Articulated surgical microinstruments for surgical teleoperation

Abstract

The surgical instrument includes a support structure, an articulated end effector (3) including a first link (10) articulated to the support structure, and a second link (20) articulated to the first link, and an actuating tendon (33 or 34) for moving the first link (10) relative to the support structure, the first link (10) having an attachment root (13) with a take-up pulley portion (18) having a radius (R1) centered about a first axis of rotation (YY), and the actuating tendon (33 or 34) for moving the first link is attached to the attachment root (13) of the first link. The surgical instrument is wound around the take-up pulley portion of the root (13), and includes an actuating tendon (32) for moving the second link relative to the first link in the closing direction of the opening / closing degree of freedom (G), and the second link (20) includes a circumferential actuating portion (28; 142) having an operating radius (R2) centered on the second axis of rotation (GG), and the operating radius (R2) of the circumferential actuating portion (28; 128) of the second link (20) is greater than the radius (R1) of the take-up pulley portion of the mounting root (13) of the first link (10).

Description

[Technical Field]

[0001] The present invention relates to surgical instruments.

[0002] In particular, a surgical instrument according to the present invention includes an articulating end effector.

[0003] The surgical instrument according to the present invention is particularly suited to, but not intended to be exclusive to, robotic microsurgical teleoperation systems. [Background technology]

[0004] Robotic surgical devices are commonly 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 attached surgical instrument to perform a surgical procedure on a patient. The patient typically lies on a surgical bed in an operating room, where sterility is maintained to avoid bacterial contamination from non-sterile parts of the robotic device.

[0005] Miniaturization of surgical instruments, especially articulating end effectors for robotic surgery, is particularly desirable because it allows for advantageous scenarios of minimal invasiveness to the patient undergoing surgery and millimeter and sub-millimeter dissection capabilities of tissue.

[0006] For example, commonly assigned US Pat. No. 1,058,2975, WO-2017-064303, and WO-2018-18972 disclose various embodiments of surgical instruments suitable for robotic surgery and microsurgery, in which tendons slide and are guided in their sliding motion without the need for holes or recessed guide channels to minimize articulation. In contrast, actuating tendons are supported and held in place by suitable convex sliding surfaces, which are all ruled surfaces with parallel generatrices, and each ruled sliding surface is parallel to a predetermined axis. Furthermore, commonly assigned US Pat. No. 1,336,2218, and EP-3,597,340 disclose several methods for manufacturing such types of surgical instruments.

[0007] WO-2018-189722 to the same applicant discloses a surgical instrument in which a tendon for actuating the open / closed degree of freedom of an articulating end effector, in addition to sliding on the convex ruled sliding surface of the end effector link, is wound on the convex ruled sliding surface in an arcuate path forming a particularly high winding angle. Indeed, the low sliding friction of the tendon allows it to remain in contact with the convex ruled surface of the link over a relatively long arcuate longitudinal section.

[0008] Additionally, US-2021-0106393 to the same applicant discloses several embodiments of tendons made of intertwined polymer fibers. The use of polymer tendons can reduce sliding friction compared to the use of metal tendons, while at the same time allowing the tendons to travel tortuous longitudinal paths in articulating end effectors with proper sizing.

[0009] Surgical instruments are also known that have an articulated cutting end actuated by an actuation cable wound around at least two pulleys, where the blade holder includes a distal pulley of increased diameter relative to the proximal pulley of the same articulated cutting end, in an attempt to increase the cutting force by increasing the radius of the distal actuation pulley. It is usually desirable to keep the diameter of the blade actuation pulley within the overall size of the articulated cutting end positioning rod or shaft in any case, so as not to increase the lateral size of the surgical instrument. The positioning shaft typically extends longitudinally and receives the tendon or actuation cable of the articulated cutting end.

[0010] The need to maximize the closing torque, and therefore the closing force, applied between the tips (jaws) of an articulating instrument is felt even when the surgical instrument is not intended for cutting, for example, when a firm and durable gripping action is required.

[0011] To guide the actuation cable towards the relatively large diameter distal actuation pulley, WO-2017-098279 employs, for example, an intermediate idle guide pulley with an inclined axis that is rotationally driven by the cable itself when the distal pulley is actuated.

[0012] Articulated end effector solutions that utilize leverage to increase the closing force are also known. For example, US-6,206,903 shows a solution in which each distal pulley is made separately for each blade, and the blades are eccentrically associated with the pulleys by a slot-pin connection, with the slot being eccentric with respect to the pulley's axis of rotation (yaw). The blades are interconnected at a fulcrum distal to the distal pulley. With this eccentric configuration, the relative motion between the distal pulley and the blade is forced, i.e., guided, by the slot.

[0013] However, such solutions have the disadvantage that the closing torque transmission ratio depends on the opening / closing angle between the blades, providing a closing force that is difficult to predetermine during operation. A further disadvantage of this type of solution is that eccentricity forces the tips (jaws) to move forward during the relative clamping action, resulting in uncertainty in positioning and cutting / gripping. Furthermore, the work required to create such well-known distal articulation mechanisms is not suitable for miniaturization, as there are many parts to create and assemble, and the proposed parts are complex in shape and necessarily very weak, i.e., fragile. Solutions of the type disclosed above are shown, for example, in US Pat. No. 8,137,339, US Pat. No. 10,143,453, and US Pat. No. 10,143,484.

[0014] A similar solution to the above is shown, for example, in WO-2022-072732, where the fulcrum, the eccentric mounting groove and the distal pulley pivot pin are all housed within the disk-shaped volume of the distal pulley. However, this well-known solution requires precise undercut machining and the assembly of various micro-components, making it unsuitable for miniaturization while maintaining sufficient robustness.

