31, and the blade holder link body 50 of the first tip 10 integrally comprises the blade holder link root 51, the blade link root 31 and the blade holder link root 51 being adjacent to each other, directly in close contact and jointly forming said first root 11 of the first tip 10. Therefore, in this case, the degree of freedom in the yaw direction Y about the common rotation axis YY is between the support structure and the assembly formed by the blade links 30 and blade holder links 50 of the first tip 10 and the second tip 20, and the relative degree of freedom for opening and closing G around the common rotation axis YY is between the second tip 20 and the assembly formed by said blade links 30 and said blade holder links 50 to perform a cutting operation.

[0191] Such a pack arrangement of the root portions preferably avoids collision of the root portion 31 of the thinner blade link 30 against the articulation pin 5, thereby providing sufficient certainty of positioning of the cutting edge 34 relative to the opposing blade 24 at each opening angle of the opening / closing degree of freedom G, and therefore extremely high cutting accuracy.

[0192] According to a preferred embodiment, the root portion 31 of the blade link 30 is interposed between the root portion 51 of the blade holder link 50 and the second root portion 21 of the second tip 20. Alternatively, according to an embodiment, the blade holder link root portion 51 is interposed between the blade link root portion 31 of the first tip 10 and the second root portion 21 of the second tip 20, i.e. the blade link root portion 31 is interposed between the first protrusion 3 of the support structure and the root portion 51 of the blade holder link 50 of the first tip 1. Thereby, the blade 14 is also interposed between the body of the blade holder link 50 and the body of the second tip 20.

[0193] The roots preferably have a cylindrical shape centered on the common axis of rotation YY. If the thickness of the root 31 of the blade link 30 is substantially thinner than the root 51 of the blade holder link 50 and the second root 21, the root 31 of the blade link 30 has a disk-shaped cylindrical shape, and the cylinder bottom of the cylindrical shape of each root is formed by the contact surface facing the axial direction of each. Thus, the roots are substantially stacked on the axis of the common axis of rotation YY, and each preferably has a through hole for receiving the articulating pin 5. Each root is preferably rigid, designed to define a rotation joint about a common axis of rotation YY (e.g. adapted to receive an articulation pin 5), the root 31 of the blade link 30 being an elastic root, preferably flattened and interposed between the projections, e.g. in a pack between the root 51 of the blade holder link 50 and the second root 21 of the second tip 20, to prevent any elastic axial preload action in the region of the articulation pin 5. The elastic action of the blade link 30 is preferably located only on the blade 14.

[0194] By having such root portions adjacent to one another, the proximal dimension of the rotary joint defining the common axis of rotation YY can be kept compact and the need for elastic elements exerting an axial preload between the root portions and between the root portions and the projections can be avoided.

[0195] Preferably, the body of the blade link 30 is also elongated in the longitudinal direction and includes a blade link end portion that is not necessarily coincident with the first free end 12 of the first tip 10 .

[0196] The material of the blade link 30 may be a different material than the material of the blade holder link 50. For example, the opposing blade link 40 and the support link 2, if present, may be made of a single metallic material, such as steel.

[0197] According to one embodiment, said blade link 30 of the first tip 10 is suitably made by shaping, i.e. cutting, a substantially flat elastic sheet or strip. For example, the elastic sheet or strip may be made of spring steel and shaped by wire electroerosion (WEDM) and / or photoetching and / or laser cutting and / or chemical etching. Preferably, the elastic sheet or strip is sharpened at one edge thereof to form the cutting edge 34 of the blade link 30.

[0198] Sharpening can be performed by wire electroerosion (WEDM) and / or grinding, e.g., stone or diamond grinding. According to one embodiment, first the elastic sheet or strip is shaped by wire electroerosion (WEDM) in a step in which the cutting edge runs in a direction substantially perpendicular to the lying plane of the sheet or strip, and then one or more edges of the shaped sheet or strip are sharpened by wire electroerosion (WEDM) in a step in which the cutting edge runs in a direction that is not perpendicular to the lying plane of the shaped sheet or strip.

[0199] According to one embodiment, the body of the blade link 30 has a substantially reduced thickness relative to its two-dimensional main extension, i.e., its extension on a preferably flat or arched lying surface, the thickness of the blade link 30 being preferably constant, except for the cutting edge 34, which may be reduced in thickness for sharpening as described above.

[0200] According to one embodiment, the cutting edge 34 of the blade link 30 is preferably substantially straight in a flat or arcuate running plane to avoid providing a concave surface of the body of the blade link 30 on the overlying surface.

[0201] Preferably, the thickness of the blade link 30 is significantly smaller than the thickness of the root 51 of the blade holder link 50 and is selected so that, when in the operating state, the blade 14 is elastically bendable transversely to the longitudinal extension of the blade link 30, i.e. in the direction of its thickness. In particular, the blade link 30 may be more bendable than the opposing blade 24. According to a possible embodiment, the body of the blade link 30 is forced to have an arched, i.e. concave shape with a concave surface facing out of / into the lying surface of the starting elastic strip or sheet, but such lying surface of the body of the blade link 30 can substantially correspond to the lying surface of the starting metal strip or sheet that is suitably processed to form the blade link 30, in which case the lying surface of the blade link body is an arched surface.

[0202] The material of the blade link 30 may be a different material than the material of the blade holder link 50. For example, the blade link 30 may be made of spring steel. For example, the blade link 30 may be made of spring steel.

[0203] The ratio of the thickness of the root portion 31 of the blade link 30 to the thickness of the root portion 51 of the blade holder link 50 and / or the thickness of the second root portion 21 of the second tip 20 may be between 1 / 5 and 1 / 20. In absolute value, the thickness of the root portion 31 of the blade link 30 may be between 0.1 mm and 0.5 mm and according to one embodiment is substantially equal to 0.2 mm.

[0204] When the support structure has protrusions 3, 4 (e.g. a support structure formed by a support link 2 or a distal end 8 of a shaft), the blade link 30 and the blade holder link 50 of the first tip 10 and the second tip 20 are made of separate parts from each other, the blade link 30 rotates together with the blade holder link 50, and the cutting edge 34 and the blade 14, which are elastically bendable, can be elastically bent relative to the blade holder link 50 when in an operating state.

[0205] According to one embodiment, the blade link 30 and the blade holder link 50 further include respective drag engagements 37, 57 for rotating the blade link 30 and the blade holder link 50 together. The drag engagement may be achieved by engagement between the blade link 30 and the blade holder link 50.

[0206] The reaction force engagement between the blade link 30 and the blade holder link 50 can be located distally with respect to the common axis of rotation YY. In such a case, the reaction force engagement 37 (or reaction force portion 37) of the blade link 30 is preferably located far from the blade link root portion 31 to ensure a correct reaction force, even though the reaction force portion 37 of the blade link 30 can be located at the blade link root portion 31 to achieve a more favorable mechanical transmission. According to a preferred embodiment, the reaction force engagement between the blade link 30 and the blade holder link 50 is located distally with respect to the first root portion 11 of the first tip 10.

[0207] According to an embodiment in which the first tip 10 is one part, i.e. the first tip link, and the second tip 20 is one part, i.e. the second tip link, the articulated end effector 9 is formed by three separate parts including the support structure (formed by the distal end 8 of the support link 2 or shaft 7), the first tip 10, and the second tip 20. These three parts are articulated to each other at a common rotation axis YY, i.e. constrained to rotate about a common rotation axis YY or a common yaw rotation axis YY (the term "yaw" is used arbitrarily here and can denote any orientation of the common rotation axis YY. According to a preferred embodiment, it is meant to denote a common yaw rotation axis YY that is non-parallel, and preferably orthogonal, to the already mentioned common proximal pitch rotation axis PP). In other words, according to this embodiment, the articulated end effector 9 is constituted by precisely the three parts mutually articulated in said common axis YY and suitably movable by means of actuating tendons, plus a further part which is the articulating pin 5 which defines said common axis YY (four parts in total, the actuating tendons being excluded from the count).

[0208] According to an embodiment in which the first tip 10 is formed, i.e. consisting of said blade link 30 and said blade holder link 50, and the second tip 20 is one part, i.e. the second tip link, the articulated end effector 9 is formed by four separate parts including the support structure (formed by the support link 2 or the distal end 8 of the shaft 7), the blade link 30 and the blade holder link 50 of the first tip 10 integral with each other in rotation, and the second tip 20 articulated to each other at a common axis of rotation YY. That is to say, according to one embodiment, the articulated end effector 9 is composed precisely of said four parts articulated to each other at said common axis YY and suitably movable by means of an actuating tendon, and a further part which is the articulating pin 5 which defines said common axis YY (five parts in total, the actuating tendon being excluded from the count).

[0209] According to the embodiment in which the first tip 10 is one part, i.e. the first tip link, and the second tip 20 is one part, i.e. the second tip link, the articulated end effector 9 is made up of four links, i.e. the support link 2, the first tip 10 and the second tip 20, articulated to each other by said articulation pin 5 in a common distal rotation axis YY, and the link 90 to the shaft 7 is articulated proximally to the support link 2 in a common proximal rotation axis PP by a further proximal articulation pin 93. In other words, according to this embodiment, the articulated end effector 9 is composed of exactly said four links 2, 10, 20, 90 and two further parts, which are the articulation pin 5 defining said common distal rotation axis YY and the proximal articulation pin 93 defining said common proximal rotation axis PP (six parts in total, the working tendons being excluded from the count). This embodiment allows an articulated pitch-yaw grip cuff type articulated end effector 9, i.e. pitch-yaw-cut (P,Y,G), if the common distal yaw rotation axis YY and the common proximal pitch rotation axis PP are non-parallel to each other, preferably perpendicular. If this embodiment allows the connecting link 90 to be integrally formed with the distal end 8 of the shaft 7 (not shown), the articulated end effector 9 is still formed by said six parts, being the distal end 8 of the shaft 7, the support link 2, the first tip 10, i.e. first tip link, the second tip 20, i.e. second tip link, and the two articulation pins 5, 93.

[0210] According to the embodiment in which the first tip 10 is formed, i.e. consisting of said blade link 30 and said blade holder link 50, and the second tip 20 is in one part, i.e. the second tip link, the articulated end effector 9 is formed by five links, i.e. the support link 2, the blade link 30, the blade holder link 50 and the second tip 20, which are articulated together in a common distal axis of rotation YY by said articulation pin 5, and a link 90 to the shaft 7, which is articulated proximally to the support link 2 in a common proximal axis of rotation PP by a further proximal articulation pin 93. In other words, according to this embodiment, the articulated end effector 9 is composed precisely by said five links 2, 20, 30, 50, 90 and two further parts, which are the articulation pin 5 defining said common distal axis of rotation YY and the proximal articulation pin 93 defining said common proximal axis of rotation PP (seven parts in total, the working tendons being excluded from the count). If the common distal yaw rotation axis YY and the common proximal pitch rotation axis PP are non-parallel to each other, preferably perpendicular, an articulated pitch yaw grip cuff type articulated end effector 9, i.e. pitch yaw cut (P,Y,G) is possible. If the connecting link 90 is integrally formed with the distal end 8 of the shaft 7 (not shown), the articulated end effector 9 is still formed by the seven parts, i.e. the distal end 8 of the shaft 7, the support link 2, the blade link 30 and the blade holder link 50 of the first tip 10, the second tip 20, i.e. the second tip link, and the two articulated pins 5, 93.

[0211] It will be appreciated by those skilled in the art that by minimizing the number of parts, the assembly of the articulated end effector 9 of the surgical instrument 1 is significantly simplified and suitable for ultimate miniaturization. In particular, it is possible to simplify the assembly of parts by avoiding the provision of elastic preload elements in the axial direction (such as Belleville-type elastic washers mounted on the articulation pin 5), i.e. in the direction of the common axis of rotation YY between the projections 3, 4 of the support structure. Thus, the ultimate miniaturization of the articulated end effector 9 and thus of the cross section of the shaft 7 is facilitated, while ensuring sufficient strength and resistance to stresses that may occur in the operating conditions.

[0212] A degree of freedom of a roll R that is integral with the shaft 7 and preferably also with the back end 104 can be provided, for example a degree of freedom of the roll R that allows the entire surgical instrument 1 to be rotated around the longitudinal extension axis XX of the shaft 7.

[0213] According to a preferred embodiment, the first root 11 of the first tip 10 is in direct and intimate contact with the first projection 3 of the support structure, and the second root 21 of the second tip 10 is in direct and intimate contact with the second projection 4 of the support structure. The assembly formed by said first root 11 and said second root 12 is thus interposed between the projections 3, 4 and in direct and intimate contact with them. Thus, the provision of a Belleville type spring washer between the projection of the support structure and the root of the tip is avoided. Such an arrangement allows the axial footprint of the tip of the support structure and the root of the projection to be minimized, simplifying the assembly. This is because it avoids the need to assemble the parts by counteracting the elastic reaction force against the axis of rotation YY provided by such a Belleville type spring washer.

[0214] According to a preferred embodiment, the first root portion 11 of the first tip 10 comprises a first external contact surface 81 facing in an axial direction, the first protrusion 3 comprises a first internal contact counter surface 87 facing in an axial direction, the second root portion 21 of the second tip 20 comprises a second external contact surface 82 facing in an axial direction and the second protrusion 4 comprises a second internal contact counter surface 88 facing in an axial direction. Preferably, the first external contact surface 81 of the first root portion 11, the first internal contact counter surface 87 of the first protrusion 3, the second external contact surface 82 of the second root portion 21 and the second internal contact counter surface 88 of the second protrusion 4 are all parallel to each other and preferably each of them extends in a plane substantially perpendicular to the common axis of rotation YY.

[0215] According to one embodiment, the first root portion 11 of the first tip 10 and the second root portion 21 of the second tip 20 are in direct close contact. Thus, the first root portion 11 of the first tip 10 further comprises a first internal contact surface 83 facing in the axial direction, and the second root portion 21 of the second tip 20 comprises a second internal contact surface 84 facing in the axial direction, said first internal contact surface 83 of the first tip 10 being in direct close contact with said second internal contact surface 84 of the second tip 20. It is therefore possible to obtain a packaged arrangement of the root portions between the protrusions of the support structure. Such a packed arrangement of the root portions provides an axial reaction force against the elastic bending of the body of the first tip during the cutting operation.

[0216] According to one embodiment, said first inner contact surface 83 of the first tip 10 is parallel to said second inner contact surface 84 of the second tip 20. Preferably, all said contact surfaces are parallel to each other, and even more preferably each extend in a plane perpendicular to the common axis of rotation YY, i.e. in other words, said first outer contact surface 81 and said first inner contact surface 83 of the first tip 10, said second outer contact surface 82 and said second inner contact surface 84 of the second tip 20, said first inner contact facing surface 87 of the first protrusion 3 and said second inner contact facing surface 88 of the second protrusion 4 are preferably all parallel to each other, and even more preferably each extend in a plane perpendicular to the common axis of rotation YY.

[0217] In the case where the first root portion 11 of the first tip 10 is formed directly and in close contact between the root portion 31 of the blade link 30 and the root portion 51 of the blade holder link 50, said first external contact surface 81 and said opposite first internal contact surface 83 of the first root portion 11 of the first tip 10 are comprised in different links of the articulated end effector 9, i.e. one of said first external contact surface 81 and said first internal contact surface 83 is comprised in the blade link root portion 31 and the other one in the blade holder link root portion 51. According to a preferred embodiment in which the blade link root portion 31 is interposed between the blade holder link root portion 51 and the second root portion 21 of the second tip 20, said first external contact surface 81 is comprised in the root portion of the blade holder link 51 and said opposite first internal contact surface 83 is comprised in the blade link root portion 31. Furthermore, when the first root portion 11 of the first tip 10 is formed directly and closely between the blade link root portion 31 and the blade holder link root portion 51, two further opposing contact surfaces 85, 86 are provided in direct close contact therebetween, a first further contact surface 85 being included in the blade link root portion 31 and a second further contact surface 86 being included in the blade holder link root portion 51. Preferably, said two further opposing directly and closely contacting contact surfaces 85, 86 of the blade link root portion 31 and the blade holder link root portion 51, respectively, are both parallel to the other contact surfaces of the first root portion 11 of the first tip 10 and the second root portion 21 of the second tip 20.

[0218] The manufacture of the parts by wire electroerosion process allows to obtain increased tolerances, but also provides for minimal local microclearances of the order of tenths of a millimeter between at least some of said contact surfaces of the roots and / or protrusions in the direction of the common rotation axis YY, ensuring direct close contact. At the same time, it allows for relative rotation about the common rotation axis YY during actuation of the opening / closing degree of freedom G and / or the yaw degree of freedom Y. The articulating pin 5 can interfere with at least one of the roots and / or protrusions, i.e. rotate integrally with the roots and / or at least one of the protrusions.

[0219] In particular, in a support structure having two protrusions 3, 4, the first root 11 of the first tip 10 and the second root 21 of the second tip 20 are made of at least three separate parts, but minimal microclearances are necessarily involved in the axial direction, i.e. in the direction of the common axis of rotation YY between the respective contact surfaces. The expression "directly in close contact" is therefore also intended to indicate an embodiment in which minimal microclearances are provided in any case between at least some, or even all, of the opposing contact surfaces of the protrusions and the contact surfaces of the roots of the support structure.

[0220] Due to the fact that the support structure with the two protrusions 3, 4, the first root part 11 and the second root part 21 are made of at least three separate parts with minimal microclearances in the direction of the common rotation axis YY as explained above, the opening / closing degree of freedom G can be rotated in a precise and controlled manner in both the opening and closing directions to perform the cutting action.

[0221] When the first tip 10 is formed by two links 30, 50, during the cutting operation, especially at relatively high opening angles of the opening / closing degree of freedom G (for example angles greater than 25°), the mechanical interference contact between the cutting edge 34 of the blade link 30 and the opposing blade 24 can thus generate a minimum micro-displacement of the blade link root 31 along the articulation pin 5 of the order of one hundredth of a millimeter. For example, according to one embodiment, the thickness of the blade link root 31 is about 0.2 mm, in the operating state, in the direction of the common rotation axis YY, the overall micro-clearance distributed locally between the contact surface of the blade and the root is generally about 0.02 mm, and in the operating state, in the direction of the common rotation axis YY, the local micro-clearance between the blade link root 31 of the first tip 10 and the second root 21 of the second tip 20 is about 0.01 mm, i.e. substantially equal to 1 / 20 of the thickness of the blade link root 31.

[0222] According to a preferred embodiment, the first root 11 of the first tip 10 comprises a first through hole 16 and the second root 21 of the second tip 20 comprises a second through hole 26, the first through hole 16 and the second through hole 26 being axially aligned with the common axis of rotation YY. According to an embodiment, the articular pin 5 is received inside the first through hole 16 and the second through hole 26.

[0223] According to one embodiment, the first through-hole 16 of the first root part 11 and the second through-hole 26 of the second root part 21 are all circular through-holes coaxial with the common axis of rotation YY and receive a single articulating pin 5 extending in the direction of the common axis of rotation YY from the first protrusion 3 of the support structure to the second protrusion 4 of the support structure. According to one embodiment, the first through-hole 16 of the first root part 11 and the second through-hole 26 of the second root part 21 are all substantially of the same diameter and receive the articulating pin 5 in direct contact over the entire circumferential extension of the respective hole edges, thereby providing a counterforce against the cutting action by the cutting edge 34. In particular, during the cutting action, the opening angle of the opening / closing degree of freedom G gradually decreases, thus resulting in a mechanical interference contact between the cutting edge 34 (preferably also the blade surface 35 as described above) and the counter blade 24, so that a direct friction force in the opening direction occurs on the cutting edge 34 (and preferably also on the blade surface 35) axially facing the blade 14 in contact with the counter blade surface of the counter blade 24, which is balanced by a reaction force to the friction of the cutting action exchanged in the area of ​​mutual contact between the hole edges of the roots 11, 21 and the articulating pin 5. The friction reaction force of the cutting action is preferably directed substantially along a radial direction with respect to the common axis of rotation YY. The friction reaction force of the cutting action preferably affects the arc surface of the thickness of the hole edges of the first root part 11 and / or the second root part 21.

[0224] When the first root portion 11 of the first tip 10 is formed by the root portion 31 of the blade link 30 and the root portion 51 of the blade holder link 50 that are in direct contact with each other, according to any of the above-mentioned embodiments, the blade link root portion 31 and the blade holder link root portion 51 are each provided with a first through hole 16. In this case, the first through hole 16 of the root portion 51 of the blade holder link 50 and the first through hole 16 of the root portion 31 of the blade link 30 can be coaxial circular holes and can have the same diameter. In such a case, the hole edge portion 36 of the through hole 16 of the root portion 31 of the blade link 30 of the first tip 10 can be provided with a circular arc surface 38 that is in direct contact with the joint pin 5 so as to provide the reaction force against the frictional force generated by the cutting action.

[0225] In case at least some but also all of the through holes of the root section are made by wire electroerosion (WEDM), as an effect of successive cutting paths of the cutting wire used to make the through holes by wire electroerosion, radial cut channels 19, 29, 39 are provided in each root section between the hole edge and the outer edge of the respective root section. Preferably, the arrangement of the radial cut channels on each root section is studied based on the static or dynamic behavior when in operation. In particular, according to a preferred embodiment, the cut channel 39 of the root section 31 of the blade link 30 is radially offset with respect to the cut channel 29 of the second root section 21 of the second tip 20 to prevent the edges of the cut channels 29, 39 from interlocking with each other during opening / closing operations.

[0226] According to one embodiment, the through hole of each of said two protrusions 3, 4 is a circular through hole coaxial with said common axis of rotation YY. If the protrusions 3, 4 of the support structure are made by wire electroerosion, they can be provided with at least one radial channel between the hole edge and the outer edge of each protrusion.

[0227] In order to move the articulated end effector 9 around said common axes of proximal and / or distal rotation, i.e., pitch PP and / or yaw axes YY, to actuate the degrees of freedom of the articulated end effector 9, the surgical instrument 1 preferably comprises multiple pairs of antagonistic actuating tendons extending from the back end through the shaft 7 to and terminating at the articulated end effector 9, as described below.

[0228] According to a preferred embodiment, the first extremity 10 comprises a first end seat 15 for receiving a first antagonistic tendon pair 71, 72, and the second extremity 20 comprises a second end seat 25 for receiving a second antagonistic tendon pair 73, 74. As will be appreciated by those skilled in the art, in this preferred embodiment, said first and second pairs of antagonistic actuating tendons each comprise an open actuating tendon 71, 73 and a closed actuating tendon 72, 74. By locating the end seats 15, 25 close to or at the respective roots 11, 12, it is possible to keep the overall dimensions small, thus facilitating compactness. Furthermore, according to a preferred embodiment, each end seat 15, 25 serves as an end seat for both antagonistic tendons of a respective pair of antagonistic tendons, which helps to keep the number of operations carried out at each root 11, 12 to a minimum, facilitating compactness.

[0229] According to one embodiment, the first terminal seat 15 of the first tip 10 and the second terminal seat 25 of the second tip 20 are each defined by a cantilever drag leg 77, 78 extending longitudinally from the respective root 11, 21 adjacent the elongate body of the respective tip 10, 20. Each terminal seat 15, 25 of the first and second tips 10, 20 is thereby a substantially radial slot, preferably a longitudinal slot, having a radially facing bottom wall formed by the respective mounting root 11, 21.

[0230] Preferably, the extension of the cantilever drag legs 77, 78 between the back side D1, D2 of the respective tip 10, 20 and the cut side P1, P2 is substantially identical, facing the edge surface of the respective end seat 15, 25. The end seats 15, 25 are arranged side by side at the same height and act as stop and reaction abutments for the respective tendon end 70 of each working tendon 71, 72, 73, 74 of the respective pair of antagonist tendons. The tendon end 70 of each working tendon can be, for example, an enlarged portion formed by a knot or boss abutting said edge wall of the respective end seat 15, 25. In other words, said edge wall of each end seat 15, 25 includes an edge wall formed by the respective cantilever drag legs 77, 78 and the elongated body of the respective tip 10, 20, facing the respective back side D1, D2 and acting as a closing reaction edge wall. On the other hand, the opposing edge walls of the same respective cantilever drag legs 77, 78 and the elongated body of each tip 10, 20 face in opposite directions, i.e., towards the respective cut sides P1, P2, and act as open drag edge walls. The edge walls of the termination seats 15, 25 are thus arranged as undercuts for the respective tendon terminations 70 of the respective termination seats 15, 25, each termination seat 15, 25 being a through termination seat, preferably having an access opening facing longitudinally towards the free ends 12, 22 of the respective tips 10, 20. Thus, the distal portions of each of the working tendons 71, 72, 73, 74 of the first and second pairs of antagonistic tendons cross and / or overlap within their respective end seats 15, 25, abutting their respective tendon ends 70 against edge walls arranged circumferentially undercut therewith, providing a resistance to the rotation of the first tip 10 or the second tip 20 in the opening and / or closing direction of the open / close degree of freedom G.

[0231] According to a preferred embodiment, the first root portion 11 of the first tip 10 and the second root portion 21 of the second tip 20 each comprise at least one pulley surface 79,80 facing away from the common axis of rotation YY. The at least one pulley surface 79,80 can wrap around the respective end seat 15,25 from opposite circumferential sides and form a bottom wall facing radially continuously within the respective end seat 15,25, i.e. facing the opposite side of the common axis of rotation YY. As a result, distal parts of the tendons 71,72,73,74 of the first and second antagonistic tendon pairs, close to the respective tendon end 70, are wrapped around the at least one pulley surface 79,80.

[0232] According to a preferred embodiment, the at least one pulley surface 79 of the first root portion 11 and the at least one pulley surface 80 of the second root portion 21 are all convex ruled surfaces with parallel generatrices and parallel to the common axis of rotation YY, without any circumferential channels or grooves for guiding or retaining tendons. The at least one pulley surface 79, 80, if present, may be interrupted by radial cut channels.

[0233] According to the embodiment in which the first tip 10 is integrally formed, the first terminal seat 51 is integrally formed with the first root portion 11 and the respective pulley face 79 as well as the respective cantilever leg 77 are also integrally formed with said first root portion 11. By having the first terminal seat 15 integral with the first root portion 11, the number of parts can be kept low, facilitating assembly and miniaturization.

[0234] If the first root 11 of the first tip 10 is formed directly and closely between the root 31 of the blade link 30 and the root 51 of the blade holder link 50, i.e. if the first tip 10 is formed by two links 30, 50, then preferably the first end seat 15 is formed integrally with said root 51 of the blade holder link 50. In such a case, the respective pulley surface 79 as well as the respective cantilever leg 77 are also made integrally with said root 51 of the blade holder link 50. By making the first end seat 15 integral with the blade holder link 50, the number of parts can still be kept low, thus facilitating assembly and facilitating compactness. The blade link 30 therefore does not have an end seat. This allows the number of working tendons to be kept low and the number of end seats to be kept to a minimum, thus facilitating compactness. Furthermore, the root portion 31 of the blade link 30 can be made very thin, or at least as thin as the elastically bendable blade 14, simplifying the construction of the blade link 30 while allowing precise characterization of its mechanical properties as they function in a cutting action.

[0235] According to an embodiment in which the support link 2 is provided articulated to the distal end 8 of the shaft 7, the surgical instrument 1 further comprises a third antagonistic pair of tendons 75, 76 for moving the support link 2 around the common proximal axis of rotation PP. The support link 2 can thus comprise at least a third end seat 6 for receiving the tendon ends 70 of the third pair of antagonistic tendons 75, 76. For example, according to the embodiment shown in Figures 3 and 4 and 31 and 32, the at least third end seat 6 of the support link 2 is a single third end seat 6 passing directly axially through the body of the support link 2, i.e. parallel to the common distal axis of rotation YY, forming abutment and reaction walls for the tendon ends 70 arranged as undercuts for the respective working tendons 75, 76 of the third pair of tendons, similar to what has been described above with reference to the first end seat 15 and the second end seat 25. According to one embodiment, the support link 2 comprises two separate and distinct third end seats 6, one seat for each tendon 75, 76 of the third antagonistic tendon pair.

[0236] According to a preferred embodiment, the support link 2 has parallel generatrices and comprises one or more convex ruled surfaces 96, 98 all parallel to a common proximal axis of rotation PP, on which the working tendons 71, 72, 73, 74 of the first and second antagonistic tendon pairs slide during actuation of the first and / or second end link 10, 20, and the one or more convex ruled surfaces 96, 98 of the support link 2 do not include guide channels or grooves for receiving and guiding the tendons. The support link 2 can also comprise one or more convex ruled surfaces parallel to a common distal axis of rotation YY (not shown) on which the working tendons 71, 72, 73, 74 of the first and second antagonistic tendon pairs slide during actuation of the first and / or second end link 10, 20.

[0237] The same one or more convex ruled surfaces 96, 98 having parallel generatrices and all parallel to the common proximal axis of rotation PP of the support link 2 can also act as pulley surfaces for the working tendons 75, 76 of the third antagonistic tendon pair, the support link 2 being articulated to the distal end 8 of the shaft 7 about the common proximal axis of rotation PP. Said one or more convex ruled surfaces 96, 98 of the support link 2 extend on both sides of the support link 2. According to one embodiment, the pulley surfaces for the working tendons 75, 76 of the third antagonistic tendon pair are formed by the inner surface of the end seat 6 of the support link 2.

[0238] According to the embodiment in which the connection link 90 is provided, the connection link 90 has parallel generatrices and comprises one or more convex ruled surfaces 97, 99 all parallel to a common proximal rotation axis PP, and the working tendons 71, 72, 73, 74, 75, 76 of the first antagonistic tendon pair, the second antagonistic tendon pair and the third antagonistic tendon pair slide on the one or more convex ruled surfaces 97, 99 of the connection link 90. The one or more convex ruled surfaces 97, 99 of the connecting link 90 extend on either side of the connecting link 97, 99, and between the connecting link 90 and the supporting link 2, the tendons 71, 72, 73, 74, 75, 76 of the first, second and third antagonistic tendon pairs, respectively, cross each other so as to slide or wrap without sliding on the one or more convex ruled surfaces 96, 98 of the supporting link 2 that face opposite to the ruled surfaces 97, 99 of the connecting link 90 along which they slide proximally. For example, the one or more convex ruled surfaces 96, 98 of the supporting link 2 are interposed between the projections 91, 92 of the link 90 and are oppositely oriented with respect to the common proximal axis of rotation PP.

[0239] The convex ruled surfaces 75, 76, 96, 97, 98, 99 having parallel generatrices in sliding or winding contact with the tendons 71, 72, 73, 74, 79, 80 are preferably all outer surfaces of the body of the link 2, 90 or tip 10, 20, respectively.

[0240] The actuating tendons 71, 72, 73, 74, 75, 76 are preferably polymeric tendons formed by intertwined polymeric fibers.

[0241] As previously mentioned, according to one embodiment, the surgical cutting instrument 1 comprises a rod 7 having a distal end 8, and an articulated end effector 9 connected to the distal end 8 of the rod 7. The articulated end effector 9 may comprise a connecting link 90 connected to the distal end 8 of the rod 7 having an integral body, one or more convex ruled surfaces of the connecting link 97, 99 having parallel generatrices, and a first distal connecting portion 13.

[0242] According to one embodiment, the articulated end effector 9 comprises a support link 2 articulatable to a connection link 90 having a body integrally comprising one or more convex ruled surfaces of the support link 96, 98 having parallel generatrices. A proximal connection part articulated to a first distal connection part of the first connection link 90 can be included in the support link 2, defining a proximal rotation joint 509 for the connection link 90 and the support link 2, which can rotate relatively about a common proximal rotation axis PP.

[0243] According to one embodiment, the support link 2 further comprises a second distal link portion 17 .

[0244] According to one embodiment, the articulated end effector 9 further comprises a blade holder link 50 articulated to a support link 2 having a body integrally comprising a reaction portion 57 and a mounting root of the blade holder link 51 having a pulley formed by one or more convex ruled surfaces 79 of the blade holder root having parallel generatrices.

[0245] According to one embodiment, the articulated end effector 9 further comprises a blade link 30 which rotates together with the blade holder link 50 and has a body integrally formed with a cutting edge 34 and a resistance facing portion 37 which engages with the resistance portion of the blade holder link 50.

[0246] According to one embodiment, the articulated end effector 9 further comprises a reaction link (e.g. a second tip link or opposing blade link 60 in which the opposing blade 24 is formed on a separate opposing blade link 40) articulated to the support link 2 and the assembly formed by the blade link 30 and the blade holder link 50, and the body integrally comprises a second mounting root 21 having a pulley formed by one or more convex ruled surfaces 80 having parallel generatrices.

[0247] According to one embodiment, the mounting root portion of the blade holder link 51 and the mounting root portion 21 together with the second distal connection portion 17 of the support link 2 define a distal rotation joint 502 for the blade holder link 50, the reaction link and the support link 2, thereby allowing them to rotate relatively about a common distal rotation axis YY that is perpendicular to the common proximal rotation axis PP.

[0248] According to one embodiment, the articulated end effector 9 further comprises an opposing blade 24 which rotates integrally with the mounting root 21 of the reaction link.

[0249] According to one embodiment, the surgical cutting instrument 1 further comprises a first antagonistic tendon pair 71, 72 extending along the shaft 7 and connected to the blade holder link 30 for moving the blade link 50 around the common distal axis of rotation YY, and a second antagonistic tendon pair 73, 74 extending along the shaft 7 and connected to the reaction link for moving the opposing blade 24 around the common distal axis of rotation YY, each tendon 71, 72, 73, 74 having a longitudinal extension.

[0250] According to one embodiment, the mounting root portion of the blade holder link 50 is integrally provided with at least a first terminal seat portion 15 for receiving the first antagonistic tendon pair 71, 72, and the mounting root portion 21 is integrally provided with at least a second terminal seat portion 25 for receiving the second antagonistic tendon pair 73, 74.

[0251] According to one embodiment, the one or more convex ruled surfaces 97, 99 with parallel generatrices of the connecting link 90 are parallel to the common proximal axis of rotation PP.

[0252] According to one embodiment, at least one of said convex ruled surfaces 96, 98 with parallel generatrices of the support link 2 is parallel to said common proximal axis of rotation PP.

[0253] According to one embodiment, the one or more convex ruled surfaces of the blade holder root portion 79 with parallel generatrices of the blade root link 50 and the one or more convex ruled surfaces of the further root portion 80 with parallel generatrices of the reaction link 20 are parallel to a common distal rotation axis YY.

[0254] According to one embodiment, the first antagonistic tendon pair 71, 72 and the second antagonistic tendon pair 73, 74 are adapted to slide longitudinally over the one or more convex ruled surfaces 97, 99 of the connecting link 90 and over the one or more convex ruled surfaces 96, 98 of the supporting link 2, and are adapted to wind / unwind without sliding over the respective convex ruled surfaces 79 or 80 of the root portion of the blade holder link 50 or the root portion of the reaction link, thereby moving the blade link 30 and the opposing blade 24 to open and close, respectively.

[0255] According to one embodiment, the cutting edge 34 of the blade link 30 is adapted to abut against the opposing blade 24 during movement of the open / close degree of freedom G in a mechanical interference contact state to perform a cutting action, and the cutting edge 34 of the blade link 30 is elastically bendable in a direction parallel to the common distal rotation axis YY.

[0256] According to one embodiment, a first distance Y5 in a direction parallel to the common distal rotation axis YY between the first end seat 15 of the root portion 51 of the blade holder link 50 and the surface 96 of the one or more convex ruled surfaces 96, 98 of the support link 2 is constant in any cutting state.

[0257] According to one embodiment, a second distance Y5' in a direction parallel to the common distal rotation axis YY between the second end seat 25 of the second root portion 21 and the surface 98 of the one or more convex ruled surfaces 96, 98 of the support link 2 is constant in any cutting state.

[0258] According to one embodiment, the distal rotation joint 502 is an axially rigid rotation joint.

[0259] According to one embodiment, all of the convex ruled surfaces 79, 80, 96, 97, 98, 99 of the links are free of longitudinal channels.

[0260] According to one embodiment, the mounting root 51 of the blade holder link 50 has a first surface facing axially outward and the second root 21 of the reaction link has a second surface facing axially outward, and an axial distance Y8 between the first mounting root surface 51 of the blade holder link 50 and the second mounting root surface 21 of the reaction link is constant in any cut state.

[0261] According to one embodiment, the blade holder link 50 comprises an integral first cantilever drag leg 77 extending from the root 51 of the blade holder link 50 forming the free end of the first leg 77.1, said first cantilever drag leg 77 axially defining said first terminal seat 15, and a second root 21 comprises an integral second cantilever drag leg 78 extending from the reaction link root 21 forming the free end of the second leg 78.1, said second cantilever drag leg 78 axially defining said second terminal seat 25, said first and second cantilever legs 77, 78 each comprising an abutment wall and a reaction wall as undercuts for the respective terminal seats 15, 25 acting as a reaction abutment for the respective tendon terminal 70.

[0262] According to one embodiment, a first axial distance between the first cantilever leg 77 of the blade holder link 50 and the surface 96 of the one or more convex ruled surfaces 96, 98 of the support link 2 is constant in any cut state, and a second distance in a direction parallel to the common distal rotation axis YY between the second cantilever leg 78 and the surface 98 of the one or more convex ruled surfaces 96, 98 of the support link 2 is constant in any cut state.

[0263] According to one embodiment, at least one of the blade holder link 50 and the blade link 30 has an integral free distal end.

[0264] According to one embodiment, the opposing blade 24 projects axially inwardly and preferably includes an inwardly curved protruding surface having an axially inwardly facing concave surface.

[0265] According to one embodiment, the link 90 further comprises a third antagonistic tendon pair 75, 76 for moving the support link 2 having the support structure around the common proximal rotation axis PP, wherein the support link 2 comprises at least a third terminal seat 6 for receiving the tendon terminal end 70 of the third antagonistic tendon pair 75, 76.

[0266] According to one embodiment, the working tendons 75, 76 of the third antagonistic tendon pair wind / unwind on the one or more convex ruled surfaces 96, 98 of the supporting link 2 without sliding longitudinally, thus acting as a pulley surface for the working tendons 75, 76 of the third antagonistic tendon pair.

[0267] As mentioned above, according to one embodiment, the support link 2 further comprises a proximal connection portion 13 articulated to the first distal link portion 95 of the first connection link 90 to define a proximal rotation joint 509 for the connection link 90 and the support link 2, thereby allowing the connection link 90 and the support link 2 to rotate relative to each other about a common proximal rotation axis PP.

[0268] As mentioned above, according to one embodiment, the support link 2 further comprises an integral second distal connection part 17. The distal connection part 17 of the support structure preferably comprises a support structure including two protrusions 3, 4, for example for defining a distal rotation axis YY, i.e. for forming a distal or yaw rotation joint 502 having a common distal or yaw axis YY, which can be orthogonal to the pitch proximal rotation axis PP.

[0269] A rigid axial rotation joint 502 of the cut joint is thus created. A blade having a cutting edge 34 and an opposing blade 24 are provided which rotate together with the axially rigid rotation joint 502 to perform a cutting action together during the closing action of the opening and closing degree of freedom.

[0270] It is thus possible to avoid the provision of a Belleville type elastic element attached to the articulation pin 5 or otherwise interposed between the projections 3, 4 of the distal portion 17 of the support link 2. Furthermore, it is avoided to provide an adjusting screw adapted to clamp the roots together axially.

[0271] The axially rigid distal rotation joint 502 also allows the cutting edge 34 to be oriented by rotating it about the rotational yaw axis YY, allowing controlled adjustment of the cutting direction.

[0272] This distal revolute joint 502 is also axially rigid for any orientation of the yaw Y degree of freedom, i.e. for any movement of the assembly formed by the blade holder link 50, the blade link 30 and the reaction link relative to the distal part 17 of the support link 2, or for any orientation of the pitch P degree of freedom of the proximal revolute joint 509, i.e. for any movement of the assembly formed by the support link 2, the blade holder link 50, the blade link 30 and the reaction link relative to the connection link 90 to the shaft. Preferably, the connection link 90 to the shaft is rigidly fixed to the distal end 8 of the rod 7, for example by a pair of pins 94. In this case, the pitch P degree of freedom can be understood as the orientation of the support link 2 relative to the shaft 7, especially when the shaft 8 is a rigid shaft.