[0015] Therefore, there is a strong need to provide a solution that allows for increased closing and / or cutting and / or grasping torque in miniaturized articulating surgical instruments without imposing an increase in the gauge of the instrument itself and without reducing the mobility of its articulation.

[0016] In addition, there is a need to provide a solution that is suitable for miniaturization and that can provide a closing and / or cutting and / or gripping torque when required that is repeatable and can be standardized in a mechanically advantageous way, while still being robust and reliable in operation. Summary of the Invention

[0017] The object of the present invention is to eliminate the dissatisfying drawbacks of the prior art.

[0018] It is a further object of the present invention to provide an articulated surgical instrument that is adapted for miniaturization.

[0019] This and other objects are achieved by a surgical instrument as claimed in claim 1.

[0020] Some advantageous embodiments are the subject matter of the dependent claims.

[0021] According to one aspect of the present invention, a surgical instrument includes an articulated end effector including a support structure, a first link articulated to the support structure, and a second link articulated to the first link, the surgical instrument having a yaw actuation tendon for moving the first link relative to the support structure, the first link having an attachment root with a take-up pulley portion of a radius about a first axis of rotation, the yaw actuation tendon for moving the first link being wound around the take-up pulley portion of the attachment root of the first link, the surgical instrument including a closure actuation tendon for moving the second link relative to the first link in a closing direction of an open / closed degree of freedom, the second link including a circumferential actuation portion with an operating radius about the second axis of rotation.

[0022] According to one aspect of the present invention, the working radius of the circumferential operating portion of the second link is larger than the radius of the take-up pulley portion of the attachment route of the first link.

[0023] The circumferential actuating portion of the second link may be a pulley portion having a circumferential profile with an operating radius about the second axis of rotation, in which case the closing actuating tendon for moving the second link is wound around the pulley portion of the second link.

[0024] Further features and advantages of the present invention will become apparent from the following description of preferred embodiments, shown by way of non-limiting indication, with reference to the accompanying drawings, which are briefly described below. It should be noted that references to "an" embodiment in this disclosure do not necessarily refer to the same embodiment, but are understood to refer to at least one. Furthermore, for reasons of brevity and reducing the total number of figures, a figure may be used to illustrate features of multiple embodiments, and not all elements of a figure may be necessary for a given embodiment. [Brief explanation of the drawings]

[0025] [Figure 1A] FIG. 1 is a perspective view of a robotic system for teleoperation of a surgical procedure, according to an embodiment; [Figure 1B] 1 is an axonometric view of a portion of a robotic system for teleoperation of a surgical procedure, according to an embodiment. [Figure 2A] 1 shows an axonometric view of a surgical instrument according to an embodiment; [Figure 2B] FIG. 1 is a perspective axonometric view showing details of an articulating end effector of a surgical instrument according to an embodiment. [Figure 3] 1 is an axonometric view of an articulating end effector of a surgical instrument, according to an embodiment; [Figure 4A] 1 is an axonometric view of an articulating end effector of a surgical instrument, according to an embodiment; [Figure 4B] Axonometric views of a portion of the articulating end effector of Figure 4A from different perspectives. [Figure 4C] Axonometric views of a portion of the articulating end effector of Figure 4A from different perspectives. [Figure 4D] FIG. 4B illustrates the articulating end effector of FIG. 4A in an alternative operating configuration. [Figure 4E] A segmented view of the articulated end effector of FIG. 4A. [Figure 5] FIG. 1 is a plan view of an articulating end effector according to an embodiment, with some portions transparent for clarity; [Figure 6] FIG. 1 is a plan view showing a second link according to an embodiment; [Figure 7A] 7A-7B are plan views of a portion of the articulating end effector in the closed and open configurations, respectively, showing actuation tendons; [Figure 7B] 7A-7B are plan views of a portion of the articulating end effector in the closed and open configurations, respectively, showing actuation tendons; [Figure 8A] 8A-8C are plan views illustrating a portion of an articulating end effector in open, closed, and maximum open configurations, respectively, according to the embodiment of the present invention; [Figure 8B] 8A-8C are plan views illustrating a portion of an articulating end effector in open, closed, and maximum open configurations, respectively, according to the embodiment of the present invention; [Figure 8C] 8A-8C are plan views illustrating a portion of an articulating end effector in open, closed, and maximum open configurations, respectively, according to the embodiment of the present invention; [Figure 9] FIG. 1 is a top view of an articulating end effector according to an embodiment; [Figure 10A] FIG. 1 is a plan view of a second link according to an embodiment; [Figure 10B] A plan view from the viewpoint indicated by arrow B in FIG. 10A. [Figure 11A] FIG. 1 is a plan view of a first link according to an embodiment; [Figure 11B] 11A is a plan view taken from the viewpoint indicated by arrow B in FIG. [Figure 12] Axonometric view of the second link of Figure 10 [Figure 13] Axonometric projection of the first link of Figure 11 [Figure 14A] FIG. 1 is an axonometric view of an articulating end effector according to an embodiment. [Figure 14B] 14B-14C are axonometric and top views of the articulating end effector of FIG. 14A, with some portions in phantom for clarity; [Figure 14C] 14B-14C are axonometric and top views of the articulating end effector of FIG. 14A, with some portions in phantom for clarity; [Figure 15A] Axonometric views of several possible steps of the manufacturing method with possible modes of operation [Figure 15B] Axonometric views of several possible steps of the manufacturing method with possible modes of operation DETAILED DESCRIPTION OF THE INVENTION

[0026] Throughout this specification, a reference to "one embodiment" means that a particular feature, structure, or function described in connection with an embodiment is included in at least one embodiment of the invention. Thus, the appearances of the phrase "in one embodiment" in various places throughout this specification do not necessarily all refer to the same embodiment. Furthermore, particular features, structures, or functions, such as those shown in different figures, may be combined in any suitable manner in one or more embodiments.