[0273] The support structure is preferably a rigid support structure, whereby the support link 2 with its proximal connection 13 and distal connection 17 together defines two rotation joints 509, 502 having rotation axes PP, YY which are preferably perpendicular to each other.

[0274] The articulated end effector 9 may further comprise a blade holder link 50 articulated to the support link 2 having a body integral with a mounting root of the blade holder link 51 having a pulley 79 formed by one or more convex ruled surfaces 79 of the blade holder root having parallel generatrices. The blade holder link 50 integral with a proximal mounting root 51 articulated to said distal rotation joint 502.

[0275] The articulated end effector 9 may further comprise a fourth blade link 30 which rotates together with said blade holder link 50 and has a body with an integral cutting edge 34. The cutting edge 34 is adapted to perform a cutting action. The blade link 30 integrally comprises a proximal mounting root 31 articulated to said distal rotation joint 502.

[0276] As previously described, the distal rotation joint 502 is capable of producing a cutting action. The cutting edge 34 of the blade link 30 is adapted to abut the opposing blade 24 which rotates together with the reaction link while moving the open / close degree of freedom G in mechanical interference contact to produce a cutting action.

[0277] The axial elasticity for obtaining the cutting action is at least partly provided by the elasticity of the blade 14, whereas the distal rotation joint 502 to which the root 31 of the blade link 30 is articulated is axially rigid, i.e. not elastically loaded, since relative displacement between the distal connection 17 of the support link 2 and the roots 21, 31, 51 of the reaction link, blade link and blade holder link on the distal rotation axis YY is avoided.

[0278] As mentioned above, in order to activate the degrees of freedom of the articulated end effector 9 by moving the links of the articulated end effector 9 about the common axes of proximal rotation PP and / or distal YY, i.e., pitch PP and / or yaw axes YY, the surgical instrument 1 preferably comprises multiple pairs of antagonistic actuating tendons extending from the back end 104 through the shaft 7 to the articulated end effector 9 and terminating in at least some of the links of the articulated end effector 9.

[0279] According to a preferred embodiment, the root portion 51 of the blade holder link 50 is integral with a first end seat 15 for receiving a first antagonistic tendon pair 71, 72, and the second root portion 21 is integral with a second end seat 25 for receiving a second antagonistic tendon pair 73, 74. As will be appreciated by those skilled in the art, in this preferred embodiment, said first and second pairs of antagonistic actuating tendons each comprise an open actuating tendon 71, 73 and a closed actuating tendon 72, 74. By forming the end seats 15, 25 as one part with the respective link, the number of parts can be kept to a minimum, facilitating assembly and facilitating compactness. Furthermore, the root portion 31 of the blade link 30 can be made very thin, or at least thin, as a bendable portion, elastically simplifying the creation of the blade link 30 and at the same time allowing precise characterization of its mechanical properties as they function in the cutting action. Furthermore, according to a preferred embodiment, each end seat 15, 25 serves as an end seat for both antagonistic tendons of a respective pair of antagonistic tendons, helping to keep the number of movements to be made for each of the links to a minimum, thus facilitating compactness. Thus, in this case, the blade link 30 does not have an end seat and is dragged in rotation by the blade holder link 50. This allows the number of working tendons to be kept low and the number of end seats to be kept to a minimum, thus facilitating compactness.

[0280] According to one embodiment, the first end seat 15 of the first root portion and the second end seat 25 of the second root portion 21 are each defined by a cantilever drag leg 77, 78 extending longitudinally from the respective root adjacent the body of the respective link. Each cantilever leg 77, 78 is preferably made in one piece with the respective link and is attached proximally to the respective root and projects longitudinally cantilevered along the body of the blade holder link 50 or the body of the reaction link, respectively, forming a leg free end 77.1, 78.1. Each end seat 15, 25 of the blade holder link 50 and the reaction link is thereby substantially a radial slot, preferably also a longitudinal slot, with a radially facing bottom wall formed by the respective attachment root.

[0281] Preferably, the extensions of the side-by-side portions of the cantilever drag legs 77, 78 and the blade holder link 50 or the body of the reaction link, respectively, are substantially identical, facing the abutment and reaction walls 15.1, 25.1 of the edge of the respective end seats 15, 25, which are arranged side-by-side at the same level in the opening / closing direction and act as abutments and reaction abutments of the respective tendon ends 70 of each working tendon 71, 72, 73, 74 of one antagonistic tendon pair received in the first or second end seat 15, 25, respectively. The tendon ends 70 of each working tendon can be, for example, enlarged portions formed by knots or bosses abutting against said abutment and reaction walls 15.1, 25.1 of the edge of the respective end seats 15, 25. In other words, said abutment walls 15.1 and reaction walls 25.1 of the edge of each termination seat 15, 25 comprise an edge wall acting as a closed reaction abutment and an opposing opposing edge wall acting as an open reaction abutment. The abutment walls and reaction walls 15.1, 25.1 of the termination seats 15 and 25 are thus arranged as undercuts of the respective tendon terminations 70 of the respective termination seats 15, 25, each termination seat 15, 25 being a through termination seat, preferably having an access opening facing longitudinally towards the free end of the respective link. Thus, the distal portions of each working tendon 71, 72, 73, 74 of the first and second antagonistic tendon pairs cross and / or overlap within their respective end seats 15, 25 to abut their respective tendon ends 70 against the abutment and reaction walls 15.1, 25.1 arranged circumferentially as undercuts thereagainst, thereby applying a rotational reaction force to the blade holder link 50 and / or the reaction link in the open / close direction of the open / close degree of freedom G.

[0282] Thus, in this case, a first axial distance Y5 can be defined as the distance in the direction of the rotation axis YY between the first cantilever leg 77 of the blade holder link 50 and the surface 96 of said one or more convex ruled surfaces 96, 98 of the support link 2, such first axial distance being constant in any cutting state. Similarly, in this case, a second distance Y5' can be defined as the distance in a direction parallel to the common distal rotation axis YY between the second cantilever leg 78 and the surface 98 of said one or more convex ruled surfaces 96, 98 of the support link 2, such first axial distance being constant in any cutting state. Such distance or other axial distances can be evaluated between different points of the articulated end effector 9, since the axial distances Y5, Y5' remain unchanged in any cutting state, i.e., no sliding is provided along the articulation pin 5 of the distal rotation axis YY. According to one embodiment, the mounting root 51 of the blade holder link 50 comprises a first surface 85 facing axially outward and the further root 21 of the further reaction link comprises a second surface 86 facing axially outward, the axial distance Y8 between said first surface 85 of the mounting root 51 of the blade holder link 50 and said second surface 86 of the further mounting root 21 of the reaction link being constant in any cutting state. The surfaces 85, 86 may be flat surfaces perpendicular to the distal axis of rotation YY.

[0283] According to a preferred embodiment, the axial distance Y5 between the first end seat 15 of the root portion 51 of the blade holder link 50 and the surface 96 of the one or more convex ruled surfaces 96, 98 of the support link 2 is equal to the axial distance Y5' between the second end seat 25 of the root portion 21 of the further reaction link and the surface 98 of the one or more convex ruled surfaces 96, 98 of the support link 2.

[0284] Thus, by avoiding axial sliding along the articulation pin 5 between the roots as well as between the root and the lug, the geometrical relationship is maintained between the ruled surface 96, 98 of the support link 2 on which the tendons 71, 72, 73, 74 of the first or second tendon pair slide longitudinally to actuate the degree of freedom G of opening and closing, i.e. cutting action, without hindering the relative rotation between said links about the common distal axis of rotation YY, and the end seats 15, 25 of the respective tendons made integral with the root 51 of the blade holder link 50 or the root 21 of the reaction link, respectively. In the direction parallel to the axis of rotation, the tendons do not slide against their respective ruled surfaces.

[0285] According to a preferred embodiment, as mentioned above, the root portion 51 and the second root portion 21 of the blade holder link 50 each have at least one pulley surface 79, 80 facing the opposite side of the common axis of rotation YY. The pulley surface 79, 80 can wrap around the respective reaction seat 15, 25 from both sides in the circumferential direction and form a bottom wall continuing inside the respective end seat 15, 25 facing radially, i.e. facing the opposite side of the common axis of rotation YY. Thereby, when the tendon end 70 abuts against the abutment wall 15.1 and the reaction wall 25.1 of the respective end seat 15, 25, the distal parts of the respective tendons 25, 72, 73, 74 close to the respective tendon end 70 wrap around the at least one pulley surface 79, 80.

[0286] According to a preferred embodiment, at least one pulley surface 79 of the root portion 51 of the blade holder link 50 and at least one pulley surface 80 of the root portion 21 of the reaction link are all convex ruled surfaces having parallel generatrices and parallel to the common axis of rotation YY, without any circumferential channels or grooves for guiding or retaining tendons. At least one pulley surface 79, 80 may be interrupted by radial cut channels 19, 29, if present.

[0287] According to a preferred embodiment, the support link 2 has parallel generatrices and comprises one or more convex ruled surfaces 96, 98 all parallel to a common proximal axis of rotation PP, on which the working tendons 71, 72, 73, 74 of the first and second antagonistic tendon pairs slide during actuation of the blade holder link 50 and / or the link 20, and said one or more convex ruled surfaces 96, 98 of the support link 2 do not have guide channels or grooves for receiving and guiding the tendons. The support link 2 can also comprise one or more convex ruled surfaces parallel to a common distal axis of rotation YY (not shown) on which the working tendons 71, 72, 73, 74 of the first and second antagonistic tendon pairs slide longitudinally during actuation of the open / close degree of freedom.

[0288] Similar one or more convex ruled surfaces 96, 98 having parallel generatrices and all parallel to the common proximal rotation axis PP of the support link 2 can also serve as pulley surfaces for the working tendons 75, 76 of the third antagonistic tendon pair. Said one or more convex ruled surfaces 96, 98 of the support link 2 extend on both sides of the support link 2. According to one embodiment, the pulley surfaces for the working tendons 75, 76 of the third antagonistic tendon pair are formed by the inner surface of the end seat 6 of the support link 2.

[0289] According to one embodiment, the links 97, 99 have parallel generatrices and comprise one or more convex ruled surfaces 71, 72, 73, 74, 75, 76 all parallel to a common proximal axis of rotation PP, the working tendons 97, 99 of the first, second and third antagonistic tendon pairs sliding longitudinally on the one or more convex ruled surfaces 90 of the link 90. ​​The one or more convex ruled surfaces 97, 99 of the connecting link 60 extend on either side of the connecting link 90 and wrap, with or without sliding, on one or more convex ruled surfaces 96, 98 of the supporting link 2, facing opposite to the ruled surfaces 97, 99 of the connecting link 90 on which the respective tendons 71, 72, 73, 74, 75, 76 of the first, second and third antagonistic tendon pairs cross each other between the connecting link 90 and the supporting link 2, sliding or not. For example, the one or more convex ruled surfaces 96, 98 of support link 2 are interposed between projections 91, 92 of link 90 and are oppositely oriented relative to the common proximal axis of rotation PP.

[0290] The convex ruled surfaces 79, 80, 96, 97, 98, 99 having parallel generatrices of the links in sliding or winding contact with the tendons 71, 72, 73, 74, 75, 76 are preferably all outer surfaces of each link.

[0291] The actuating tendons 71, 72, 73, 74, 75, 76 are preferably polymeric tendons formed by intertwined polymeric fibers, for example comprising high molecular weight polyethylene (UHMWPE) fibers.

[0292] According to a typical embodiment, a cut joint revolute joint 502 is provided having an axis of rotation YY.

[0293] The revolute joint 502 may be a revolute joint of the articulated end effector 9 according to any one of the previously described embodiments.

[0294] The axis of rotation of the rotary joint 502 may be the distal yaw rotation axis YY of the articulated end effector 9 of the surgical instrument.

[0295] The cut joints are preferably actuated by actuating tendons 71, 72, 73, 74.

[0296] Said rotary joint 502 comprises, for example, a distal connection part of a support structure comprising two protrusions 3,4.

[0297] The rotary joint 502 further comprises a first attachment root 11 which rotates together with the blade 14 having a first free end 12 and a cutting edge 34 and a body which is elastically bendable in the axial direction.

[0298] The rotary joint 502 further comprises a second free end 22 and a second mounting root 21 which rotates together with the opposing blade 24 .

[0299] According to a preferred embodiment, as previously described, the first root portion 11 of the first tip 10 is in direct intimate contact with the support structure, and the second root portion 21 of the second tip 20 is in direct intimate contact with the support structure.

[0300] According to a preferred embodiment, as described above, the first root portion 11 of the first tip 10 has a first outer contact surface 81 facing in the axial direction, and the first protrusion 3 has a first inner contact facing surface 87 facing in the axial direction.

[0301] According to a preferred embodiment, as mentioned above, the second root portion 21 of the second tip 20 comprises an axially facing second external contact surface 82 and the second protrusion 4 comprises an axially facing second internal contact surface 88. Preferably, the first external contact surface 81 of the first root portion 11, the first internal contact surface 87 of the first protrusion 3, the second external contact surface 82 of the second root portion 21 and the second internal contact surface 88 of the second protrusion 4 are all parallel to each other.

[0302] According to a preferred embodiment, as previously described, the body of first tip 10 is formed by two separate parts or links comprising blade link 30 having a body integral with said blade 14 having said cutting edge 34 and blade link root 31 and blade holder link 50 having a blade holder link root 51. Blade link root 31 and blade holder link root 51 are directly adjacent to one another and in intimate contact with one another and together form said first root 11 of first tip 10.

[0303] According to a preferred embodiment, as previously described, the blade link root portion 31 is axially interposed between the blade holder link root portion 51 and the second root portion 21 of the second tip 20 and is in direct intimate contact therewith.

[0304] According to a preferred embodiment, as previously described, the root, which rotates integrally with the blade 14, comprises at least a first terminal seat 15 for a first antagonistic tendon pair 71, 72 integrally therewith.

[0305] According to a preferred embodiment, as previously described, the root part which rotates in unison with the opposing blade 24 is integrally provided with at least a second terminal seat 25 for a second antagonistic tendon pair 73,74.

[0306] According to a preferred embodiment, as previously described, the support structure, e.g., the support link 2, is integrally provided with one or more convex ruled surfaces 96, 98 having parallel generatrices over which the tendons of the first and second antagonistic tendon pairs slide during the cutting operation.

[0307] According to a preferred embodiment, as mentioned above, said revolute joint 502 is axially rigid, so that a first distance Y5 in a direction parallel to the common distal axis of rotation YY between the first end seat 15 and a surface 96 of said one or more convex ruled surfaces 96, 98 of the support structure is constant in any cutting state, and a second distance Y5' in a direction parallel to the common distal axis of rotation YY between the second end seat 25 and a surface 98 of said one or more convex ruled surfaces 96, 98 of the support structure is constant in any cutting state.

[0308] According to a preferred embodiment, as previously described, the mounting root 51 of the blade holder link 50 has a first surface facing axially outward and the second root 21 of the reaction link has a second surface facing axially outward, and the axial distance Y8 between said first mounting root surface 51 of the blade holder link 50 and said second mounting root surface 21 of the reaction link is constant in any cut state.

[0309] According to a preferred embodiment, as mentioned above, the blade holder link 50 comprises an integral first cantilever drag leg 77 extending from the root 51 of the blade holder link 50 forming the free end of the first leg 77.1, said first cantilever drag leg 77 defining in the axial direction the first terminal seat 15, and a second root 21 comprising an integral second cantilever drag leg 78 extending from the root 21 of the reaction link forming the free end of the second leg 78.1, said second cantilever drag leg 78 defining in the axial direction the second terminal seat 25, said first and second cantilever legs 77, 78 each comprising an abutment wall and a reaction wall as undercuts for the respective terminal seats 15, 25 acting as a reaction abutment for the respective tendon termination 70.

[0310] According to a preferred embodiment, as described above, a first axial distance between the first cantilever leg 77 of the blade holder link 50 and the surface 96 of the one or more convex ruled surfaces 96, 98 of the support link 2 is constant in any cut state, and a second distance in a direction parallel to the common distal rotation axis YY between the second cantilever leg 78 and the surface 98 of the one or more convex ruled surfaces 96, 98 of the support link 2 is constant in any cut state.

[0311] (Surgery scissors type surgical instrument) Referring to the above description of the embodiments of the present invention, the surgical instrument 1 may be, for example, a surgical scissor-type instrument as shown in Figures 31 to 53 and 55. An embodiment of the surgical instrument 1 in which the surgical instrument 1 is a surgical scissor-type instrument will be described below.

[0312] According to a preferred embodiment, the first free distal end 12 of the first tip 10 coincides with the distal end of the blade 14, however the first tip 10 may be formed by a link between said two blades 30 and a blade holder 50.

[0313] According to a preferred embodiment, the body of the second tip 20 is also elastically bendable in the axial direction to perform the cutting action. Thus, during the cutting action, the mechanical interference contact between the cutting edge 34 of the blade 14 of the first tip 10 and the opposing blade 24 of the second tip 20 results in an elastic bending deformation of the blade 14 in the axially outward direction and at the same time an elastic bending deformation of the second tip 20 in the axially outward direction. It is noted that the outer axial direction of the blade 14 of the first tip 10 is understood to be opposite to the outer axial direction of the second tip 20.

[0314] For example, as shown in the diagram of FIG. 36, the opposing blade 24 of the second tip 20 is a curved protruding surface with a concave surface facing axially inward, i.e., facing the blade 14, in which during the cutting operation, the protrusion is distally close to the second distal free end 22 of the second tip 20, and the contact point POC between the cutting edge 34 and the opposing blade 24 is close to the free ends 12, 22, at a preferably small opening angle, i.e., a small opening angle below a predetermined threshold, e.g., less than 5°, resulting in an elastic bending of the outer axial blade 14 to its undeformed configuration, and at the same time, an elastic bending deformation of the second outer axial tip 20 to its undeformed configuration. In other words, the blade 14 and the second tip 20 have reached an equilibrium configuration for performing a cutting operation at a low opening angle. At this time, the blade 14 and the second tip 20 of the first tip 10 are both elastically bent in the outer axial direction to their respective undeformed configurations.

[0315] As previously mentioned, "point of contact POC" preferably refers to the distal-most portion of the contact area between the cutting edge 34 and the opposing blade 24.

[0316] When the contact point POC between the cutting edge 34 and the opposing blade 24 is in a more posterior position, i.e., more proximal than the configuration described above, for example, in the case of an opening angle of about 10°-25°, the configuration of the second tip 20 can exhibit a more pronounced curvature compared to when the contact point POC is closer to or at the second free distal end 22 (less than a threshold value, e.g., less than a 5° or 10° opening angle). It should be noted that although the second tip 20 is more proximally stiff and can bend more distally closer to or at the second free distal end 22, this does not necessarily mean that the blade 14 also deforms, i.e., bends, exhibiting a more pronounced bending, compared to when the contact point POC is closer to or at the second free distal end 22 (less than a threshold value, e.g., less than a 5° or 10° opening angle). 2, the second tip 20 may be bent in the axial direction as the curvature of the opposing blade 24 is selected to be greater at the second free distal end 22. According to a preferred embodiment, the body of the second tip 20 is tapered in the longitudinal direction, thus thinning axially as it approaches the second free distal end 22 of the second tip 20, allowing the second tip 20 to bend.

[0317] According to one embodiment, the opposing blade 24 of the second tip 20 is a curved protruding surface having a concave surface facing axially inward, i.e., toward the blade 14, the protrusion of the opposing blade 24 being accentuated distally adjacent to or in the direction of the second distal free end 22 of the second tip 20, and the blade 14 of the first tip 10 is a curved protruding surface having a concave surface facing axially inward, i.e., toward the opposing blade 24, the protrusion of the blade 14 being accentuated distally adjacent to or in the direction of the first distal free end 12 of the first tip 10. In other words, in this embodiment, the axially inward facing blade surface 35 of the blade 14 of the first tip 10 is a concave protruding surface having a concave surface facing axially inward, i.e., toward the opposing blade, the protrusion being accentuated distally adjacent to or at the first free distal end 12 of the first tip 10. In this embodiment, the cutting edge 34 also preferably describes a curved path having a concave surface facing axially inward.