[0027] According to a schematic embodiment, a surgical instrument 1 is provided that includes an articulated end effector device 3 (or "articulated end effector 3," or simply "articulated end 3") having at least one degree of freedom for opening / closing G (also referred to as "grip" G or "cut" G).

[0028] The articulated end effector device 3 includes a support structure and a first link 10 articulated to the support structure such that the first link 10 and the support structure are capable of relative rotation about a first axis of rotation YY. The support structure may be an articulated structure including one or more links 43, 50.

[0029] The articulated end effector device 3 further includes a second link 20, which is articulated to the first link 10 such that the second link 20 and the first link 10 can rotate relative to each other about a second axis of rotation GG that defines the opening / closing degree of freedom G of the articulated end effector 3.

[0030] The surgical instrument includes an antagonistic actuator tendon 33 or 34, preferably a pair of actuator tendons 33, 34, for moving the first link 10 relative to the support structure. Preferably, the antagonistic actuator tendons 33, 34 are fixed to the first link 10.

[0031] The first link includes an attachment root 13 having a take-up pulley portion 18 of radius R1 centered about the first axis of rotation YY, and an actuation tendon 33 or 34 for moving the first link is wound around the take-up pulley portion 18 of the attachment root 13 of the first link 10. Preferably, both antagonistic actuation tendons 33, 34 are fixed to the first link and wound in opposite circumferential directions around the take-up pulley portion 18 of the attachment root 13.

[0032] The surgical instrument further includes an actuation tendon 32 for moving the second link 20 relative to the first link 10 in the closing direction of the opening / closing degree of freedom G. Preferably, the surgical instrument 1 includes two actuation tendons 31, 32 for antagonistically moving the second link 20 relative to the first link 10. In this manner, the actuation tendon 31 is configured to move the second link 20 in the opening direction of the opening / closing degree of freedom G.

[0033] The second link 20 includes a circumferential operating portion having an operating radius R2 centered on the second axis of rotation GG.

[0034] The actuating tendons 32 and / or actuating tendons 31 for moving the second link 20 are not necessarily fixed to the second link 20 .

[0035] According to one embodiment, the actuating tendon 32 is fixed to the second link 20 and wrapped around a circumferential actuating portion, which in such a case may be the pulley portion 28 of the second link 20 having an operating radius R2 equal to the radius of the circumferential profile of the pulley portion 28.

[0036] Advantageously, the radius R2 of the circumferential working portion of the second link 20 is greater than the radius R1 of the take-up pulley portion 18 of the attachment root 13 of the first link 10.

[0037] The first axis of rotation YY and the second axis of rotation GG are separate and decoupled. According to one embodiment, the first axis of rotation YY and the second axis of rotation GG are parallel to each other and spaced apart longitudinally by a distance X1.

[0038] According to a preferred embodiment, the second link 20 includes a body having a proximal tail 25 extending proximally to the second axis of rotation GG, and the proximal tail 25 of the second link 20 includes a pulley portion 28 having a circumferential profile.

[0039] The articulating end effector 3 may include a sliding hub 40 disposed proximal to the second link 20, around which the actuating tendons 32 are wound in longitudinal slidable contact. Preferably, the sliding hub 40 includes at least one convex sliding surface 45, which is a convex ruled surface with linear generators all parallel to one another. For example, at least one convex portion D45 of such a sliding hub 40 is a cylindrical surface.

[0040] According to another embodiment, the circumferential actuating portion of the second link 20 includes a toothed circumferential profile 142 having a working radius R2, and the articulating end effector includes a toothed link 140 mounted on the axis of rotation YY and including a toothed circumferential counter-portion 141 centered on the first axis of rotation YY and operatively coupled to the toothed portion 142 of the toothed link 140. In such case, the toothed link 140 further includes a pulley portion 118 having a radius centered on the axis of rotation YY, and the actuating tendon 32 is wound around the pulley portion 118 of the toothed link 140.

[0041] Preferably, the working radius R2 of the toothed circumferential profile 142 of the second link 20 is greater than the radius of the pulley portion 118 of the toothed link 140. If a toothed circumferential profile 142 is provided, the working radius R2 may be the transmission (or "original") radius.

[0042] For example, as shown in FIG. 3 , the surgical instrument 1 can further include a positioning shaft 2, with the articulated end effector 3 articulated relative to the positioning shaft 2. For example, the articulated end effector 3 has a degree of freedom G of opening / closing and at least one degree of freedom of pitch P and / or yaw Y orientation relative to the positioning shaft 2. The positioning shaft preferably extends in a longitudinal direction XX that defines the longitudinal direction of the surgical instrument 1. At least one configuration of the articulated end effector 3 substantially aligned with the longitudinal direction XX can also be defined. This at least one longitudinally aligned configuration can correspond to a configuration having a smallest lateral dimension.

[0043] The first link 10 is articulated relative to the positioning shaft 2. In other words, the first link 10 has at least one degree of freedom of orientation relative to the positioning shaft 2. The first link 10 does not necessarily have to be directly articulated to the positioning shaft 2, for example, a support structure can be interposed between the distal end of the positioning shaft 2 and the first link 10 (e.g., the support link 50 and the proximal link 43 are articulated about the pitch rotation axis PP by the pivot pin 44 to form the pitch articulation P). The support structure can be integral with the positioning shaft 2.

[0044] The proximal attachment root 13 of the first link 10 may cooperate with the pivot pin 41 to define a first axis of rotation YY. For example, the first axis of rotation YY may be the axis of rotation of the yaw articulation of the articulated end effector 3.

[0045] The terms pitch P and yaw Y articulation are used arbitrarily herein for clarity of explanation, and the rotation axes YY, PP may have any relative orientation (they may even be parallel to each other), but according to a preferred embodiment, the yaw rotation axis YY is perpendicular to the pitch rotation axis PP.

[0046] Preferably, the first link 10 includes a first connecting portion 14 and the second link 20 includes a second connecting portion 24, the first connecting portion 14 of the first link 10 and the second connecting portion 24 of the second link 20 jointly defining a second rotation axis GG for relative rotation between the second link 20 and the first link 10. In this way, a degree of freedom G of opening / closing of the articulated end effector 3 is achieved. In other words, the second link 20 is directly articulated to the first link 10 by the provision of the respective connecting portions 14, 24. Preferably, a second pivot pin 42 is provided which articulates the second connecting portion 24 of the second link 20 to the first connecting portion 14 of the first link 10.

[0047] The yaw articulation Y is decoupled from the open / close (grip) articulation G by separating and separating the first and second rotational axes YY and GG.

[0048] In operation, when the yaw degree of freedom Y is actuated, the second link 20 can be rotationally driven by the first link 10 about the axis of rotation YY.

[0049] During operation, when the opening / closing degree of freedom G is actuated, the second link 20 can move relative to the first link 10 .

[0050] The body 10 of the first link preferably includes a proximal section 15 or portion 15 extending between an attachment root 13 defining the rotation axis YY and a connecting portion 14 defining the rotation axis GG. For example, as shown in FIG. 11A, the attachment root 13 may have a substantially cylindrical shape to outline the rotation axis YY and is preferably provided with a through hole for receiving a pivot pin 41. The connecting portion 14 of the first link 10 may also have a shape that surrounds the respective rotation axis GG, and, for example, according to the embodiment shown in FIG. 11B, is formed by a clevis portion that encompasses the respective connecting portion 24 of the second link 20. In other words, according to this embodiment, the connecting portion 14 is formed by two longitudinally adjacent arms, like a fork.

[0051] According to one embodiment, the articulated end effector 3 further comprises a support link 50 articulated to at least the first link 10 about a first axis of rotation YY. The support link 50 may serve to support a support structure for the first link 10 and, to this end, may comprise at least one prong 51, preferably a pair of prongs 51, for mounting a pivot pin 41 such that the first link 10 is articulated to the prong 41 of the link 50. At least one further proximal link 43 may be provided proximal to the support link 50, which proximal link 43 is articulated to the support link 50 about the axis of rotation PP. The proximal link 43 may be fixed to the positioning shaft 2 (e.g., double-pinned).

[0052] According to a preferred embodiment, the support link 50 defines in one part two mutually perpendicular axes of rotation YY, PP.

[0053] All of the links of the surgical instrument 1 can be manufactured by a wire electroerosion process which involves making two cuts in mutually perpendicular planes with a cutting wire.

[0054] Such a surgical instrument 1 is adapted to be mounted on a medical and / or surgical and / or microsurgical teleoperation robotic system 5. The robotic system 5 may include a master console 7 for controlling one or more robotic manipulators 6. The master console 7 may include one or more master controllers 8 and a screen 9 for displaying the surgical site through which the articulating end effector 3 operates.

[0055] Preferably, the surgical instrument 1 includes a transmission portion 4 (or "back end 4") at the proximal end of the positioning shaft 2 that forms a proximal interface for interfacing with an interacting portion of the robotic manipulator 6. For example, the transmission portion 4 can include a combination of transmission elements adapted to be moved through a sterile barrier by a respective combination of actuating elements of the robotic manipulator 6.

[0056] As described above, according to an embodiment, the surgical instrument 1 includes a pair of antagonistic actuating tendons 31, 32 for moving the second link 20 relative to the first link 10. This makes the pair of antagonistic tendons 31, 32 actuating tendons with antagonistic effects on the degree of freedom G of opening / closing the articulated end effector 3. For example, the antagonistic tendons 31, 32 extend from the articulated end effector 3 along the positioning shaft 2 to the transmission portion 4, where they are configured to be in operative connection with respective antagonistic transmission elements, which can be arranged to be in operative connection with respective antagonistic actuating elements of the robotic manipulator 6 during actuation.

[0057] According to an embodiment, at least one actuation tendon of the pair of antagonistic actuation tendons 31, 32 is fixed to the second link 20. According to a preferred embodiment, both antagonistic actuation tendons 31, 32 are fixed to the second link 20. In other words, the actuation tendons 31, 32 of the second link 20, i.e. the opening / closing degree of freedom G, are fixed to the body of the second link 20.

[0058] According to one embodiment, the body of the second link 20 includes a distal operating portion 23 extending distally to the connecting portion 24 and a proximal actuation tail 25 extending proximally to the connecting portion 24. In other words, the body 20 of the second link includes two opposing portions 23, 25 extending substantially in opposite directions relative to the rotation axis GG.

[0059] Thus, the body of the second link 20 extends both proximally and distally relative to the rotation axis GG. Thus, during actuation, both the distal operating portion 23 and the proximal transmission tail 25 of the second link 20 tilt, i.e., rotate, relative to the rotation axis GG, such that when the degree of freedom G of opening / closing is closed and the operating portion 23 of the second link 20 butts and / or contacts the operating portion 17 of the first link 10, the proximal tail 25 of the second link 20 is oriented in a particular direction, which is different from the direction when the degree of freedom G of opening / closing is open, e.g., maximum open, i.e., the maximum angular distance between the operating portion 23 of the second link 20 and the operating portion 17 of the first link 10.

[0060] The distal operating portion 23 and the proximal actuation tail 25 of the second link 20 do not necessarily both extend along the same straight line, e.g., along a definable centerline of the second link 20, but can, for example, both extend substantially radially, i.e., radially relative to the axis of rotation GG, forming an angle β therebetween that can be defined by their respective longitudinal extension directions 123, 125. For example, the angle β is selected to minimize the lateral extent of the proximal tail 25 during its radial actuation stroke.