[0318] According to an embodiment in which the blade link 30 and the blade holder link 50 further comprise respective reaction force engagement portions 37, 57 for rotating the blade link 30 and the blade holder link 50 together, the reaction force engagement portion 57 of the blade holder link 50 is formed as an axially inner protrusion 57, i.e. an axial protrusion 57 extending axially inwardly including an open reaction face 57.2 and an opposite closed reaction face 57.1, and the reaction force engagement portion 37 of the blade link 30 is formed as an axial through slot 37 for receiving said axial protrusion 57 of the blade holder link 50, said axial through slot 37 being defined by an open reaction face 37.2 in reaction contact with said open reaction face 57.2 of the axial protrusion 57 of the opposing blade link 50 and an opposite closed reaction face 37.1 in reaction contact with said closed reaction face 57.2 of the axial protrusion 57 of the opposing blade link 50. To obtain an assembly between the blade link 30 and the blade holder link 50 to determine the drag engagement, the axial through slot 37 of the blade link 30 can be described as having an inlet opening 37.0 opening on one side of the blade link 30 opposite the cutting edge 34, i.e. opening on the back side D1 of the blade link 30 at the first tip 10, and the path of the slot 37 includes a molded inlet channel oriented, for example, in an incident direction relative to the drag open face 37.2, such that said drag open face 37.2 is like an undercut relative to the inlet opening 37.0 facing the back side D1. Thus, in this case, the axial protrusion 57 of the blade holder link 50 is inserted into the slot 37 of the blade link 30 by the inlet opening 37.0, then flows through the inlet channel and is then rotated relative to the blade link 30 to obtain the drag engagement. In other words, in this case, the blade 30 extends longitudinally, for example in a cantilevered manner proximally towards the common axis of rotation YY, and is provided with an open drag leg 37.3 which does not function to obtain a cutting action, the cantilevered open drag leg 37.3 being provided with said open drag surface 37.2 and defining at its edge the inlet opening 37.0.

[0319] An axial projection 57 of the reaction engagement portion of the blade holder link 50 may be obtained at the distal end 52 of the blade holder link 50. The blade holder link 50 has a squat conformation with the enlarged and / or bent distal end 52 forming said axial projection 57.

[0320] Although not necessarily, since axially outward bending deformation of the blade link 30 can only occur in a distal direction relative to the drag engagement slot 37, during a cutting operation in which the blade 14 elastically bends the blade link 30, sliding axially outward against the axial protrusion 57 of the blade holder link 50, the blade holder link 50 can have an axially inward facing surface 58 between its root portion 51 and the axial protrusion 57 in contact with the blade link 30.

[0321] The position and axially inward extension of the axial projection 57 of the blade holder link 50 can be selected such that the axially inward portion of the axial projection 57 relative to the closing reaction surface 57.1 forms a closing stroke end face 54 for the second tip 20, which is adapted to abut and receive a surface of the cut side P2 of the second tip 20 acting as the closing stroke end for the open / close degree of freedom G. Thus, the axial projection 57 of the blade link 30 can serve both the function of forming a reaction engagement with the blade link 30 and the function of forming a closing stroke end abutment.

[0322] Preferably, the closing stroke end face 54 extends at a longitudinal level along the elongated body of the first tip 10 where the cutting edge 34 is already present, i.e. the closing stroke end face 54 faces the cutting side P1 of the first tip 10 and extends axially cantilever-like from the blade surface 35 between the cutting edge 34 and the back side D1 of the first tip 10.

[0323] For example, in an embodiment as shown in FIG. 43 and also for example in FIG. 51 in which the first tip 10 is integrally formed to form a first tip link, a closing stroke end abutment is provided extending axially cantilever-like from the blade surface 35 between the cutting edge 34 and the back side D1 of the first tip 10, said closing stroke end abutment comprising a closing stroke end face 54 adapted to abut and receive a surface of the cutting side P2 of the second tip 20 acting as a closing stroke end of the open / close degree of freedom G.

[0324] The closing stroke end face 54 preferably extends from the first tip 20 at the rotational approach footprint of the second tip 10 .

[0325] For example, according to the embodiment shown in Fig. 44, the elongated body of the second tip 20 is elastically bendable in the axial direction to perform the cutting action, the body of the second tip 20 comprising a connecting stem 23 extending distally from the second root portion 21 and terminating in a cutting interface 27 of the body of the second tip 20, the cutting interface 27 having a longitudinally and axially inwardly directed elongated body with two longitudinally opposed free ends and said opposed blade 24 therebetween. Preferably, the distal free end of the cutting interface 27 coincides with said second distal free end 22 of the second tip 12, while the opposite proximal free end 27.0 of the cutting interface 27 extends in a cantilever manner towards the common rotation axis YY, i.e. towards the second root portion 21 of the second tip 20. As a result, the connecting stem 23 of the second tip 20 and the interface cut portion 27 form a kind of "T" structure, in which two cantilever arms 27.1 and 27.2 project longitudinally opposite the distal apex of the connecting stem 23 of the cut interface 27, each having a free end, and an opposing blade 24 belongs to both arms 27.1 and 27.2 of the cut interface and faces opposite the connecting stem 23.

[0326] Thereby, an opposing blade deformation seat 28 is formed between the proximal arm 27.1 of the cutting interface 27 and the connecting stem 23, which accepts the axial deformation of the opposing blade 24, i.e. the proximal arm 27.1 of the cutting interface 27, with its proximal free end 27.0. According to an embodiment, a second end seat 25 for the working tendons 73, 74 of the second antagonistic tendon pair is arranged axially between the connecting stem 23 of the cutting interface 27 and the proximal arm 27.1. According to an embodiment, a distal cantilever leg 78 of the second end seat 25 extends distally in a cantilever manner between the connecting stem 23 of the cutting interface 27 and the proximal arm 27.1. As a result, the connecting stem 23 defines the second end seat 25 of the second tip 20 axially outward, and the distal cantilever leg 78 of the second end seat 25 defines at least a part of the opposing blade deformation seat 28 axially outward. According to one embodiment, the second end seat 25 opens into said opposing blade deformation seat 28, so that in this embodiment the antagonistic actuating tendons 73, 74 can be inserted into the respective second end seat 25 opening in the distal direction, and after inserting them axially into the opening formed between the proximal free end 27.0 of the proximal arm of the cutting interface 27 and the second root portion 21, they are inserted distally along the axial inner side of the cantilever leg 78 in the opposing blade deformation seat 28. 2 and then inserted into the entrance in the second terminal seat 25, and thus in this embodiment, the assembly of the antagonistic acting tendons 73, 74 is preferably performed when the first tip 20 and the second tip 10 form an opening angle (e.g., an opening angle of about 90°) such that the opposing blade 24 of the proximal arm 27.1 of the body of the second tip 20 does not come into contact with the cutting edge 34 of the blade 14 of the first tip 10, thereby releasing axial access at the opening formed between the proximal free end 27.0 and the second root portion 21.

[0327] By providing such a second tip 20 comprising said connecting stem 23 terminating in a cutting interface 27, said opposing blade 24 has a proximal arm 27.1, included in said cutting interface 27, with a proximal free end 27.0, and a longitudinally opposed distal arm 27.2, with a distal free end coinciding with said second free end 22 of the second tip 20. It is possible to create a second elastically bendable second tip 20 in the outward axial direction substantially along the entire longitudinal extension of the opposing blade 24, and to perform precise cutting actions even for high opening angles, for example opening angles in the range of 25°-60°, preferably in the range of 28°-58°. This corresponds to a situation where the contact point POC is included in said proximal arm 27.1 of the cutting interface, preferably close to or at the free proximal end 27.0 of the cutting interface 27. In this case, at high opening angles, the blade 14 does not necessarily bend elastically to perform a cutting action, but the elasticity can only be provided by the second tip 20. In particular, according to one embodiment, when the contact point POC is at the proximal free end 27.0 of the proximal arm 27.1, the opening angle is about 58° and the cutting action is still exerted.

[0328] Thus, by providing such a second tip 20 including said connection stem 23 terminating in said cut interface 27, it is possible to obtain a solution adapted to make precise cuts for opening angles in the range 0°-60° while keeping to a minimum the actuation forces of the first tip 10 and the second tip 20 exerted by the tensile action on the respective actuating tendons, and at the same time keeping to a minimum the radii of the pulley faces 79, 80 of the respective root parts 11, 21 at the tendon terminations, thus allowing at the same time extreme compactness.

[0329] As shown, for example, diagrammatically in FIG. 48C, at relatively high opening angles (e.g., angles in the range of 50°-60°), contact between the cutting edge 34 of the blade 14 of the first tip 10 and the opposing blade 24 occurs near the proximal free end 27.0 or at the proximal arm 27.1 of the cutting interface 27 of the second tip 20, and the cutting mechanical interference contact thus results in an outward axial deformation of the proximal arm 27.1 inside the deformation seat 28 of the second tip 20, but the blade 14 of the first tip 10 remains substantially deformed, i.e., does not bend elastically, since it is supported axially outwardly, for example, by the blade holder link 50 (if the first tip 10 is one piece, the proximal part of the blade 14 is supported axially outwardly by the proximal part of the tip link body 10 between its root 11 and the stroke end face 54). This allows cutting actions to be performed even at high opening angles, for example, opening angles up to about 60°.

[0330] As the opening angle decreases, the point of contact POC moves distally.

[0331] For example, as shown diagrammatically in FIG. 49C, for smaller opening angles, i.e., for example, in the range of 10°-25°, the contact point POC between the cutting edge 34 of the blade 14 of the first tip 10 and the opposing blade 24 is close to or at the part of the cutting interface 27 of the second tip 20 where the connecting stem 23 terminates, and the cutting mechanical interference contact results in an outer axial deformation of the connecting stem 23 that returns the cutting interface 25 axially outward, but the blade 14 of the first tip 10 cannot bend elastically, but preferably bends axially outward, especially in the case of extreme miniaturization of parts. This makes it possible to perform the cutting action by utilizing the outer axial deformation of the second tip 20 for intermediate opening angles, for example, in the range of 10°-25°. In such a case, the proximal part of the blade 14 of the first tip 10 can still be in interference contact with the opposing blade 24 of the proximal arm 27.1 of the cutting interface 27 of the second tip 20.

[0332] For example, as shown diagrammatically in FIG. 50C, at small opening angles, e.g., in the range of 0°-5° and / or 0°-10°, the contact point POC between the cutting edge 34 of the blade 14 of the first tip 10 and the opposing blade 24 is close to or at the distal free ends 12, 22 of the first and second tips 10, 20, and the cut mechanical interference contact results in an outward axial deformation of both the blade 14 and cut interface 27 of the first tip 10 and the connecting stem 23 of the second tip 20.

[0333] The curvature of the opposing blades 24, as well as the structural and elastic properties of the cutting interface 27 and connecting stem 23, can be selected to optimize cutting performance over a very wide range of opening angles, for example in the range of 0°-60°.

[0334] A second tip 20 may be provided which is formed by two separate parts or links which rotate together with each other, a first link of the second tip 20 having an opposing blade 24 and a second link of the second tip 20 having a port opposing blade holder portion 24, preferably both of said two links having a root portion, i.e. a root portion of the opposing blade link and a root portion of the adjacent opposing blade holder link, which jointly form said second root portion 21 of the second tip 20.

[0335] According to an alternative embodiment, the first root portion 11 of the first tip 10 and / or the second root portion 21 of the second tip 20 may be provided with one or more notches 66 in order to provide the respective root portions with axial resilience. As shown in FIG. 41, for example, a longitudinally oriented notch 66 may be provided in a proximal portion of the second root portion 21 of the second tip 20, forming a resilient leg 69 from an axially inwardly facing side of the second root portion 21, said resilient leg 69 being adapted to provide a resilient action to the first root portion 11 during a cutting action. As shown in FIG. 42, for example, a longitudinally oriented notch 66 may be provided in a proximal portion of the root portion 51 of the blade holder link 50, forming a resilient leg 69 from an axially inwardly facing side of the root portion 51 of the blade holder link 50, said resilient leg 69 being adapted to provide a resilient action to the root portion 31 of the blade link 30 during a cutting action.

[0336] (Needle driver / suture cutter type surgical instrument) With reference to the above description of the embodiments of the present invention, the surgical instrument 1 may be, for example, a needle driver / suture cutter type surgical instrument ("needle holder / cutter" according to commonly adopted terminology) as shown in Figures 4-30 and 54. An embodiment of the surgical instrument 1 is described below, where the surgical instrument 1 is a needle driver / suture cutter type surgical instrument.

[0337] According to one embodiment, the first free end 12 of the first tip 10 does not coincide with the distal end 32 of the blade 14, but the first free end 12 of the first tip 10 and the distal end 32 of the blade 14 can be made in one piece according to one embodiment. In that embodiment, the distal end 32 of the blade 14 is the longitudinal rear free end, i.e. more proximal to the first free end 12 of the first tip 10, as shown, for example, in FIG.

[0338] According to one embodiment, said first tip 10 is made of two parts or two links rotating together forming a blade link 30 and a blade holder link 50. In particular, the body of the blade holder link 50 integrally comprises a proximal mounting root 51 of the blade holder link 50, said first free distal end 12 and a first gripping surface 13 therebetween, said body of the blade link 30 comprising said blade 14 with its cutting edge 34, said blade 14 of the blade link 30 comprising a distal end 32, which preferably acts as a drag engagement portion 37 and is therefore not a free end when the blade link 30 is assembled to the blade holder link 50.

[0339] According to one embodiment, the body of the second tip 20 integrally comprises said second distal free end 22 and a second gripping surface 63 between said second attachment root 21 and said second free end 22. It is possible to define a connection 55, 65 of each tip 10, 20 between the attachment root 11 or 21 and the respective gripping surface 13, 63. In use, the first gripping surface 13 of the first tip link 10 and the second gripping surface 63 of the second tip link 20 are intended to face each other and move in contact with each other during rotation to exert a gripping action, for example on a surgical needle. Each gripping surface 13, 63 can be machined according to known techniques and can form ridges and recesses to enhance the gripping ability.

[0340] According to one embodiment, the body of the blade holder link 50 and the body of the second tip 20 each have an elongated shape in the longitudinal direction extending from their respective mounting roots to their respective free ends, with their respective gripping surfaces disposed adjacent their respective free ends, with the root of the blade holder link 50, the blade link 30 and the second tip 20 adjacent to one another, while at their respective connections 55, 65 the body of the blade holder link 50 and the body of the second tip 20 are longitudinally interposed between their respective roots and their respective gripping surfaces 13, 63, providing axial and longitudinal seats for receiving the blade 14 of the body of the blade link 30 at its cutting edge 34. In other words, the elongated body of the blade holder link 50 and the elongated body of the second tip 20 are adjacent to each other at their respective root portions and respective connection portions 55, 65 and overlap each other at their respective gripping surfaces 13, 63, while the blade link 30 is adjacent to the root portion and second tip 20 of the blade holder link 50 at its root portion 31 and is located between the connection portion of the blade holder link 50 and the second tip 20.

[0341] According to one embodiment, the root of the blade link 31 is interposed between the root of the blade holder link 50 and the second tip 20. Preferably, the blade link body 30 is also elongated in the longitudinal direction and comprises a blade link end 32, but shorter than the blade link body 50 and the second tip 20, and extends longitudinally substantially from the adjacent attachment roots to the gripping surface areas 13, 63 and the second tip 20 of the blade holder link 50, i.e. the distal end 32 of the blade link 30 extends longitudinally to a level close to the proximal ends of the gripping surfaces 13, 63.

[0342] The gripping surfaces 13, 63 preferably function as the closing stroke ends for the open / close degree of freedom.

[0343] According to one embodiment, the blade holder link 50 of the first tip 10 comprises an axially inwardly facing surface 18 inclined away from the body of the blade link 30, which defines an axial deformation recess 44 (or deformation seat 44) axially inwardly adapted to accommodate the blade 14 of the body of the blade link 30 when it is elastically bent by the action of the protruding surface of the opposing blade 24 during the cutting operation. Thus, the opposing blade 24 and the axially inwardly facing surface 18 both face the blade 14 of the blade link 30 and both contact it during the cutting operation. The axially inwardly facing surface 18 is preferably included in said connection portion 55 of the elongated body of the blade holder link 50. Preferably, the axially inwardly facing surface 18 of the first tip link 10 serves as an axial stroke end abutment surface for the deformation of the blade 14 of the blade link 30 when it is deformed by bending by the opposing blade 24 during the cutting operation. The contours of the protruding surface of the opposing blade 24 and the axially opposing surface 18 of the blade holder link 50 may be parallel to one another and, in one embodiment, are correspondingly identical.

[0344] At least one contact point POC between the cutting edge 34 and the opposing blade 24 preferably changes in position and / or size as a function of the opening angle of the opening / closing degree of freedom G (grip G), as for example shown diagrammatically in Fig. 14. In particular, at relatively high opening angles (e.g. angles in the range of 20°-30°), the contact occurs closer to the cutting edge 34, i.e. closer to the attachment root 31 of the blade link 30, and as the opening angle decreases, the contact moves distally and the elastic bending deformation of the blade 14 of the blade link 30 relative to the root 31 of the blade link 30 intensifies. Thus, the deformed configuration of the blade link 30 when the first tip 10 and the second tip 20 are in a substantially closed configuration is maximally bent and in any case more bent than the deformed configuration of the blade link 30 when the first tip 10 and the second tip 20 are in a partially closed and partially open configuration. Preferably, when the opening angle is maximum and the blade is free, the blade is straight and the blade link has a substantially planar configuration.

[0345] According to one embodiment, the opposing blade 24 can at least partially overlap with the rotational approach footprint of the body of the blade holder link 50 and the blade 14 of the blade link 30, and in an elastically deformed configuration, translates locally relative to the rotational footprint of the blade holder link 50 in a direction transverse to the longitudinal extension of the blade holder link 50, i.e., in the outward axial direction, but according to a preferred embodiment, the axially inward facing surfaces 18 of the opposing blade 24 and the blade holder link 50 are geometrically shaped so as not to overlap in their respective rotational clearances.

[0346] For example, according to the embodiment shown in Fig. 28, the root portion 31 of the blade link 30 is interposed between the first projection 3 of the support structure and the root portion 51 of the blade holder link 50 and is in direct intimate contact therewith. By providing a transverse bridge 33 on the body of the blade link 30 across the rotational approach footprint of the body of the opposing blade holder link, the blade 14 contacts the opposing blade 24 with its cutting edge 34, i.e. between the blade holder link 50 and the second tip 20. In other words, the transverse bridge 33 can cross the connection portion 55 of the elongated body of the blade holder link 50 and / or the root portion 51 of the blade holder link 50. Thus, in such a case, the first outer contact surface 81 of the first tip 10 is included in the root portion 31 of the blade link 30 and contacts the first inner surface 87 of the first protrusion 3, the opposite contact surface facing axially inward of the root portion 31 of the blade link 31 contacts the contact surface facing axially outward of the root portion 51 of the blade holder link 50, and the first inner contact surface 83 facing axially inward of the first tip 10 is included in the root portion 51 of the blade holder link 50 and contacts the opposite second inner contact surface 84 facing axially inward of the second root portion 21 of the second tip 20. At this time, according to this embodiment, the blade 14 having the cutting edge 34 remains interposed between the connection portion 55 of the blade holder link body 50 and the connection portion 65 of the second tip body 20, while the third root portion 31 of the blade link 30 is interposed between the first projection 3 of the support structure and the root portion 51 of the blade holder link 50.

[0347] According to one embodiment, the second tip 20 is made of two parts, namely two links 40, 60 rotating together with each other, in particular an opposing blade link 40 and an opposing blade holder link 60. In this embodiment, the opposing blade 24 is formed integrally with said opposing blade link 40, i.e. the opposing blade link 40 comprises the proximal mounting root 41 of the opposing blade link 40, and the opposing blade holder link 60 comprises the proximal mounting root 61 of the opposing blade holder link 60, said second gripping surface 63 and said second distal free end 22 in one piece, the root 61 of the opposing blade holder link 60 and the root 41 of the opposing blade link 40 being directly adjacent to each other and in close contact with each other and jointly forming the second root 21 of the second tip 20. When the second tip 20 is formed on the two links 40, 60 which rotate together with each other, the assembly formed by the root portion 51 of the blade holder link 50, the root portion 31 of the blade link 30, the root portion 41 of the opposing blade link 40 and the root portion 61 of the opposing blade holder link 60 is generally interposed between the two protrusions 3, 4 of the support structure and in direct close contact therewith.