[0061] In this advantageous manner, the lateral extent of movement of the tail 25 of the second link during operation can be optimized. For example, the angle β between the two extension directions of the body of the second link 20 can be selected so that the longitudinal extension direction 125 of the proximal transmission tail 25 is substantially aligned with the proximal extension portion 15 of the first link 10 when the opening / closing G degree of freedom is open. Alternatively or additionally, the angle β can be selected so that the proximal tail 25 is offset relative to the proximal portion 15 of the first link 10, i.e., protrudes relative to the proximal portion 15, when the opening / closing G degree of freedom is closed.

[0062] According to one embodiment, the angle β is selected such that the proximal tail 25 of the second link 20 projects laterally in the opposite direction, i.e., offset, relative to the proximal portion 15 of the first link 10 both when the opening / closing G degree of freedom is in a closed configuration and when the opening / closing G degree of freedom is in a maximum open configuration within a definable maximum actuation open angle of the opening / closing G degree of freedom. In other words, according to this embodiment, the extension of the proximal tail 25 of the second link 20 relative to the distal operating portion 23 of the same second link 20 is selected such that the proximal tail 25 travels an orbital path relative to the axis of rotation GG, such that a portion of the proximal tail 25 projects laterally from a first side relative to the proximal portion 15 of the first link 10 when the links 10, 20 are in a closed configuration at the end of the stroke, and a portion of the proximal tail 25 projects laterally from an opposite second side of the same proximal portion 15 of the first link 10 when the link 20 is in a maximum open configuration relative to the first link 10.

[0063] In the closed configuration of the opening / closing degree of freedom G, the longitudinal extension direction 123 of the operating distal portion 23 of the second link 20 can extend in alignment with, i.e., substantially parallel to, the definable longitudinal extension direction of the proximal portion 15 of the first link 10.

[0064] The body of the second link 20 is preferably made from a single member.

[0065] The distal operating portion 23 of the second link 20 can include a blade, for example, as shown in FIG. 3 . The distal operating portion 23 of the second link 20 preferably includes a distal free end 29 that forms the distal end of the articulated end effector 3. The first link 10 can also include a distal end 19 that, together with the distal end 29 of the second link 20, forms the distal end of the articulated end effector 3 of the surgical instrument 1. The first link 10 can include an operating portion 17 that extends distally relative to the connecting portion 14 and is designed to cooperate with the operating portion 23 of the second link 20. For example, the operating portion 17 of the first link 10 can include a blade or a counter-blade.

[0066] According to a preferred embodiment, at least one actuation tendon 32 of the pair of antagonistic actuation tendons 31, 32 is wound around the proximal tail 25 of the second link 20 so as to actuate the second link 20 in the closing direction of the opening / closing degree of freedom G. Such actuation tendon 32 is preferably wound around the pulley portion 28 of the proximal actuation tail 25 of the second link 20 and terminates in an end seat 26 also provided on the proximal tail 25 of the second link 20. In other words, the actuation tendon 32 is preferably wound around and fixed to the proximal tail 25 of the second link 20.

[0067] By providing both the pulley portion 28 on the proximal tail 25 of the second link and the longitudinal decoupling of the rotation axis YY and the rotation GG, it is possible to use the distance X1 between the yaw rotation axis YY and the opening / closing rotation axis GG to increase the working radius of the pulley portion 28 and therefore the closing (and / or opening) torque of the opening / closing degree of freedom G with the same tensile force applied by the actuating tendon 32.

[0068] The distance X1 between the rotation axes GG and YY can be selected to obtain the desired transmission rate of the closing force, since the working radius R2 of the second link 20 is included in this distance X1; in other words, by increasing the center distance X1 at the design stage, the tail 25 of the second link that carries this working radius R2 can be lengthened, thereby adjusting the closing force.

[0069] Increasing the closure force is also desirable because the same pulling force applied by the actuating tendon 32 can result in an increased cutting force or even an increased clamping force.

[0070] The actuating tendons 31, 32, 33, 34, 35, 36 may be tendons formed by intertwining polymer fibers.

[0071] The pulley portion 28 of the second link 20 preferably has a circumferential profile corresponding to the pulley cross section, i.e., circumferential chord AB, centered on the axis of rotation GG. Thus, the longitudinal distance X1 between the axes of rotation YY and GG can be used to create a pulley portion 28 with a circumferential profile having a radius R2 that is greater than the lateral extension of the articulated end effector 3, thereby increasing the lever arm of the closing torque of the articulated end effector 3 without increasing the lateral volume of the articulated end effector 3 itself.

[0072] The pulley portion 28 having a circumferential profile about the axis of rotation GG is capable of providing a constant closing torque.

[0073] The pulley portion 28 can extend substantially symmetrically relative to the longitudinal extension 125 of the proximal tail 25 of the second link 20, i.e., the longitudinal extension 125 of the proximal tail 25 is a radius passing through the substantial center of a chord defined by the circumferential profile of the pulley portion 28.

[0074] The proximal tail 25 of the second link 20 preferably includes a return surface 22 disposed on the radial edge of the pulley portion 28, and the actuating tendon 32 is wound around the pulley portion 28 and the return surface 22 before terminating in its end seat 26 provided on the proximal tail 25. The distal end 38 of the actuating tendon 32 may include an enlarged portion that cooperates with the drive wall of the end seat 26 disposed as an undercut to rotationally drive the second link 20 relative to the first link 10 in the closing direction of the opening / closing degree of freedom G. Preferably, the curvature of the return surface 22 is more pronounced than the curvature of the pulley portion 28 to obtain the return of the actuating tendon 32.

[0075] Such a configuration of the actuating tendon 32 allows the entire working radius R2 of the pulley portion 28 (i.e., the geometric radius of its circumferential profile) to be utilized to maximize the lever arm for actuation of the opening / closing G degree of freedom in the closing direction.