[0348] Such a pack arrangement of the root portions avoids collision of the root portion 31 of the blade link 30 with the root portion 41 of the preferably thinner opposing blade link 40 against the articulating pin 5, thereby providing sufficient accuracy of positioning of the cutting edge 34 relative to the opposing blade 24 for each opening angle of the opening / closing degree of freedom G, and therefore extremely high cutting accuracy.

[0349] Thus, the root portion 61 of the blade holder link 60 preferably has an axially facing contact surface 89.1 and the root portion 41 of the blade holder link 40 preferably has an axially facing contact surface 89.2, said contact surfaces 89.1, 89.2 being directly adjacent to each other and preferably parallel to each other and to the other contact surfaces 81, 82, 83, 84, 85, 86, 87, 88 of the root portions and protrusions and even more preferably extending in a plane perpendicular to the common axis of rotation YY.

[0350] In an embodiment in which an opposing blade 24 is provided that is formed on a separate opposing blade link 40 having a proximal mounting root portion 41, the root portion 31 of the blade link 30 is axially interposed between and in direct contact with the root portion 41 of the opposing blade link 40 and the root portion 51 of the blade holder link 50, and the root portion 41 of the opposing blade link 40 is axially interposed between and in direct contact with the root portion 30 of the blade link 30 and the root portion 61 of the blade holder link 60, providing a reaction force against the elastic bending of the blade 14 during the cutting operation.

[0351] As mentioned above, the root portions preferably have a cylindrical shape centered on the common axis of rotation YY, and the root portions 41 of the opposing blade links 40 have a thickness significantly smaller than the root portions 51 of the blade holder links 50 and the root portions 61 of the blade holder links 60, and said root portions 41 of the opposing blade links 40 have a disk-shaped cylindrical shape similar to the root portions 31 of the blade links 30.

[0352] When the second root portion 21 of the second tip 20 is formed by said root portion 41 of the opposing blade link 40 and said root portion 61 of the opposing blade link 60, according to any one of the above-mentioned embodiments, a second through hole 26 is provided in each of said root portions 41 and 61. In this case, the second through hole 26 in the root portion 61 of the blade holder link 60 and the second through hole 26 in the root portion 41 of the blade holder link 60 can be circular holes coaxial with each other and have the same diameter. According to one embodiment, said second through hole 26 in the root portion 41 of the opposing blade link 40 has a hole edge that is in direct contact with the articulating pin 5 over the entire extension of the hole edge, and exerts a reaction force against the friction exchanged between the blade link 30 and the opposing blade 24 of the opposing blade link 40 during the cutting operation on the arc surface of the thickness of the hole edge.

[0353] According to an embodiment in which the blade link 30 and the blade holder link 50 further comprise respective reaction engagement portions 37, 57 for rotating the blade link 30 and the blade holder link 50 together, the reaction engagement portion 57 of the blade holder link 50 is formed as a reaction seat 57 defined by the connection portion 55 of the blade holder link body 50 and by the reaction teeth 57.0 forming the seat 57 as an undercut with respect to the first gripping surface 13. That is, the seat 57 opens in the proximal direction and extends in the axial direction to receive the distal end 32 of the blade link 30 in a rotational reaction contact while receiving the axial deformation of the distal end 32 of the blade link 30. In other words, in this embodiment, the portion of the blade link 30 close to or at the distal end 32 serves as the reaction engagement portion 37 of the blade holder link 30 that is received inside the reaction seat 57 of the blade link 50 in a rotational reaction contact, i.e. in the opening / closing direction. At the same time, the distal end 32 of the blade link 30 is free to deform axially outward inside the same reaction seat 57, thus forming part of the axial deformation seat 44 of the blade 14. In other words, the reaction seat 57 extends distally relative to the axially inwardly facing surface 18 of the first tip link 10, i.e. relative to the surface 18 which can act as an axial abutment for the bending of the blade 14. In such a case, the reaction seat 57 has an axial extension to receive the distal end 32 of the blade link 30, and thus receives the deformation of the blade link 30 during the cutting operation together with said deformation seat 44. The distal end 32 of the blade link 30 can include a distal portion of said cutting edge 34, which in such a case acts as a reaction counter surface in the opening direction 37.2 cooperating with the respective opening reaction surface 57.2 of the reaction tooth defining the reaction seat 57 of the blade holder link 50.

[0354] According to an embodiment in which the blade link 30 and the blade holder link 50 further comprise respective reaction force engagement portions 37, 57 for rotating the blade link 30 and the blade holder link 50 together, the reaction force engagement portion 57 of the blade holder link 50 is formed as two separate and different reaction force surfaces. In other words, the open reaction force surface 57.2 and the closed reaction force surface 57.1 of the blade holder link 50 can be located at different distances from the common axis of rotation YY, and the open reaction force surface 37.2 and the closed reaction force surface 37.1 of the blade link 30 can be located at different distances from the common axis of rotation YY, for example at different protrusions of the blade link 30, for example as shown in FIG. 29A. In particular, with reference to Figures 29A, 29B and 29C, and 30A, the root portion 31 of the blade link 30 can include a radial drag ear 37.4 folded onto the first root portion 11 of the first tip link 10, said drag ear 37.4 including said open drag surface 37.2.

[0355] According to one embodiment, the first tip link 10 and the blade link 30 are made of separate parts and releasably rotate together, with release preferably only being achieved by disassembling the articulated end effector 9.

[0356] According to one embodiment, the second tip 20 comprises a threaded wall 48 facing the common axis of rotation YY, which threaded wall defines a threaded recess 48.1 for receiving the suture 68 to keep it in contact with the cutting edge 34 of the blade of the blade link 30 during cut closure. The provision of the threaded wall 48 prevents the suture 68 from sliding distally past the distal end 32 of the blade during the cut operation as an effect of the closing operation.

[0357] The screwing wall 48 and the screwing recess 48.1 preferably face the gripping side P2 of the second tip 20, the screwing wall 48 being an arched wall having a concave surface defining the recess 48.1 facing the gripping side P2 of the second tip 20. The recess 48.1 may be made in the form of a notch in the body of the second tip 20, in which case the screwing wall 48 is the wall defining said notch. The recess 48.1 may be made in the form of an undercut wall in a protrusion of the body of the second tip 20, in which case the screwing wall 48 is the undercut wall of said protrusion facing the common axis of rotation YY.

[0358] According to one embodiment, the screw wall 48 defines, at its axially inner edge, the opposing blade 24 from the cut side P2 of the second tip link 20. If the opposing blade surface 24 is made in a separate piece to the second tip link 20, the screw wall 48 and the recess 48.1 can be formed in the body of the opposing blade link 40.

[0359] According to one embodiment, the blade holder link 60 of the second tip 20 comprises an axial recess 45 forming a housing seat 45 for the blade holder link 40. Said axial recess 45 is preferably defined axially by an axially inwardly facing surface 43 of the opposing blade holder link 60.

[0360] According to a preferred embodiment, the opposed blade link 40 is elastically deformable by bending, such that when the cutting edge 34 of the blade link 30 mechanically interferes with the opposed blade 24 of the opposed blade link 40 to perform a cutting action, the body of the opposed blade link 40 also elastically bends in the axial direction.

[0361] The opposing blade link 40 is preferably made from an elastic sheet or strip and is pre-curved to form a curved protruding opposing blade 24 with an axially inwardly facing concave surface for elastically bending the blade link 30 during the cutting action. Providing an opposing blade link 40 with a curved protruding opposing blade 24 that is elastically deformable by bending makes it possible to obtain an elastic reaction force between the axially inwardly facing surface 68 of the axial recess 45 of the opposing blade holder link 60 and the cutting edge 34 of the blade link 30 during the cutting action. In particular, the opposing blade link 40 comprises an axially oriented stationary surface 64 facing the opposing blade 24, which abuts against said axially inwardly facing surface 43 of the axial recess 45 of the reaction 20. This allows the opposing blade link 40 to provide an elastic action on the cutting edge 34 of the blade link 30 for elastically bending the blade link 30 during the cutting action. For example, the opposing blade link 40, if present, can be made of spring steel.

[0362] The opposed blade link 40 may have at least some, but may have all, of the features and characteristics described above with reference to the blade link 30. The thickness of the opposed blade link 40 may be substantially the same or equal to the thickness of the blade link 30, as described above. According to one embodiment, the opposed blade link 40 comprises an opposed blade cutting edge 64, which is preferably disposed opposite to the cutting edge 34 of the blade link 30. That is to say, in other words, the opposed blade cutting edge 64 faces the cut side P2 of the second tip 20. The proximal attachment root 41 of the opposed blade link 40 may have at least some, but may have all, of the features and characteristics described above with reference to the root 31 of the blade link 30. The root 41 of the opposed blade link 40 may comprise a radial cut channel 49 misaligned with the radial cut channel 39 of the blade link 30 to prevent the edges of the cut channels 39, 49 from engaging during the opening / closing operation.

[0363] According to one embodiment, a reaction engagement is provided along or distal to the longitudinal extension of the opposing blade surface 24 for rotating the opposing blade link 40 and the opposing blade holder link 60 together. Preferably, the reaction engagement is obtained near or at the distal end 42 of the opposing blade link 24. According to one embodiment, the blade holder link 60 comprises a reaction seat 67 having an open reaction face 67.2 and an opposite closed reaction face 67.1 for rotating the blade holder link 40 together. The reaction seat 67 can be located distally in a reaction seat formed as an undercut with respect to the second gripping surface 63 of the opposing blade link 40 for receiving the distal end 42 of the opposing blade holder link 60. According to one embodiment, the distal end 42 of the opposing blade link 40 comprises an open resistance surface 47.2 in resistance contact with the open resistance surface 67.2 of the opposing blade holder link 60, and an opposite closed resistance surface 47.1 in resistance contact with the closed resistance surface 67.1.

[0364] For example, according to the embodiment shown in FIG. 29B , the opposed blade link 40 has a radial drag ear 47.4 folded at the root portion 61 of the opposed blade link 60, said drag ear 47.4 of the opposed blade link 40 having an open drag surface 47.2 in drag contact with an open drag surface 67.2, for example located at the rear portion D2 of the connection portion 65 of the body of the opposed blade link 60, and the opposed blade link 40 further has a closed drag surface 47.1 located adjacent to the distal end 42 of the opposed blade link 40 in drag contact with a closed drag surface 67.1 of the opposed blade link 60.

[0365] According to the embodiment shown in FIG. 27, for example, the opposing blade cutting edge 64 can have a concave shape relative to the opening / closing direction.

[0366] The method for cutting the surgical instrument will now be described.

[0367] Such a cutting method is adapted to be performed with a surgical instrument 1 according to any one of the previous embodiments.

[0368] According to one embodiment, cutting the surgical instrument includes the following steps.

[0369] The method includes providing an articulated end effector 9 at a distal end of a rod 7 that includes a support structure, a blade 14 having a cutting edge 34 and an opposing blade 24 that forms a distal rotation joint 502 .

[0370] The articulated end effector may include a link 90 and the support structure may be included in a support link 2 that is articulated to the connecting link 90 in a proximal rotation joint 509 .

[0371] The method includes longitudinally sliding at least one pair of antagonist tendons, 71, 72 and 75, 76, on at least one or more convex ruled surfaces 97, 99 and 96, 98, with parallel generatrices, of the support structure, to orient the cutting edge 34 of the blade link 30 in a desired direction. According to one embodiment, this step includes longitudinally sliding at least one pair of antagonist tendons, 71, 72 and 75, 76, on at least one or more convex ruled surfaces 97, 99 and 96, 98, with parallel generatrices, of the connection link 90 and the support link 2.

[0372] The method includes longitudinally sliding the actuating tendons 71, 72, 73, 74 of at least a pair of antagonistic actuating tendons of the distal rotation joint 502 on the connecting link 90 and the support structure, e.g., one or more convex ruled surfaces 97, 99, 96, 98 having parallel generatrices of the support link 2, to bring the cutting edge 34 into contact with the opposing blade 24.

[0373] The method includes elastically bending at least one of the cutting edge 34 and the opposing blade 24 such that a mechanical interference contact is created therebetween to effect a cutting action.

[0374] The step of sliding the working tendons 71, 72, 73, 74 of at least a pair of antagonist tendons of the distal rotation joint 502 longitudinally on the convex ruled surfaces 97, 99, 96, 98 having parallel generatrices of the connecting link 90 and the supporting link 2 may include a step of winding at least one working tendon 71, 72, 73, 74 of the distal rotation joint 502 on the convex ruled surface on which it slides with a winding angle between 60° and 300°, preferably greater than 120°.

[0375] According to a general embodiment, there is provided a robotic surgical system 101 comprising at least one surgical instrument 1 according to any one of the previous embodiments. The robotic surgical system 101 is thus capable of performing surgical or microsurgical procedures including cutting biological tissue and / or cutting sutures.

[0376] According to one embodiment, the robotic surgery system 101 comprises at least two surgical instruments, at least one of which is a surgical instrument 1 according to any one of the previous embodiments, and the other surgical instrument can be a needle driver type surgical instrument or a dilator type surgical instrument, but according to one embodiment, both surgical instruments are surgical instruments 1 according to any one of the previous embodiments, and are not necessarily identical to each other. For example, one surgical instrument of the at least two surgical instruments can be a surgical scissor type surgical instrument, and another surgical instrument of the at least two surgical instruments can be a needle driver / scissor type surgical instrument.

[0377] The robotic surgery system 101 preferably comprises at least one robotic manipulator 103, to which at least one surgical instrument 1 is operatively connected. For example, a sterile surgical barrier (not shown), such as, for example, a sterile surgical drape, is interposed between the at least one robotic manipulator 103 and a back end 104 of the at least one surgical instrument 1. The robotic manipulator 103 may comprise motorized actuators for stressing the actuation tendons of the pitch P, yaw Y and gripping degrees of freedom G, i.e., for gripping and cutting the surgical instrument 1, and for rotating the surgical instrument 1 around a shaft 7, which defines a rolling degree of freedom. The robotic surgery system 101 may comprise a support 106 (cart or tower), for example, with wheels or other ground-contact units, and an articulated positioning arm 105, for example manually movable, i.e. passive, extending between the support 106 and the at least one robotic manipulator 103. According to one embodiment, the robotic surgery system 101 comprises at least one master console 107 for controlling at least one surgical instrument 1, preferably a respective robotic manipulator 103, according to a master-slave architecture, and preferably the robotic surgery system 101 further comprises a control unit operatively connected to the master console 107 and to the robotic manipulator 103 for determining the tracking of the surgical instrument 1 relative to the at least one master control device 108 of the master console 107. According to one embodiment, the master console 107 comprises at least one master control device 108 that is untethered, i.e. mechanically decoupled from the ground, and a tracking system, e.g. optical and / or magnetic.

[0378] (Wire Electroerosion Manufacturing) A wire electroerosion manufacturing method for sharpening the cutting edge of blade 14 will now be described.

[0379] According to a general embodiment, a method of manufacturing one or more blades by wire electroerosion includes providing a wire electroerosion machine 200 having a cutting wire 202, providing a fixture 214 attached to the wire electroerosion machine, and attaching at least one workpiece 204 to the fixture 214.

[0380] The method further includes sharpening at least one edge 234 to be sharpened of the at least one workpiece 204 by making a sharpening through-cut with the cutting wire 202 through the at least one workpiece 204 .

[0381] The sharpening step implements a sharpening process to obtain said cutting edge 34 of the blade 14 of the articulated end effector 9. In the following description, unless otherwise stated, aspects of the sharpening step that are also applicable in the context of this method are described in detail.

[0382] A method for producing one or more blades by wire electroerosion is described below.

[0383] According to a general embodiment, a method is provided for manufacturing one or more blades, such one or more blades preferably intended to form small cutting elements.

[0384] According to one embodiment, the blades of the one or more blades manufactured by the method form the blade 14 according to any one of the previous embodiments. According to one embodiment, the blades of the one or more blades manufactured by the method form the blade link 30 according to any one of the previous embodiments. According to one embodiment, the blades of the one or more blades manufactured by the method form the opposed blade link 40 according to any one of the previous embodiments.

[0385] The method comprises the step of providing a wire electroerosion machine 200 with a cutting wire 202, as shown for example in Fig. 59. The cutting wire 202 preferably extends longitudinally between two heads 206, 207 of the wire electroerosion machine 200 when in an operating state. To perform a cut (i.e. electroerosion), the cutting wire 202 advances along a cutting path in a feed direction W (or cutting direction W) that is substantially perpendicular to the longitudinal extension of the cutting wire 202, i.e. the feed direction is substantially perpendicular to the sliding direction of the portion of the cutting wire 202 between the two heads 206, 207 of the machine 200, in a manner known per se. Each of the two heads 206, 207 may be associated with a reel 209 or a winding / unwinding roller 209 for the cutting wire 202. When in operation, the cutting wire 202 is wound onto one reel as it is unwound from the other, and the heads 206, 207 guide the cutting wire 202 in a feed direction W (or cutting direction W) to make a cut in the workpiece.

[0386] The wire electroerosion machine 200 preferably comprises a tank 208 filled with a dielectric liquid in which, when in an operating state, electroerosion of at least one workpiece 204 takes place. The electroerosion machine 200 may further comprise a hydraulic circuit comprising a hydraulic duct 211 to which a pump 212 is attached, a filter for drawing and filtering the dielectric fluid from the tank 208, and finally a nozzle 213 for directing the dielectric fluid onto the workpiece 204.

[0387] At least one workpiece 204 is preferably made of a conductive material, such as a metal, or is coated with a conductive material.

[0388] The wire electroerosion machine 200 further comprises at least one jig 214 or fixture 214 that is rotatable relative to the cut wire 202 (i.e., relative to the cut portion of the cut wire 202) about a rotation axis FF that is transverse, and preferably perpendicular, to the longitudinal extension of the cut wire 202. For example, the rotation axis FF of the jig 214 extends substantially horizontally, while the cut portion of the cut wire 202 extends substantially vertically.

[0389] The method includes mounting at least one workpiece part 204 to the fixture 214, for example by fastening the workpiece part 204 to the fixture 214 with a set screw or other fastener such that the workpiece part 204 rotates together with a portion of the fixture 214. Rotating the fixture 214 about its axis of rotation FF thereby results in rotation of the workpiece part 204 relative to the cut wire 202.

[0390] The fixture 214 can comprise a fastening part 215 and a housing 217, the fastening part 215 being fixed to a bracket of a worktop 216 inside the tank 208 of the wire electroerosion machine 200 and the housing 217 receiving said at least one workpiece 204 in at least one of its housing seats 241, wherein the housing 217 of the fixture 214 is rotatable about said rotation axis FF relative to the fastening part 216 to the machine 200. According to an embodiment, the fastening part 216 of the fixture 214 to the machine 200 comprises positioning rectified surfaces 221 intended to abut against rectified counter-surfaces 222 of a bracket of the worktop 216 of the machine 200.

[0391] The housing 217 of the fixture 214 may have an elongated body extending along the rotation axis FF and may be pivotally connected to the fixed part 215. To minimize the deformability of the cutting wire 202, it is generally desirable to position the workpiece 204 close to the lower head 206 during cutting. By rotating only the housing 217 relative to the fixed part 215, the translational movement of the workpiece 204 relative to the lower head 206 of the machine that may result from the rotation step can be minimized. In other words, the rotation of the fixture allows the workpiece to be moved relative to the cutting wire in the longitudinal direction of the cutting wire between the machine heads. For example, the workpiece located near the heads located in the central zone of the section of the cutting wire extending between the machine heads can be moved. This is because the workpiece is more prone to deformation laterally relative to a section close to one of the machine heads, which results in a change in the cutting function, e.g. in terms of finishing and / or cutting resolution. Typically, in practice, wire electroerosion machines are adapted to perform better and more accurate cutting operations when the workpiece is located close to at least one of the machine heads, so that the cutting wire is less likely to deform laterally as it slides longitudinally, or when the machine heads are close to each other, so that the longitudinal extension of the cutting wire portion extending between the machine heads is short and the lateral movement during operation, i.e., cutting, is limited, or when the wire sliding direction is completely perpendicular to the plane specified by the feed direction W or the cutting direction W. The electroerosion machine 200 can be provided with the following functions, for example, including crossing the heads 206, 207, i.e., moving the heads to tilt the cutting wire 202 with respect to the workpiece 204. However, in view of the above, it is necessary to keep the heads close to each other in order to obtain a satisfactory cutting accuracy, so that the function of crossing the heads allows the cutting wire to be tilted at an angle of up to about 5° with respect to the workpiece. Therefore, generally speaking, the cross head solution of the wire electroerosion machine is inadequate for sharpening processes.

[0392] The housing seat 241 of the housing 217 of the fixture 216 can be formed by a longitudinal slot 241 along the body of the housing 217 for receiving the workpiece 204, which is a plate-shaped body, in the central part of which the plate-shaped body of the workpiece 204 is clamped, for example by means of the fixing and positioning elements 219. The plate-shaped body of the workpiece 204 thus forms two opposing cantilever flaps 205, both of which can be subjected to wire electroerosion machining. The workpiece 204 can also be clamped in other ways. Positioning elements such as holes or notches can be provided in the body of the workpiece to attach it to the fixture 214.

[0393] Preferably, the extension of the cantilevered part of each cantilever flap 205 of the plate-like body of the workpiece 204, which protrudes in a cantilevered manner from the housing 217 of the fixture 214, is selected so as to minimize vibrations that may occur during the operation of the fixture 214, which may occur during the operation of the cutting wire 202 relative to the workpiece 204 and fixture 214 and may lead to cutting uncertainties. Screws or clamping screws may be provided as clamping positioning elements 219 adapted to clamp the housing seat and at the same time act as positioning elements of the workpiece 204 in the seat. Depending on the possible operating modes, one or more fixing and positioning elements 219 are designed to traverse the body of the workpiece 204, for example in a through hole, in order to exert a fixing effect on the fixture and a positioning effect on the fixture and the cutting edge.

[0394] According to a possible mode of operation, the workpiece 204 comprises a plate-like body having a thickness 210 in the range of 0.05 mm to 0.5 mm. The plate-like body can be obtained from a strip tape of material or a complete piece of sliced ​​material. Said plate-like body can be elastic and bendable.

[0395] The method includes sharpening at least one edge 234 to be sharpened of at least one workpiece 204 by making at least one sharpening through cut with a cutting wire 202 on the at least one workpiece 204. A through cut is made in the at least one workpiece by advancing the cutting wire 202 along a sharpening cut path, thereby determining the sharpening of the at least one edge 234 to be sharpened of the workpiece 204, and the edge 234 to be sharpened becomes a cutting edge 34.

[0396] At least one edge sharpened by this method forms a cutting edge 34 of the blade 14 and / or a cutting edge 34 of the body of one or more blade links 30 .

[0397] The method further includes shaping at least one workpiece 204 by making at least one shaped through cut in the at least one workpiece 204 with the cut wire 202. By advancing the cut wire 202 along a shaped cut path 230, a through cut is made in the at least one workpiece 204 that determines the shape of one or more blades produced by the manufacturing method. Although not required, the shaping step separates the single blades, and for example, a bridge 231 of material can connect the blades to one another at the end of the shaping step. The shaping step can provide the workpiece with an end 32 that can form, for example, the distal end of the blade 14 of the blade link 30.

[0398] Of course, the sharpening and shaping steps may be performed in any order.

[0399] Between the sharpening and shaping steps, a further step is performed of rotating the fixture 214 about its axis of rotation FF through a sharpening rotation angle α.

[0400] According to one embodiment, a motor 218, for example an electric motor, is associated with the jig 214 to rotate a housing 217 of the jig 214 relative to the fixture 215. In this case, the step of rotating the jig 214 is performed by operating the motor 218. The electroerosion machine 200 also preferably comprises at least one electronic control system 242, the motor 218 being operatively connected to said electronic control system 242 of the machine 200. Thus, the step of rotating the jig 214 can be automated.

[0401] The sharpening rotation angle α is an angle different from 90°.

[0402] "Different from 90°" means to denote a deviation from 90° of at least 10°, i.e. a sharpening rotation angle α different from 90°±10°, which is significantly different from 90°. Preferably, this means to denote a sharpening rotation angle α different in absolute value from 90°, i.e. for any direction of rotation (clockwise or counterclockwise) around the rotation axis FF.

[0403] By providing a sharpening angle α other than 90°, an acute angle β can be created in the cross section of the workpiece body to form a cutting edge 34 .

[0404] According to a preferred embodiment, the sharpening angle α is an acute angle, net of a tolerance of ±10°, which can be understood as an angle less than 80°, preferably more than 10°, in absolute value.

[0405] The selection of the sharpening angle α determines the acute angle β in cross section of the cutting edge 34, so that the sharpening angle α, which measures the rotation of the workpiece relative to the cutting wire 202, can be selected to achieve the desired cutting performance of the cutting edge 34.

[0406] By such a method, at least two through-cuts can be obtained on the workpiece on two cutting planes that are not perpendicular to each other, at least one of the through-cuts being sharp, i.e. it forms a cutting edge 34, and the other through-cut being a shaped one.

[0407] Where the workpiece has a plate-like body, the shaped through cut is preferably performed by orienting the cutting wire 202 substantially perpendicular to the plane of the plate-like body to form a cut wall in the thickness of the workpiece that is short and strong, whereas the shaped through cut is preferably performed by orienting the cutting edge at an angle to the plane of the plate-like body to form a sharp profile in the thickness of the edge of the workpiece, i.e., in cross section.

[0408] The jig 214 may include mechanical stroke ends 220, e.g., two opposing stroke end ridges 220 facing opposing double-ended stroke abutment surfaces disposed on a housing 217 and fixed part 215 of the jig 214. In such a case, the rotating step may include abutting the housing 217 of the jig 214 against the stroke end ridges 220 of the fixed part 215 of the jig 214. The stroke ends 220 may be releasably associated with the jig 214 to allow the sharpening rotation angle α to be adjusted, e.g., one or more stroke ends may be extended and retracted.

[0409] The rotation step is performed avoiding removal of the workpiece 204 from the fixture 214 and avoiding removal of the fixture 214 from the wire electroerosion machine 200. Thus, replacement is avoided. The rotation axis FF of the fixture 214 can extend through the body of the workpiece 204, for example along the thickness 210 of the workpiece 204, where the workpiece has a plate-like body (e.g., it is a strip, ribbon, plate, sheet), and in such a case the rotation of the fixture 214 can also result in a rotation of the plate-like body of the workpiece 204 about one of its axes (e.g., median axis, axis of symmetry).

[0410] In this way, it is possible to manufacture one or more blades by making two through cuts in the workpiece 204 by wire electroerosion with two cutting planes that are non-orthogonal to each other and rotated by the sharpening angle α. The through cuts can be sharpened while avoiding removing the workpiece 204 from the fixture 214 and removing the fixture 214 from the wire electroerosion machine 200. This avoids repositioning at least one workpiece relative to the machine, thus achieving high cutting accuracy of the sharpening cuts and the forming cuts. Also, for example, calibration of the electronic control system of the electroerosion machine 200 is more reliable and can be performed only once, for example after the assembly step and before both the sharpening and forming steps.

[0411] To perform zeroing and calibration of the electroerosion machine 200, the method may include, prior to the sharpening step, a step of identifying a reference point 229 and approaching said reference point 229 with the cutting wire 202. The reference point 229 may be identified by contacting one or more points of the workpiece 204 with the cutting wire 202 once or multiple times. For example, two orthogonal sides of the plate-shaped body of the workpiece may be contacted to identify the reference point 229 that coincides with the apex of the plate-shaped body of the workpiece 204. According to the operating mode, said reference point 229 is included in the edge 234 of the workpiece 204 to be sharpened. Although not necessary, the approaching step makes the cutting wire 202 reach the reference point 229. The cut start points 232, 235 of the cutting paths of the sharpening 240 and / or shaping 230 may be close to or coincide with the reference point 229. Depending on the possible operating mode, the cut initiation points 232 , 235 of the sharpening 240 and / or shaping 230 cutting paths are located at positions having a predetermined geometric relationship to the reference point 229 .

[0412] According to a possible mode of operation, an identification and accessing step is carried out prior to each of said sharpening and / or shaping steps.

[0413] According to a possible mode of operation, the identification and approaching steps are carried out only once, prior to both the sharpening and shaping steps.

[0414] According to a possible mode of operation, the identification step comprises identifying a single origin of the cut path that serves as the origin of both the sharpening cut path and the shaping cut path, and the approaching step comprises approaching said single origin with the cut wire, both in preparation for the sharpening step and in preparation for the shaping step. According to a mode of operation, before both the sharpening step and the shaping step, the method comprises a step of identifying a single origin of the cut path that serves as the origin of both the sharpening cut path and the shaping cut path, and a step of approaching said single origin with the cut wire 202, preferably until said single origin is reached, both in preparation for the sharpening step and in preparation for the shaping step. This makes it possible to reset the machine, i.e. to calibrate it only once at the beginning of the method, avoiding recalibration. The identification of said origin can be performed by contacting a known fiducial on the fixture 214 with the cut wire 202. The identification of said origin can be performed by contacting a known fiducial on the workpiece 204 with the cut wire 202.

[0415] According to a possible mode of operation, the method creates multiple blades on a single workpiece 204, and the sharpening and shaping steps are the same for all of the multiple blades. For example, a single sharpening trajectory 240 is provided having a start point 235 and an end point 236 for the multiple blades, regardless of whether the multiple blades are the same or different.

[0416] According to a possible mode of operation, the sharpening step is performed by a single cut sharpening trajectory 240 of the cutting wire 202, and said shaping step is performed by a single cut shaping trajectory 230 of the cutting wire 202. Each cutting trajectory 230, 240 can accommodate multiple repeated passes of the cutting wire.

[0417] The sharpening through cut removes material from the edge 234 of the workpiece to be sharpened, exposing the sharpening cut wall 223 with the workpiece 204 and the cutting wire 202 forming a predetermined angle therebetween (depending on the selection of the sharpening angle α), selected such that the exposed sharpening cut wall 223 and the adjacent wall of the workpiece jointly form the cutting edge 34, i.e., a sharpened edge defined by the union of the sharpening cut wall 223 and the adjacent wall. In cross section, following the sharpening through cut, as shown for example in FIG. 61-C, the sharpening cut wall 223 preferably forms an acute angle β with the back surface 224 of the workpiece 204. The sharpening cut wall 223 may form an acute angle with the opposite surface 225, i.e., the front side of the workpiece 204.

[0418] According to the operating mode, said sharpening rotation angle α is equal to said acute angle β, however, such acute angle β formed between the sharpening cut wall 223 and another wall of the workpiece 204 does not necessarily correspond to said sharpening rotation angle α. According to one embodiment, the acute angle β is equal to 90°-α.

[0419] According to a possible mode of operation in which the workpiece has a plate-like body with parallel opposing faces 224, 225 defining a thickness 210 therebetween, the forming through cut is performed perpendicular to the opposing parallel faces 224, 225 through the thickness, and the sharpening through cut is performed through the thickness of the workpiece in a direction oblique to the opposing parallel faces 224, 225. Thereby, a cutting edge 34 is formed on one of the opposing parallel faces 224, 225 of the workpiece 204 transverse to (orthogonal in this case) the forming cut face and incident on the sharpening cut face.

[0420] If the workpiece 204 has a predetermined shape, such as, for example but not limited to, a flat strip or ribbon or sheet shape given by its plate-like body, and said sharpening rotation angle α is understood as the rotation angle of the plate-like body during the rotation step, then according to a preferred embodiment the sharpening rotation angle β is equal to or complementary to the sharpening rotation angle α.

[0421] The workpiece 204 may have a squat body or other non-plate-like body, and a sharpened through cut is made through the body of the workpiece 204 to form the cutting edge 34 .

[0422] The acute angle of the cutting edge 34 must be selected to optimize the cutting performance and find a compromise between penetration force and strength. Typically, an acute angle β of the cutting edge 34 less than 45°, e.g., 10° to 40°, allows for high cutting forces but is prone to premature wear (a tendency that increases with decreasing acute angle β amplitude), whereas an acute angle β of the cutting edge 34 greater than 45°, e.g., 50° to 80°, allows for a long service life, but the cutting edge 34 may exhibit resistance to cutting penetration under use conditions (a tendency that increases with decreasing acute angle β amplitude). An acute angle β in the range of 30° to 60° (values ​​understood here with a tolerance of ±10%) provides a satisfactory compromise for the application of one or more blades 30 in the field of robotic surgery.

[0423] According to a preferred embodiment, the acute angle β is substantially equal to 45°. This value can also be understood here with a tolerance of ±10%, but here it is preferred to indicate an acute angle β substantially equal to half of 90°, i.e. it forms a through cut in the workpiece body exposing the cut wall oriented at 45°. If the acute angle β depends on the sharpening rotation angle α, then said sharpening rotation angle α can be in the range of 20°-70°, preferably the sharpening rotation angle α is substantially 30°±10° or 45°±10° or 60°±10°. These values ​​should be understood in absolute values, i.e. they can be valid for any rotation direction of the body of the workpiece 204 relative to the cut wire 202 formed during the rotation step. Thus, 45° here means a rotation of 45° in one direction and an equal rotation of 45° in the opposite rotation direction. The direction of rotation can affect the orientation of the cut walls 223 exposed on the body of the workpiece 204 and determine whether the cutting edge 34 is included on the backside 224 or frontside 225 surface of the workpiece 204.

[0424] The sharpening angle α may be selected to minimize the distance between the workpiece and a datum of the machine 200 , such as the head 208 .

[0425] According to a possible mode of operation, the sharpening through cut of the sharpening step follows a cutting path 240 extending along the thickness 234 to be sharpened of the workpiece 204, thereby making it possible to form a substantially uniform cutting edge 34 along its extension, even if the edge 234 to be sharpened has a concave and / or convex geometric shape in the sharpening cut plane.

[0426] According to a possible mode of operation, the edge 234 to be sharpened of the workpiece 204 coincides with the edge of the workpiece body, for example the edge of a plate-like body such as a strip or a plate or a ribbon. The cutting path 240 of the sharpening through cut extends substantially straight along the edge of such margin, substantially chipping the edge, i.e. electroeroding material from the thickness 210 of the plate-like body of the workpiece, forming a gap exposing the cut surface 223 that is inclined with respect to the opposite faces 224, 225 of the plate-like body and that forms the cutting edge 34.

[0427] By selecting the sharpening rotation angle α, the orientation of the sharpening through-cuts and the forming through-cuts on the workpiece can be defined.

[0428] According to a preferred mode of operation, the shaped through cut traverses the body of the workpiece 204 in its thickness direction. According to a preferred mode of operation, the shaped through cut produces edges that are not sharp, for example forming two opposing angles of substantially 90° with the opposing faces 224, 225 of the workpiece, the workpiece having a predetermined regular shape, for example a plate-like body. The cut path 230 described by the shaped through cut can form a path that includes a curved portion, such as the hole edge 36, and according to a possible mode of operation, forming the hole edge 36 includes forming a radial passage channel 39 for passing the cutting wire. It is noted that the hole edge 36 can also be formed of a dashed portion of the hole edge 36, which does not necessarily have to be formed of a curved portion. The hole edge 36 can define one or more centering holes for receiving the articulating pin when in the operating state. The curvature described by the cut path 230 described by the shaped through cut can create the edge 34 to be sharpened, as can the curved, concave and / or convex edges to be sharpened. The feed rate parameters of the cut wire 202 can be adjusted to provide a good compromise between finishing time and production time. According to one embodiment, the shaping step creates parts with extreme resolution by said through cuts, such as legs with widths of a few hundredths of a millimeter.

[0429] According to a possible mode of operation, the shaped through cuts form edges that are not perpendicular to the opposing faces 224, 225 of the workpiece 204, i.e., the shaped cuts can form edges that are inclined relative to a definable lying plane of the workpiece.

[0430] According to a possible mode of operation, first the sharpening step is performed, then the turning step, then the shaping step, so that sharpening is performed and then shaping is performed. In this case, the shaping through cut can cross at least a part of the sharpening through cut, i.e. the shaping cut path 230 intersects with the sharpening cut path. According to this mode of operation, the method can first make it possible to form several blades, for example several blade links 30, from the same workpiece by sharpening at least a part of at least one edge of the workpiece 204 that is common, i.e. shared, to at least one group of blades to be formed, and then make it possible to form the individual blades, including performing a shaping through cut across the cutting edge 34 and thus cutting the cut wall 223 to separate or make separable the individual blades that can be obtained from the same workpiece 204. For example, if the workpiece is a plate-like body mounted in a fixture 214 that forms two opposing cantilever edges, the method may include first sharpening both of the edges and then molding the plurality of individual blades onto both opposing cantilever flaps.

[0431] According to a possible mode of operation, the sharpening step is performed before the shaping step, and the shaping cut path 230 of the shaping step does not extend along the cutting edge 34 formed by the sharpening step, i.e. no shaped through cut is made in the workpiece according to the profile of the previously machined cutting edge 34. The cut path 230 of the shaped through cut can shape the blade 30 across the cutting edge 34 transversely to the longitudinal extension of the cutting edge, interrupting the cutting edge of the workpiece 204.

[0432] According to a possible mode of operation, the cutting path 230 of the shaped through cut includes an outer section 238 of the cutting path 230 of the workpiece 204, which is in an outer position relative to the cutting edge 34 and at a certain distance therefrom, and the calibration verification step is performed along the outer portion 238 of the cutting path 230 and includes a sudden approach of the cutting wire to the cutting edge 34, which substantially traces a notch 239 on the cutting path 230. This makes it possible to verify the correct positioning of the workpiece 204, and in fact if a sudden approach of the cutting wire 202 to the cutting edge 34 results in an electrical erosion of material from the cutting wire 202, this indicates an anomaly, for example a possible positioning error of the workpiece.

[0433] FIG. 66-B shows an example of a shaped cut path 230 for a shaped through cut describing the shape of multiple blades 30 on the same workpiece forming undercuts, hole edges 36, and passage channels 39, said outer sections 238 relative to the cutting edge 34. The shaped cut path 230 shown here can be performed multiple times, i.e., in multiple repeated passes, e.g., repeated passes.

[0434] FIG. 66-B shows an example of a shaped cut path 230 of a shaped through cut that includes different intersecting return paths and results in the shaping and separation of a plurality of blades 30. According to a possible mode of operation, the cut profile 230 shown in FIG. 66-B can be understood as a single return path to at least one forward path shown in FIG. 66-A, in such a case, the single return path machines a substantially straight edge of the blade body, and the shaped through cut made along said single return path of the shaped cut path 230 performs the function of separating the blades. According to a possible mode of operation, the cut profile 230 shown in FIG. 66-B can be understood as a shaped cut profile independent of the one shown in FIG. 66-A, and the return path can be selected as required.

[0435] 67-A and 67-B show an example similar to the example shown in FIGS. 66-A and 66-B above.

[0436] The sharpening cut path can be performed several times, i.e. several repeated passes, for example in repeated passes, for example with a number between 3 and 11 passes, preferably between 3 and 7 passes. According to an operating mode, said sharpening cut paths of the sharpening step are performed more frequently than the forming cut paths of the shaping. This leads to a better finishing of the cutting edge 34. According to a preferred operating mode, the sharpening cut is performed before the forming cut, so that during the process of making the blade, the part is not subjected to vibrations during the first finishing pass or during the multiple finishing passes.

[0437] The form cut also preferably causes separation, i.e., separation of the blade 30, and preferably this is done after the blade is made, and preferably in a single pass.

[0438] According to a possible mode of operation, the sharpening step is performed by a single cut sharpening trajectory 240 of the cutting wire 202, and said shaping step is performed by a single cut shaping trajectory 230 of the cutting wire 202. Preferably, the sharpening cut path or trajectory 240 has a start point 235 and an end point 236 that can coincide if an even number of repeated passes are performed. Preferably, the shaping cut path or trajectory 230 has a start point 232 and an end point 233 that can coincide if an even number of repeated passes are performed.