[0076] The end seat 26 is preferably a seat that penetrates the body of the proximal tail 25 of the second link 20 in the circumferential direction. For example, a single penetration seat can provide the end seat 26 for both of the pair of antagonistic actuating tendons 31, 32, with the antagonistic actuating tendons 31, 32 arranged in opposite circumferential directions at the end seat. Preferably, the end seat 26 is located at a radial height lower than the radius R2 of the return surface 22 and the pulley portion 28 that receives the winding of the actuating tendon 32. In other words, the winding pulley portion 28 for the actuating tendon 32 of the proximal actuating tail 25 of the second link 20 is farther from the rotation axis GG than the end seat 26 for the same actuating tendon 32. Therefore, the end seat 26 can be accommodated in the lateral and / or radial volume of the pulley portion 28 of the proximal tail 25 of the body of the second link 20.

[0077] As described above, the other actuating tendon 31 of the pair of antagonist tendons 31, 32 can also be wrapped around the proximal transmission tail 25 of the second link 20, preferably wrapped around the same circumferentially profiled pulley portion 28 to move the second link 20 in an opening direction along the opening / closing degree of freedom G relative to the first link 10. According to one embodiment, the proximal tail 25 further includes another return surface 21 on an edge of the pulley portion 28 radially opposite from the return surface 22. The other return surface 21 may be similar to the return surface 22. The actuating tendon 31 may terminate in an end seat 26 that is similar to and may be the same as the end seat 26 described with reference to the actuating tendon 32.

[0078] The lateral dimension Y2 of the proximal tail 25 of the second link 20 is preferably greatest at the pulley portion 28. In other words, the lateral dimension Y2 of the proximal tail 25 is greatest between the two opposing return surfaces 21, 22 (on radially opposite sides of the pulley portion 28). Near or at the end seat 26, the body of the proximal tail 25 of the second link 20 may include a lateral groove that locally reduces the lateral extension of the proximal tail 25 of the second link 20.

[0079] According to one embodiment, the lateral dimension Y2 of the proximal tail 25 is smaller, preferably much smaller, than the longitudinal extension thereof, i.e., the radius of the portion and pulley 28. The proximal tail 25 therefore has a substantially elongated shape to minimize its lateral volume while maximizing the working radius R2 of the pulley portion 28 and thus the lever arm of the closing torque of the articulating end effector.

[0080] According to a preferred embodiment, the working radius R2 of the pulley portion 28 is greater than the radius of the positioning shaft 2, preferably greater than the diameter of the positioning shaft 2 of the surgical instrument 1, and the transverse dimension Y2 of the proximal tail 25 of the second link 20 is less than the diameter of the positioning shaft.

[0081] The antagonistic actuating tendons 31, 32 of the pair of actuating tendons for moving the second link 20 relative to the first link 10 may be wound around the body of a further link 40 (also referred to herein as a "sliding hub 40") arranged proximal to the second link 20. According to a preferred embodiment, the articulated end effector 3 includes the further link 40 around which the antagonistic actuating tendons 31, 32 for moving the second link 20 are wound and slide together in operation, such that the further link 40 functions as a sliding hub 40 for the antagonistic actuating tendons 31, 32 of the pair of antagonistic tendons for moving the second link 20.

[0082] The sliding hub 40 is preferably attached to the pivot pin 41 aligned with the attachment root 13 of the first link 10, for example between the projections 51 of the support link 50. The sliding hub 40 can be keyed to the pivot pin 41. According to one embodiment, the sliding hub 40 is formed by the pivot pin 41 itself, so that according to this embodiment no further link 40 is provided, as the sliding of the actuating tendons 31, 32 occurs on the body of the pivot pin 41 itself.

[0083] 4E, the body of the sliding hub 40 may have a substantially cylindrical shape about the pivot pin 41 of the yaw rotation axis YY, where the diameter of the cylinder is selected to align with the sliding tracks of the actuating tendons 31, 32 on the links 50, 43 of the articulating end effector, if provided. According to a preferred embodiment, the radius of the sliding hub 40 is substantially equal to the radius of the take-up pulley 18 of the attachment root 13 of the first link 18.

[0084] For example, in practice, as described above, if the articulated end effector 3 further includes a support link 50, the antagonistic acting tendons 31, 32 for moving the second link 20 can slide on at least one sliding surface 52 provided on the body of the support link 50. Preferably, the at least one sliding surface 52 of the link 50 is a convex ruled surface having linear generatrices that are all parallel to each other, and preferably all parallel to the pitch rotation axis PP of the link 50.

[0085] If the articulated end effector 3 includes an additional proximal link 42, the antagonistic acting tendons 31, 32 for moving the second link 20 can also slide on at least one sliding surface 53 provided on the body of the proximal link 42.

[0086] Preferably, the first link 10 is moved relative to the yaw rotation axis YY by providing a further pair of antagonistic tendons 33, 34. Preferably, the pair of antagonistic tendons 33, 34 are similar to the antagonistic tendons 31, 32. The body of the first link 10 preferably has at least one end seat 16, and the antagonistic tendons 33, 34 are fixed to the at least one end seat 16.

[0087] According to a preferred embodiment, the end seat 16 is located adjacent to and distal to the attachment root 13 of the first link 10. Both the end seats 16, 26 for the yaw degree of freedom Y and the open / close degree of freedom G are located between the first rotation axis YY and the second rotation axis GG. Antagonistic actuation tendons 33, 34 are preferably wound around the attachment root 13 of the first link 10 and terminate in at least one end seat 16. Both antagonistic actuation tendons 33, 34 for moving the first link 10 can slide, in operation, on at least one sliding surface 52 of link 50, if present, and on at least one sliding surface 53 of link 42, if included.

[0088] As described above, according to a preferred embodiment, the antagonistic actuating tendons 31, 32 for moving the second link 20 relative to the rotation axis GG form a crossover 30 with each other between the rotation axis GG and the rotation axis YY. Preferably, when a support link 50 articulated about a further proximal rotation axis PP is provided, the same antagonistic tendons 31, 32 form a further proximal crossover 37 upstream of the proximal rotation axis PP with the respective antagonistic tendons 33, 34 of a pair of antagonistic tendons for moving the first link 10 about the rotation axis YY. In other words, as shown in FIG. 4A for example, according to this embodiment, the obturator tendon 32 (second link 20) forms a proximal crossover 37 with the tendon 34 for moving the first link 10 upstream of the pitch rotation axis PP, and forms a crossover 30 with its antagonistic tendon 31 (open tendon 31) between the rotation axis YY and the rotation axis GG. Furthermore, according to this embodiment, the open tendon 31 forms a proximal intersection 37 with the tendon 33 (the antagonist tendon of the tendon 34 ) for moving the first link 10 .

[0089] According to one embodiment, the proximal axis of rotation PP (pitch) is perpendicular to the axis of rotation YY (yaw) and the axis of rotation GG, and the intersections 30, 37 between the actuating tendons 31, 32, 33, 34 occur in two orthogonal planes.

[0090] If a further proximal link 43 is provided, the link 50 may be movable by a further pair of antagonistic acting tendons 35, 36.

[0091] Thus, according to a preferred embodiment, the take-up hub 40, which is not actuated by the actuating tendons, lacks an end seat and serves as a return element for the second link 20, which is in sliding contact with a portion of each of the pair of antagonistic transmission tendons 31, 32. For example, the sliding hub 40 can maintain sliding contact aligned with the sliding paths described by the respective tendons 31, 32 on at least one convexly ruled sliding surface 52 of the link 50 and, if provided, on the surface of the further proximal link 43. This makes it possible to avoid the presence of additional sliding guide contacts for the tendons 31, 32, so that the need for guiding or returning the pair of actuating tendons 31, 32 does not impose design limitations on the transverse dimension Y2 of the take-up pulley 25.

[0092] According to a preferred embodiment, the paths of the actuating tendons 31 and 32 of the second link 20 intersect between the sliding hub 40 of the articulated end effector 3 (i.e., between the yaw rotation axis YY) and the pulley portion 28 of the second link 20, forming an intersection 30. The term "intersection 30" is not intended to indicate an intersection point that necessarily involves sliding contact between the tendons 31 and 32; the intersection 30 can also occur as a projection in a longitudinal plane perpendicular to the articulated end effector 3, without contact between the tendons 31 and 32.

[0093] 5 , the actuating tendon 32 is wound in sliding contact longitudinally around one side L2 of the sliding hub 40, then continues distally and back-wound around the pulley portion 28 of the second link 20 on the side L1 on which the return surface 22 is provided, the side L1 being laterally opposite the winding side L2 of the sliding hub 40. It should be noted that the contact of the actuating tendon 32 with the pulley portion 28 does not involve relative longitudinal sliding, unlike the contact of the same actuating tendon 31 with the winding hub 40. Similarly, the actuating tendon 31 is wound in sliding contact longitudinally around one side L1 of the sliding hub 40, then continues distally and back-wound around the pulley portion 28 of the second link 20 on the side L2 on which the return surface 21 is provided, the side L2 being laterally opposite the winding side L1 of the sliding hub 40. It should be noted that the contact of the actuating tendons 31 with the pulley portion 28 does not involve relative longitudinal sliding, unlike the contact of the same actuating tendons 31 with the take-up hub 40 .

[0094] According to a preferred embodiment, the radius R2 of the pulley portion 28 of the second link 20 is greater than the radius of the sliding hub 40, and preferably much greater than the radius of the take-up pulley 18 of the attachment root 13 of the first link 10. As mentioned above and shown, for example, in Figure 7, the radius R1 of the take-up pulley 18 of the attachment root 13 of the first link 10 may be equal to the radius of the sliding hub 40. It is therefore possible to maintain the actuating tendons in a desired position on the sliding surfaces 52, 53 of the support structure.

[0095] In operation, to move the second link 20 relative to the first link 10, the antagonistic tendons 31, 32 slide on respective opposite sides L1, L2 of the sliding hub 40, cross their path at the intersection 30 between the hub 40 and the link 20, and then wind in the opposite direction without sliding on the pulley portion 28 of the second link 20 where they terminate, exerting a driving action on the second link 20 utilizing a lever arm equal to the radius R2 and providing a constant, i.e., increased closing (and opening) torque that does not vary with the orientation of the second link 20 relative to the first link 10.

[0096] With the pulley portion 28 having such a circumferential profile centered on the rotation axis GG, the disconnection of the actuating tendons 31, 32 always occurs along the same direction (tangent to the circumference of radius R2) regardless of the opening angle of the opening / closing degree of freedom G.

[0097] As noted above, in accordance with a preferred embodiment, pulley portion 28 having a circumferential profile about the axis of rotation GG is sandwiched between opposing return surfaces 21, 22 that do not have a circumferential profile about the axis of rotation GG, and can define an angle δ formed by a chord (i.e., pulley portion), angle δ being shown diagrammatically in Figures 7A and 7B, where dashed lines D1, D2 join the axis of rotation GG and ends A, B of chord AB of the circumferential profile of pulley portion 28 about the axis of rotation GG.

[0098] The working angle can therefore be defined as the angle formed by the local direction of radius R2 reaching the separation points K, Q of the tendons 31, 32 from the pulley portion 28 and a definable longitudinal extension direction defined by the body of the first link 10 (e.g., the proximal portion 15 of the first link) to which the second link 20 is articulated.