[0439] For example, as shown in Fig. 68, a basket 243 for collecting the separated blades 30 can be provided. For example, the basket 243 is made up of two separable halves 244, 245, which can be, for example, joined and assembled around the lower head 206 of the electroerosion machine 200. When assembled, they form at least one collection chamber having a substantially annular shape for collecting the separate blades 30 that fall under the influence of gravity into the dielectric liquid tank 208. In such a case, the method can include, after the step of separating the blades 30, a step of collecting by gravity the blades 30 sharpened, shaped and separated by wire electroerosion.

[0440] 66-66C and 67-67C each show an example of a shaped cut path 230 of a shaped through cut representing the shape of multiple blades 30 on the same workpiece, each with connecting bridges 231, undercuts, hole edges 36, passage channels 39, said outer section 238 to the cutting edge 34. The shaped cut path 230 shown here can be performed multiple times, i.e. in multiple repeated passes, e.g. in repeated passes. In such a case, the method can include a step of separating the blades 30 including breaking the breakable connecting bridges 231 as performed elsewhere, e.g. the step of separating the blades by breaking the connecting bridges 231 can be performed during assembly of a finished product such as a surgical cutting instrument.

[0441] Figures 66D and 67D show some examples of semi-finished products 250 manufactured by a method according to any one of the operating modes described herein, for example comprising a number of blades each provided with a connecting bridge 231 made of a breakable material. According to the operating mode, the method further comprises the steps of producing said semi-finished products 250 and of separating the blades by breaking the respective connecting bridges 231.

[0442] The step of breaking the connecting bridges 231 can be performed by wire electroerosion, by shaped cuts.

[0443] According to a possible mode of operation, the shaping step is carried out first, then the turning step and then the sharpening step, so that shaping comes first and sharpening comes afterwards.

[0444] This possible operating mode is preferably carried out when the connecting bridges, the shape of the parts, or the thickness of the parts themselves are sufficient not to induce vibrations during one or more sharpening passes on an already formed part.

[0445] According to a possible mode of operation, the shaping step is performed first, then the turning step, then the sharpening step, then a further turning step, then a further shaping step, i.e. the shaping step can be partially performed before the sharpening step and completed after the sharpening step. According to this mode of operation, the shaping step can leave behind the shape of one or more blades interconnected by bridges of material 231, e.g. breakable bridges of locally reduced thickness material, which are traced by cuts on the workpiece.

[0446] According to one embodiment, the method determines the production of a plate-like body on which a number of blades are formed, e.g. a semi-finished product 250 comprising a number of blade links 30, each blade link having a cutting edge 34 along which the blade bodies are interconnected by one or more material bridges 231 of the workpiece body that have not been intentionally removed, e.g. a breakable material bridge.

[0447] The shaping step is performed first, then the turning step, then the sharpening step, where shaping creates on the workpiece 204 the shape of a shaped blade (but without cutting edge 34) with one or more cuts interconnected by material bridges 231, and the sharpening step can be performed on the sharpened edges 234 of the individual blade shapes, although the cut path can in some sections follow a continuous path that does not cross material of the workpiece that has already been removed, for example from the shaped through cuts.

[0448] Depending on the possible operating mode, the sharpening and shaping steps can be performed alternately, always including a rotation step between them.

[0449] It may include multiple sharpening cuts on different cut faces and / or multiple forming cuts on different cut faces. For example, it may include a step of rotating the tool between two adjacent sharpening steps and / or it may include a step of rotating the tool between two adjacent forming steps. For example, it may include a rotation angle of the tool 214 of substantially 90° between two forming cuts of the same workpiece, even if another sharpening cut is included between the two forming cuts, and further orientation is included.

[0450] For example, a rotation angle of the jig 214 of more than 90° can be included between two sharpening cuts of the same edge to be sharpened of the same workpiece, but to create an acute angle β in the body of the workpiece 204. According to a possible mode of operation, two sharpening through cuts are made in two cut faces rotated by 90°-150°, preferably 120°-150°.

[0451] According to a possible mode of operation, the method comprises a step of separating said one or more blades. The separating step can be included in the forming step, the cut path of the formed through cut forming one or more separate blades. If a semi-finished product 250 is produced in which a number of blades are cut and formed, each having a cutting edge 34 whose blade bodies are interconnected by one or more material bridges 231, the separating step can comprise breaking said material bridges 231 and can also be performed at the assembly site.

[0452] Depending on the possible operating modes, the workpiece 204 is an elastic body having an elastic deformation body for exerting an elastic reaction force. According to one embodiment, the workpiece 204 is an elastic plate-like body, for example an elastic strip adapted to bend elastically. By providing an elastically bendable workpiece, it is possible to make small elastic blades having an elastically bendable body.

[0453] Preferably, the workpiece 204 is made of a metallic material. The workpiece 204 can be made of blade steel. For example, one or more surface treatments 228 on the workpiece, such as coatings and / or heat treatments, can be included to make the cutting edge 34 harder and more wear-resistant when in operation. According to one embodiment, the cutting edge 34 includes a surface treatment 228 on at least the surface 35 that is intended to function by mechanical interference contact with an opposing blade when in operation.

[0454] The workpiece 204 may undergo bending, such as press-bending, as shown in Fig. 64. In such a case, the method may include bending the blade, such as the blade 14 and / or the blade link 30. This may include, for example, including a press 260 having a hammer 261 and anvil 262. The curvature from the press-bending may impart elastic properties to the blade 30.

[0455] According to a possible mode of operation, the method comprises a step of treating the surface of the workpiece to obtain a workpiece surface treatment 228. The step of treating the surface can also be performed multiple times.

[0456] According to a possible mode of operation, a surface treatment step is carried out before the sharpening step. If the surface treatment 228 is carried out before said sharpening step, the wall 223 exposed by the flush cut of the cutting edge 34 is not surface treated 228. In this case, for example, a "no-back-bevel" or "chisel edge" type of sharpening can be obtained. In these types of sharpening, the surface 35 of the cutting edge 34 intended to function by mechanical interference contact against the opposing blade when in the operating state comprises the surface treatment 228, whereas the opposite cut wall 223 does not comprise any surface treatment 228.

[0457] According to a possible mode of operation, a step of treating the surface is carried out after the sharpening step. If the surface treatment 228 is carried out after said sharpening step, the wall 223 exposed by the flush cut of the cutting edge 34 can include the surface treatment 228.

[0458] According to a possible mode of operation, the step of treating the surface comprises the step of creating a diamond-like-carbon (DLC) type coating.

[0459] According to a possible mode of operation, the step of treating the surface comprises, for example, carrying out a heat treatment of the "kolsterizing" type.

[0460] According to the mode of operation, the step of coating the surface is carried out when the workpiece is in the form of a semi-finished product 250 having a body integrally comprising a number of shaped blades interconnected by connecting bridges 231. This facilitates the miniaturization of the blades, since by positioning the body of the semi-finished product 250, for example a ribbon or strip, a number of blades can be positioned together for the surface treatment.

[0461] According to a possible mode of operation, the method further comprises, after the forming step, a further reshaping step for performing a second shaping on a second cut surface, performing a second shaping through cut on at least one workpiece 204 with the cutting wire 202 on the second cut surface, and between the forming and reshaping steps, a step of rotating the fixture 214 by a shaping angle, preferably substantially equal to 90°. According to this mode of operation, it is preferable to perform a shaping step before the sharpening step. As shown, for example in the sequence of Figs. 74A-C, it is possible to perform first a shaping step, then a sharpening step, then a reshaping step, and between the forming and reshaping steps, the workpiece 204 is rotated by a rotation of the fixture or a part thereof by an angle substantially equal to 90°.

[0462] Between the forming and sharpening steps, the workpiece 204 can be rotated through a sharpening angle α.

[0463] This allows two shaping cuts and one sharpening cut to be made on the same workpiece 204 .

[0464] According to a possible mode of operation, the loading step comprises loading a number of workpieces 204, 304 in the fixture 214, and the sharpening and shaping steps comprise sharpening and shaping each workpiece individually. In other words, according to this mode of operation, each workpiece 204, 304 is processed individually, avoiding making simultaneous cuts on multiple workpieces. If different cuts are to be made on different parts, the cuts can be made successively on the different parts.

[0465] According to a possible mode of operation, the mounting step includes a step of mounting at least a second workpiece 204, 304 in said fixture 214 as well, in order to obtain at least two workpieces 304 mounted in the same fixture 214, the method further including a step of sharpening at least one edge of said second workpiece 304 to be sharpened, the method including a further step of rotating at least a part of said fixture 214 between the step of sharpening at least one edge of at least one workpiece 204 and the step of sharpening at least one edge of said second workpiece 304, thereby making it possible to obtain different sharpnesses on the different workpieces 204, 304.

[0466] As shown in Fig. 71, for example, two sharpening cuts can be made on different workpiece parts by rotating the housing 217 mounting each workpiece part 204, 304 through different sharpening angles, i.e., the first workpiece part 204 is rotated through a first sharpening angle α and the second workpiece part 304 is rotated through a second sharpening angle α2. This allows sharp edges with different acute angles β to be formed on the different workpiece parts 204, 304.

[0467] As shown in Fig. 72, it is possible to perform two sharpening cuts on different workpieces 204, 304 rotating together with each other, for example by including a further step of rotating at least a part of the fixture 214 by a predetermined angle, for example an angle equal to α2-α, between the two sharpening steps, i.e. between the step of sharpening at least one edge to be sharpened of at least one workpiece 204, 304 and the step of sharpening at least one edge to be sharpened of the second workpiece 304, where the angles α and α2 may differ from each other by any amount. The angle α2 can be selected according to the same as described for the angle α and therefore with reference to the direction of the cutting wire 202 for performing the shaping cut.

[0468] Depending on possible operating modes, the fixture 214 receives a number of workpieces 204 having plate-like bodies arranged so as to be individually and singly machinable by the cutting wire 202 in one or more rotational configurations of the fixture 214.

[0469] 73, for example, three (or more) workpiece parts 204 having plate-like bodies can be arranged in a star configuration on the fixture 214, i.e., with respective cantilever flaps extending radially from housing 217 of the fixture 214 to housing 217. For example, the workpiece parts in a star configuration can be sharpened individually, which can include rotating the housing 217 of the fixture 214 between sharpening one workpiece part and sharpening the other workpiece part.

[0470] According to one embodiment, fixture 214 or jig 214 includes clamping a number of planar elements (strips) that can be individually machined by electroerosion in one or more rotational configurations.

[0471] According to a possible mode of operation, the method comprises at least two shaping steps, namely a shaping step and a reshaping step, with a further step of rotating the tool 214 by a shaping angle, preferably substantially equal to 90°, between said two shaping steps, i.e. the two shaping steps are preferably performed on two cut surfaces perpendicular to each other. It is also possible that the method first comprises a first shaping step, then rotate the tool 214 by said sharpening rotation angle α (for example α=40°), perform a sharpening step, then rotate the tool 214 again by an angle equal to 90°-α (50° in this example) and perform a second shaping step, with the tool 214 having been rotated by 90° from the first shaping step to the second shaping step.

[0472] This mode of operation is advantageous for producing, with a single placement of the workpiece within the electroerosion machine 200, an assembly of interassembled links of an articulated end effector of a surgical cutting instrument (e.g., surgical scissors or needle driver / scissors), at least one of the links of the link assembly having a cutting edge 34, such as a blade link 30 and / or a tip link 10 including a blade 14.

[0473] In light of the above, a method for manufacturing multiple links of an articulated end effector 9 for a surgical cutting instrument 1 by wire electroerosion will now be described.

[0474] The articulated end effector 9 is preferably actuable by an actuation tendon. The articulated end effector 9 may be an articulated end effector according to any one of the previous embodiments.

[0475] According to a general embodiment, a method for manufacturing a plurality of links of an articulated end effector 9 by wire electroerosion includes the following steps.

[0476] The method includes providing a wire electroerosion machine 200 comprising a cutting wire 202 and a fixture 214 rotatable relative to the cutting wire about an axis of rotation FF transverse to the longitudinal extension of the cutting wire.

[0477] The method includes mounting multiple workpieces 204, 302, 320, 350, 390 to rotate together with the fixture 214 so that the cutting wire 202 crosses at most one of the workpieces 204, 302, 320, 350, 390 at a time. In other words, the workpieces are mounted in the fixture in an arrangement (e.g., aligned with each other with a certain distance between two adjacent parts or arranged on a curve) that can be processed alone, i.e., individually, by the cutting wire 202 and avoids cutting multiple workpieces at the same time. The multiple workpieces can include shaped parts 302, 320, 350, 390 that are intended to be formed on two cutting surfaces but not sharpened, and workpieces 204, 304 that are intended to be sharpened and formed. The molded parts 302, 320, 350, 390 may be, for example, cylinders mounted on the fixture 214 so as to protrude cantilever-like in a direction parallel to the rotation axis FF.

[0478] This method makes it possible to make all the links (e.g. articulated cuffs) of the articulated end effector 9 of the surgical instrument 1. The molded parts 302, 320, 350, 390 are according to embodiments intended to form the links 2, 20, 50, 90 of the articulated end effector 9 described above, in particular the connecting link 90, the support link 2 with the support structure, the second tip link 20, the blade holder link 50 of the first tip 10.

[0479] This method makes it possible to make a subgroup of links of an articulated end effector 9. The parts 320, 350 to be molded are according to one embodiment adapted to form the links 20 and 50 of an articulated end effector 9, in particular the second tip link 20 and the blade holder link 50 of a first tip 10.

[0480] The method further includes the steps of sharpening at least one edge 234 of at least one of the plurality of workpieces 204 by making a sharpening through-cut on at least one workpiece 204 with the cutting wire 202, and successively shaping at least some, and preferably all, of the workpieces of the plurality of workpieces, one at a time, by making shaping through-cuts with the cutting wire 202.

[0481] Between the sharpening step and the shaping step on the first cut surface, a further step is performed of rotating the tool 214 about its rotation axis FF through a sharpening rotation angle α different in absolute value to 90°. With regard to the sharpening angle α, one or more of the considerations mentioned above can apply.

[0482] The method further includes a further step of reshaping at least some or all of the workpieces of the plurality of workpieces on a second cut surface by sequentially making shaping through cuts with a cutting wire 202 through at least some of the workpieces of the plurality of workpieces, one at a time.

[0483] Between the shaping step on the first cut surface and the shaping step on the second cut surface, a step of rotating the jig 214 around its rotation axis FF through a rotation angle of approximately 90° is included. As explained above, depending on the order, which can be arbitrarily selected, of the sharpening step, the shaping step on the first cut surface and the shaping step on the second cut surface, this rotation step can be operatively performed with two execution moments through a rotation angle substantially equal to 90°. One of the two execution moments corresponds to a step of rotating the jig 214 around the rotation axis FF through the sharpening rotation angle α.

[0484] The arrangement of the workpieces of the plurality of workpieces on the fixture should preferably satisfy the condition that the cutting wire 202 crosses at most one workpiece at a time in each step (sharpening, first forming, second forming). For example, if only one of the workpieces undergoes a sharpening step, such workpiece 204 can be placed at the edge of a row in which the workpieces of the plurality of workpieces are placed.

[0485] The housing 217 of the fixture 214, i.e., the portion of the fixture that is rotatable relative to the fixed portion 215, in this embodiment preferably includes a number of housing seats 241 that rotate together with one another. Preferably, the multiple housing seats 241 are aligned with one another.

[0486] According to a possible mode of operation, the shaped part and the sharpened part are assembled together. The method may therefore comprise a step of assembling together the parts obtained.

[0487] According to a possible mode of operation, the shaping and / or reshaping step comprises shaping the two workpiece parts differently. According to a possible mode of operation, the shaping step comprises shaping the two workpiece parts such that one portion of one shaped part is complementary to one portion of another shaped part.

[0488] According to a possible mode of operation, the rotating step comprises providing a rotary support table and rotating said rotary support table, which is preferably integral with at least one, preferably all, of the workpieces.

[0489] According to a possible mode of operation, the method is carried out by providing at least a portion of the plurality of workpieces in the form of a cylinder of material, for example the parts to be shaped 302, 320, 350, 390 being mounted in a fixture 214 so as to protrude in a cantilever manner, on which the shaping and reshaping steps form 90° edges, in other words the shaping and reshaping steps remove material from the curved sides of the cylinder to form orthogonal faces.

[0490] According to a possible mode of operation, the method includes assembling together three links of an articulated end effector, at least one link being a link including a cutting edge 34, and the housing 217 of the fixture 214 including three housing seats 241 that rotate together with one another. For example, the three links are the blade link 30 having the cutting edge 34, the blade holder link 50, and the second tip link 20 including the opposing blade surface 24.

[0491] It is also possible for two links to be obtained from a single workpiece, in which case the method can assemble together multiple links of the articulated end effector 9, at least one link being a link that includes a cutting edge 34, and the housing 217 of the fixture 214 includes at least two housing seats 241 that rotate together with one another. For example, the blade holder link 50 and the second tip link 20 can be manufactured from the same workpiece.

[0492] According to a possible mode of operation, the method includes assembling together five links of an articulated end effector 9, at least one of which is a link with a cutting edge 34, and the housing 217 of the fixture 214 includes five housing seats that rotate together with each other. If two links are obtained from a single workpiece, in such a case the method includes assembling together five links of an articulated end effector 9, at least one of which is a link with a cutting edge 34, and the housing 217 of the fixture 214 includes at least two housing seats 241 that rotate together with each other.

[0493] Depending on the mode of operation, at least one workpiece 204 for forming a link having a cutting edge 34 has a plate-like body, e.g., an elastic strip, and the workpiece for forming the other link is a squat-like body, e.g., a cylinder with a circular base.

[0494] Preferably, at least one of the workpieces 204 is machined by sharpening and forming in one go, and the other workpieces 302, 320, 350, 390 are not machined by sharpening, whereby each workpiece is machined with two through cuts on two different cut planes without disassembling the workpiece between cuts, whereby at least the sharpening cuts on at least one of the workpieces 204 can have a different inclination than both forming cuts performed overall, so that the through cuts are not the same for all workpieces.

[0495] According to a general embodiment, a semi-finished product 250 is provided which comprises a one-piece plate-like body, e.g. a sheet-like body, having a plurality of shaped blades connected to each other by one or more breakable connecting bridges 231.

[0496] Workpiece 250 may include any of the features described with reference to any of the previous embodiments.

[0497] The workpiece 250 may include a surface treatment 228 or may be intended to receive a surface treatment 228 .

[0498] According to a general embodiment, a fixture 214 or jig 214 for the electroerosion machine 200 is provided.

[0499] The fixture 214 or jig 214 comprises a fixed part 215 for mounting the fixture 214 to the electroerosion machine 200 and a housing 217 for receiving at least one workpiece 204, the housing 217 being rotatable relative to the fixed part 215 about a rotation axis FF.

[0500] Preferably, the fixture 214 further comprises a motor 218 for rotating the housing 217 relative to the fixed portion 215 .

[0501] The fixture 214 or jig 214 may include any of the features described with reference to any of the previous embodiments.

[0502] According to one embodiment, the housing 217 of the fixture 214 comprises a number of seats for receiving a number of workpieces, the seats for the number of workpieces being arranged such that two orthogonal lines intersect one workpiece at a time. In other words, the seats are arranged such that when a workpiece is mounted in the fixture 214, the cutting wire 202 of the electroerosion machine 200 cuts only one of the workpieces at two orthogonal cutting planes. Preferably, the seats for the number of workpieces are arranged such that three lines, two mutually orthogonal lines and a third line inclined by a sharpening angle α, intersect only one workpiece at a time. For example, the seats are arranged on the fixture 214 such that they are aligned with each other at a predetermined relative distance.

[0503] According to an embodiment shown diagrammatically in Figures 70A-70C, the fixture 214 comprises two housings 217, 270 rotatable separately or jointly with respect to a fixing 215 to the machine 200, the first housing 217 receiving the workpiece 204 and forming a sharpening cut and a shaping cut thereon, and the second housing 270 receiving both the first housing 217 and one or more further workpieces 302, 320, 350 and forming two orthogonal shaping cuts thereon. Preferably, the first housing 217 is mounted to the second housing 270 so as to be rotatable relative to the second housing about a rotation axis FF. A single motor 218 for obtaining the rotation of the first housing 217 and the second housing 270 may be included.

[0504] Thanks to the above features, provided separately or in combination in certain embodiments and in certain operating modes, it is possible to meet the above-mentioned needs despite their inconsistencies and to obtain the above-mentioned advantages, in particular the following advantages:

[0505] - The open / close degree of freedom makes it possible to perform cutting actions.

[0506] - Extreme miniaturization of the articulated end effector of the surgical instrument is possible compared to known solutions.

[0507] It is possible to stack the roots of the links between the protrusions of the support structure while avoiding the provision of elastic washers and adjustment screws, as well as tapping or thread machining at the level of the mounting roots, which allows for an extremely compact articulated end effector.

[0508] In particular, the articulating pin 5 is not threaded.

[0509] Neither the edge surfaces of the through holes in the roots of the respective links nor the inner surfaces of the through holes of the projections which pass through the projections of the support structure are tapped, i.e. not internally threaded.

[0510] - The articulating pin is not fitted with elastic elements, such as the "Belleville washer" type.

[0511] The base part may be a cylinder tightly stacked like a pack between the prongs of the support forks.

[0512] - the root part makes it possible to provide the necessary elasticity for the cutting action within the body of the tip and outside the proximal mounting root part, i.e. away from the pin in the direction of the free end, in particular to the blade of the first tip and, if necessary, to the opposing blade of the second tip, and thus to perform a precise cutting action whilst forming an extremely miniaturised articulated end effector;

[0513] In particular for relatively large opening angles of the opening / closing degree of freedom, it is preferred that the blades are free, i.e. do not elastically deform, and are straight in such a configuration.

[0514] As the opening angle of the open / close degree of freedom is closed, the blade is elastically bent and elastically pushes against the opposing blade.

[0515] The elasticity required for the cutting action is concentrated distal to the root, making it possible to provide a deformation seat that can accommodate relatively large axial bending of the blade or counterblade.

[0516] - The root parts stacked in a pack between the projections provide a reaction force against the elastic bending deformation of the blade, avoiding axial sliding at the articulating pin and thus enabling a precise and effective cutting action of the cutting edge.

[0517] By providing an elastically bendable opposing blade, a surgical scissors-type surgical instrument can be made which allows for precise cutting movements even at high opening angles, i.e. the cutting edge can be pushed against the opposing blade even proximally, i.e. closer to the articular pin, substantially closer to the level of the root.

[0518] The roots stacked like a pack between the projections provide a reaction force against elastic bending deformation, even when an elastically bendable opposing blade is included.

[0519] The blade link and opposing blade link, if present, are resisted in rotation by the first and second tip links, thus acting as blade holder links and reaction links.

[0520] The provision of all coaxial through-holes in contact with the articulating pins in the receiving roots makes it possible to avoid undesired relative rotation between the roots and provides a certainty of the positioning of the cutting edge with respect to the opposing blade, which allows for an extremely compact articulated end effector, since small rotational movements close to the level of the roots, i.e. the common axis of rotation, would result in relatively large cutting imprecisions.

[0521] Furthermore, the hole in the blade link has a proximal edge which presses against the pin, thereby creating a counter force against the friction between the blade and the opposing blade during the cutting action, which helps to obtain a precise cutting action.

[0522] The cutting edge of the blade link can be straight, i.e. without concavity, facilitating serial production, for example starting from a single band or strip.

[0523] The blade link and counter-blade link, if present, can rotate together with the free end to perform the cutting action in various orientations of the yaw degree of freedom, which allows to reproduce the orientation of the surgeon's hand, which is not only highly intuitive but also makes it easier to observe, for example, under a microscope.

[0524] By providing abutment of the closing stroke end away from and distal to the articulation pin, high precision of closure is possible and the proximal region of the support fork is not occupied, which is advantageous for extreme miniaturization.

[0525] The tendon termination seats and textured pulley surfaces made integral with each link provide compactness advantages, reducing the number of parts and helping to keep the articulated end effector compact.

[0526] In the case of needle driver / scissor type surgical instruments, a blade is interposed between the distal links, allowing the blade to be hidden in a closed end effector, for example allowing a suture to be wrapped around the distal links without being damaged.

[0527] By providing one rotating drag engagement between the two links at the first tip and / or the second tip (if present), drag clearance can be minimized, which is advantageous for miniaturization.

[0528] - An axially rigid rotary joint is provided, the cutting action being carried out by the elements forming the rotary joint.

[0529] The revolute joint defining the common axis of rotation YY may be a hinge.

[0530] The reaction link may be an opposed blade holder link 60 in which a separate opposed blade link 40 is included, or it may be a second tip link 20 with said opposed blade 24 in one piece.

[0531] The first tip 10 may comprise a blade holder link 50 having a mounting root provided with a convex ruled surface onto which the tendon wraps without sliding.

[0532] The blade holder link may be provided with a gripping surface.

[0533] - At least when the blade is made by wire electroerosion (WEDM), it is possible to obtain an excellent surface finish of the wall made by the through cut by wire electroerosion, which helps to promote product miniaturization in the manufacturing process, and also two non-orthogonal cuts are made to shape and sharpen the same workpiece, avoiding repositioning of the workpiece and thus further improving the finish.

[0534] At least when the blade is made by wire electroerosion (WEDM), a "no-back-bevel" type sharpening is possible, i.e. a "chisel edge" in which the cutting edge has one or more passes along one sharpening cut path.

[0535] - Resilient blades can be formed, at least when the blades are made by wire electroerosion (WEDM).

[0536] It is possible to produce multiple blades, e.g. multiple blades, from one workpiece in a single continuous cutting operation, at least when the blades are made by wire electroerosion (WEDM).

[0537] At least when the blade is made by wire electroerosion (WEDM), the rotation angle of the fixture from the sharpening step to the shaping step or vice versa is different from 90°.

[0538] At least when the blade is made by wire electroerosion (WEDM) and two forming steps are involved, the rotation angle of the fixture from the forming step to the re-forming step is substantially 90°.

[0539] - At least if the blade is made by wire electroerosion (WEDM), the shaping step may include a step of leaving the material bridges intact to create the semi-finished product 250.

[0540] - At least when the blade is produced by wire electroerosion (WEDM), a coating step can be performed on the workpiece 250 after performing the sharpening step and / or on the workpiece 204 before performing the sharpening step.

[0541] At least when the blade is produced by wire electroerosion (WEDM), the shaping step can include a step of separating the blade from the workpiece.

[0542] It will be appreciated that one or more combinations of the disclosed features, structures, or functions in the appended claims form an integral part of the specification.

[0543] To meet certain contingent needs, those skilled in the art can make some modifications and adaptations to the above-described embodiments and replace elements with other functionally equivalent ones without departing from the scope of the appended claims. [Explanation of symbols]

[0544] 1 surgical instruments 2 Support Links 3 First protrusion of support structure 4 Second protrusion of support structure 5 Pivot pin or articulated pin 6. Third pair of support link end seats for actuating tendons or third support link end seats 7 Surgical instrument shafts or rods 8 Distal shaft or rod end 9 Articulated end effector, or articulated end device, or hinged end effector, or hinged end device 10 1st tip 11 first proximal attachment base of first tip, or first tip attachment base 12 a first distal free end of the first tip, or a free end of the first tip 13 First gripping surface of first tip, or first tip gripping surface 14 First Tip Blade 15 First end seat of first tip 16 First through hole in first base portion of first tip 18 First end surface facing axially inward 19 Radial cut channel 20 Second tip 21 second proximal attachment base portion of second tip, or second tip attachment base portion 22 a second distal free end of the second tip, or a free end of the second tip 23 Second tip connecting stem 24 2nd tip opposing blade 25 Second tip second end seat 26 second through hole in second base portion of second tip 27 Second tip interface cut section 27.0 Proximal free end of cut interface 27.1 First proximal arm of cut interface 27.2 Second Distal Arm of Cut Interface 28 Axial deformation seat of second tip or axial deformation seat of opposing blade 29 Radial cut channel 30 Blade Link 31 Proximal attachment root of blade link or blade link root 32 Tip blade link end 33 Horizontal Blade Link Bridge 34 Incisal edge of blade 35 Axial inward facing blade surface 36 Edge of first through hole of blade link 37 Blade link drag engagement part 37.0 Blade link drag seat inlet opening 37.1 Blade Link Closing Drag Surface 37.2 Blade link opening drag surface 37.3 Blade Link Open Drag Leg 37.4 Cantilever blade link ear 38 Circular arc surface of hole edge at root of blade link 39 Blade link root cut channel 40 Opposed Blade Link 41 Proximal attachment root of opposing blade link or opposing blade link root 42 distal opposing blade link end 43 Axial inward facing surface of opposing blade holder link recess 44 Axial deformation seat for the blade of the blade holder link 45 Axial opposing blade link recess 46 Opposing blade link support surface 47 Second tip link reaction seat 47.0 opposed blade link drag ear 47.1 Opposed Blade Link Closure Drag Surface 47.2 Opposed Blade Link Opening Drag Surface 48 Screw-fixed wall 48.1 Screw-mounted wall recess 49 Radial cut channel in opposed blade link 50 Blade holder link 51 Proximal attachment root of blade holder link or blade holder link root 52 Distal Blade Holder Link End 54 Closing stroke end face of first tip 55 First tip body connection part or first connection part 57 Blade holder link drag engagement part 57.0 Blade holder link drag teeth 57.1 Blade holder link closing drag surface 57.2 Blade holder link opening resistance surface 58 Axial inward facing surface of blade holder link 60 Opposed blade holder link 61 Proximal mounting root of opposing blade holder link 63 Second tip gripping surface or second gripping surface 64 Cutting edge of opposing blade 65 Main body connection part or second connection part of second tip 66 Notch 67 Opposed blade holder link reaction seat 67.1 Opposed Blade Holder Link Closure Drag Surface 67.2 Opposed blade holder link opening resistance surface 68 Sutures 69 Elastic Legs 70 Tendon End 71 First tip release tendon 72 First end closure tendon 73 Opening tendon at the second tip 74 2nd tip closed tendon 75 Operating tendon of supporting link 76 Support Link Operation Opposite Tendon 77 Cantilever drag leg of first end seat of first tip 77.1 Free End of Leg 78 Cantilever drag leg of second end seat of second tip 78.1 Free End of Leg 79 First end woven pulley surface 80 2nd tip woven pulley surface 81 First external contact surface of the first root portion, or the external contact surface of the first root portion 82 Second external contact surface of the second root portion or the external contact surface of the second root portion 83 First internal contact surface of the first root portion or the internal contact surface of the first root portion 84 Second internal contact surface of second root portion or internal contact surface of second root portion 85 Blade link contact surface 86 Blade holder link contact surface 87 Internal contact facing surface of the first projection, or first internal contact facing surface of the first projection 88 The inner contact facing surface of the second projection, or the second inner contact facing surface of the second projection 89.1 Opposing blade link abutment surface 89.2 Opposing blade holder link contact surface 90 Connecting Links 91 First prong of connecting link 92 Second prong of connecting link 93 Proximal joint pin 94 Fixed Devices 96 Convex ruled surface of support link 97 Convex ruled surface of connecting link 98 Convex ruled surface of support link 99 Convex ruled surface of connecting link 101 Robotic Surgery System 102 proximal shaft end 103 Robot Manipulator 104 Proximal interface of surgical instrument or back end of surgical instrument 105 Positioning Arm 106 Supports, carts, or towers 107 Master Console 108 Master Control Device 200 Wire Electroerosion Machine 202 Cut Wire 204 Workpiece to form blade 205 Flap 206 Lower head of electric erosion machine 207 Upper head of electric erosion machine 208 Electric Erosion Machine Tank 209 Electric Erosion Machine Reel 210 Thickness of the workpiece 211 Pipeline 212 Pump 213 Nozzle 214 Jigs or fixtures 215 Jig fixing part 216 Electric Erosion Machine Bracket 217 First rotating part that accommodates the jig 218 Jig or Fixture Motor 219 Screw 220 Stroke end of jig 221 Fixture flow straightening surface 222 Fixture flow straightening surface 223 Cut wall of processed part 224 Back side of the processed part 225 Surface of the workpiece 228 Surface treatment, e.g. coating and / or heat treatment 229 Calibration Reference Point 230 Formed cut trajectory or path 231 Connecting Bridge 232 Starting point of form cut trajectory or route path 233 End of form cut trajectory or route path 234 Edge of the workpiece 235 Start of sharpening cut trajectory or route path 236 End point of sharpening cut trajectory or route path 238 External Cut Profile Section 239 Cut Profile Notch 240 Sharpening cut trajectory or path 241 Longitudinal slot in fixture housing 242 Control Systems 243 Bowl 250 semi-finished products 260 Press 264 Pressing hammer 262 Pressing Anvil 270 Second rotating section for accommodating the jig 302 Molded parts constituting a support structure, e.g. a connecting link 304 Second workpiece 320 Molding target part constituting the second end link 350 Parts to be molded that make up the blade holder link 390 Molded parts constituting the connecting link 502 Distal Rotation Joint 509 Proximal Rotation Joint α Sharpening rotation angle β Acute angle of sharp edge XX Longitudinal shaft or rod axis YY common rotation axis, or common distal rotation axis, or common yaw rotation axis PP Common proximal or pitch axis FF jig rotation axis W Cut wire feed direction or cutting direction Y Yaw Degree of Freedom P pitch freedom G Open / close direction, cutting freedom R Roll freedom POC At least one point of contact between a blade and an opposing blade D1 Back side of first tip P1 Cut side of first tip D2 Back side of second tip P2 Cut side of second tip Y5 Axial distance Y5' Axial distance Y8 Axial distance

Claims

1. A surgical instrument (1) for a robotic surgery system (101), comprising an articulated end effector (9), said articulated end effector (9) comprising a support structure, a first tip (10) having a first proximal attachment root (11) and a distal first free end (12), a second tip (20) having a second proximal attachment root (21) and a distal second free end (22), wherein the support structure, the first tip (10), and the second tip (20) are articulately coupled to each other about a common rotation axis (Y - Y), defining an axial direction that coincides with or is parallel to the common rotation axis (Y - Y), and defining a relative opening / closing degree of freedom (G) between the first tip (10) and the second tip (20), the first proximal attachment root (11) of the first tip (10) and the second proximal attachment root (21) of the second tip (20) are adjacent to the support structure in the axial direction, the first tip (10) includes a blade (14) having a cutting edge (34) that rotates integrally with the first free end (12), the blade (14) of the first tip (10) is elastically bendable in the axial direction, the second tip (20) includes an opposing blade (24) that rotates integrally with the second free end (22), the opposing blade (24) is adapted to abut against the cutting edge (34) by elastically bending the blade (14) of the first tip (10) in the axial direction, whereby the cutting edge (34) of the first tip (10) and the opposing blade (24) of the second tip (20) reach a mechanically interfering contact state and perform a cutting operation, the first proximal attachment root (11) of the first tip (10) is in direct close contact with the support structure, and the second proximal attachment root (21) of the second tip (20) is in direct close contact with the support structure, surgical instrument (1).

2. The first proximal attachment root (11) of the first tip (10) and the second proximal attachment root (21) of the second tip (20) are articulately coupled to the support structure about the common rotation axis (Y - Y), defining a degree of freedom in direction (Y) between the support structure and an assembly formed by the first tip (10) and the second tip (20), The surgical instrument (1) according to claim 1.

3. The first proximal attachment base portion (11) and the second proximal attachment base portion (21) are jointly interposed in the support structure, and / or, the first proximal attachment base portion (11) of the first tip (10) includes a first external contact surface (81) facing axially, and the support structure includes a first protrusion (3) including a first internal contact opposing surface (87) facing axially, the second proximal attachment base portion (21) of the second tip (20) includes a second external contact surface (82) facing axially, and the support structure includes a second protrusion (4) including a second internal contact opposing surface (88) facing axially, the first external contact surface (81) of the first proximal attachment base portion (11), the first internal contact opposing surface (87) of the first protrusion (3), the second external contact surface (82) of the second proximal attachment base portion (21), and the second internal contact opposing surface (88) of the second protrusion (4) are all parallel to each other, The surgical instrument (1) according to claim 1 or 2.

4. The opposing blade (24) of the second tip (20) protrudes axially so as to bend the first tip (10), The opposing blade (24) is preferably a curved protruding surface having a concave surface facing axially inward, The surgical instrument (1) according to claim 1.

5. The body of the opposing blade (24) of the second tip (20) is preferably elastically bendable axially outwardly in the axial direction, The surgical instrument (1) according to claim 1.

6. The body of the second tip (20) includes a proximal cantilever arm (27.1), The proximal cantilever arm (27.1) is elastically deformable axially outwardly and has a proximal free end (27.0), and the proximal portion of the opposing blade (24) is included in the proximal cantilever arm (27.1), Preferably, the surgical instrument (1) is capable of performing a cutting operation at an opening angle with an opening / closing freedom of up to 60°, The surgical instrument (1) according to claim 5.

7. At least one of the first tip (10) and the second tip (20) includes an axial deformation seat portion (28, 44), The axial deformation seat portion (28, 44) forms an axial recess for accommodating elastic deformation of the blade (14) or the opposing blade (24) during the cutting operation, The surgical instrument (1) according to claim 1.

8. The first proximal attachment root portion (11) of the first tip (10) is provided with a first through hole (16), and the second proximal attachment root portion (21) of the second tip (20) is provided with a second through hole (26). The first through hole (16) of the first proximal attachment root portion (11) and the second through hole (26) of the second proximal attachment root portion (21) are all circular through holes coaxial with the common rotation axis (Y - Y), and receive one articulation pin (5) extending in the direction of the common rotation axis (Y - Y). The surgical instrument (1) according to claim 1.

9. The body of the first tip (10) is formed by two separate parts or links. The separate parts or links are a blade link (30) having a body integrally provided with the blade (14) having the cutting edge (34) and a blade link root portion (31), a blade holder link (50) having a blade holder link root portion (51), and include the blade link root portion (31) and the blade holder link root portion (51) are adjacent to each other and in direct contact with each other, and jointly form the first proximal attachment root portion (11) of the first tip (10). The surgical instrument (1) according to claim 1.

10. A rotational resistance engagement is provided between the blade link (30) and the blade holder link (50) of the first tip (10). The rotational resistance engagement is disposed distally with respect to the first proximal attachment root portion (11) of the first tip (10), and preferably is disposed along the longitudinal extension of the blade (14). The surgical instrument (1) according to claim 9.

11. The blade link (30) is provided with a closing stroke end. The closing stroke end is disposed distally with respect to the first proximal attachment root portion (11) of the first tip (10). The surgical instrument (1) according to claim 9 or 10.

12. The blade link root portion (31) is interposed axially between the blade holder link root portion (51) and the second proximal attachment root portion (21) of the second tip (20), and is in direct contact. The surgical instrument (1) according to claim 9.

13. The first proximal attachment root portion (11) of the first tip (10) rotates integrally with the blade (14) around the common rotation axis (Y - Y), and includes a first terminal seat portion (15) for at least one operating tendon (71, 72) of the first tip (10). The second proximal attachment root portion (21) of the second tip (20) rotates integrally with the opposing blade (24) around the common rotation axis (Y - Y), and includes at least one second terminal seat portion (25) for at least one operating tendon (73, 74) of the second tip (20). The surgical instrument (1) according to claim 1.

14. The blade (14) is sharpened by wire electrical erosion. The surgical instrument (1) according to claim 1.

15. At least one, comprising the surgical instrument (1) according to claim 1. A robotic surgical system (101).

16. A rotary joint (502) of a cut joint having a rotation axis (Y - Y) and operated by an operating tendon, A support structure, A first attachment root portion (11) that rotates integrally with the first free end (12) and the blade (14), wherein the blade (14) has a cutting edge (34) and a body that is elastically bendable in the axial direction, the first attachment root portion (11), A second attachment root portion (21) that rotates integrally with the second free end (22) and the opposing blade (24), Comprising, The cutting edge (34) of the blade (14) is adapted to abut against the opposing blade (24) during the opening / closing freedom (G) movement of the cut joint in a mechanically interfering contact state to perform a cutting operation, The first attachment root portion (11) of the first tip (10) is in direct close contact with the support structure, and the second attachment root portion (21) of the second tip (20) is in direct close contact with the support structure. Rotary joint (502).

Images