[0099] Furthermore, it is also possible to provide a closing force that is independent of the current angle (angle θ) of the opening / closing degree of freedom G. Indeed, the provision of both the pulley portion 28 and the sliding hub 40 around which the actuating tendon is wound determines a precise geometric relationship, such that the direction of separation of the actuating tendon from the pulley portion 28 (tangent to the working radius R2) is always constant for any operating condition of the opening / closing degree of freedom G, i.e., for any direction of movement of the second link 20 relative to the first link 10.

[0100] For example, as shown in Figure 8A, in this case: O indicates the rotation axis GG, O' indicates the rotation axis YY, K indicates the separation point of the actuating tendon 32 from the pulley portion 28; Q indicates the separation point of the actuating tendon 32 from the surface of the sliding hub 40; K' denotes the separation point of the antagonist tendon 31 from the pulley portion 28; Q' denotes the separation point of the actuating tendon 31 from the surface of the sliding hub 40; Let A and B denote the end points of a chord AB of the circumferential profile of the pulley portion 28. Since the distance X1 between the rotation axis YY and the rotation axis GG is constant, i.e., the arc O-O' is constant, and the chord AB of the circumferential profile of the pulley part 28 is centered at the point O, it follows that the angle KO-O' has a constant amplitude and is equal to K'-O-O', i.e., the arc KQ is symmetrical to the arc P'-Q' in the direction O-O'. Consequently, (i) when the degree of freedom of opening / closing G is maximally open, i.e., the opening angle θ=θ max If θ=θ max =K'-OB, (ii) in the case of full closure, θ=0=AOK, and (iii) in the case of arbitrary opening, θ=QOB.

[0101] The tail 25 of the second link 20, having a pulley portion 28 with a circumferential profile of working radius R2 about the axis of rotation GG, is rotated so that the maximum opening angle is equal to the angle formed by the chord AB of the circumferential profile of the pulley portion 28, i.e., θ max The dimensions can be determined according to the relationship = δ.

[0102] For example, as shown in FIGS. 8B and 8C, by providing a pulley portion 28 with a circumferential profile centered on the axis of rotation GG, the separation direction of the closure tendon 32 is constant (locally perpendicular to the radius R2 of the circumferential profile of the pulley portion 28) for any opening angle θ between the links 10, 20 of the opening / closing degree of freedom G, thus providing a constant closing force for any opening / closing angle of the articulating end effector.

[0103] Preferably, the body of the first link 10 is rigid and unitary, defining both the axis of rotation YY and the axis of rotation GG, and the distance X1 is understood to be constant under any operating conditions.

[0104] As mentioned above, such an articulated end effector 3 allows for an increased closing force to be obtained for the same traction force T transmitted by the actuating tendons.

[0105] As described above, according to an embodiment, the support structure of the articulated end effector includes a support link 50 and a proximal link 43 articulated to each other at a rotary joint having a rotation axis PP perpendicular to the first rotation axis YY, and the rotary joint having the rotation axis PP is moved by a further pair of antagonistic actuating tendons 35, 36. The actuating tendons of the second link 20 can form a proximal crossover 37 with each other between the rotation axis PP and the rotation axis YY. According to a preferred embodiment, the proximal crossover 37 between the actuating tendons occurs between a pair of antagonistic actuating tendons 31, 32 for moving the second link 20 and a pair of antagonistic actuating tendons 33, 34 for moving the first link 10, as shown, for example, in FIG. 9 . In other words, the closing actuating tendon 32 of the second link 20 crosses the actuating tendon of the first link 10 to form the proximal crossover 37 and also crosses its antagonistic actuating tendon 31 at the crossover 30 (opening the second link 20). Such intersections 30, 37 are preferably longitudinally spaced and angularly offset, for example 90° offset from one another.

[0106] The support link 50 and / or the proximal link 43 may include one or more convex ruled sliding surfaces adapted to slide on at least some, preferably all, of the actuating tendons 31, 32, 33, 34 for moving the first link 10 and the second link 20, and in particular, slide when one of each pair of antagonist tendons is actuated (pulled).

[0107] According to an embodiment, as shown for example in Figure 14A, both of the antagonistic actuating tendons 31, 32 of the second link 20 are fixed to a link 140 that is articulated to a yaw pivot pin that is provided in place of the sliding hub 40. Thus, in this embodiment, the link 140 includes at least one end seat for receiving the distal operating portions of the antagonistic actuating tendons 31, 32 for moving the second link 20. Thus, the proximal transmission tail 25 of the second link 20 includes a means for transmitting the movement of the movement from the link 140 to the second link 20 according to this embodiment.

[0108] The circumferential working portion of the proximal transmission tail 25 of the second link 25 can be formed by a toothed wheel portion 142 (replacing the pulley portion 28) operatively connected with a corresponding toothed wheel counter portion 141 provided on the toothed link 140. In such a case, the toothed wheel portion 142 defines a working radius R2 for the arm of the closing torque of the opening / closing degree of freedom G.

[0109] According to this embodiment, the paths of the antagonistic actuating tendons 31, 32 for moving the second link 20 indirectly by means of a gear connection, for example as shown in Fig. 14C, do not form an intersection 30 between the rotation axis YY and the rotation axis GG. At least one end seat (not shown) of the toothed link 140 for receiving the actuating tendons 31, 32 can be arranged alongside the toothed portion 141 of the toothed link 140 or through at least some of the teeth of the toothed portion.

[0110] Preferably, the toothed link 140 further includes a pulley portion 118 having a winding radius R4 centered on the first rotation axis YY, and the closing actuation tendon 32 is wound around the pulley portion 118 of the toothed link 140. Also, a pair of antagonistic opening actuation tendons 31 for moving the second link 20 can be wound around the pulley portion 118 of the toothed link 140 via a gear connection to indirectly move the second link 20.

[0111] The working radius R2 of the toothed circumferential profile 142 of the second link 20 is preferably greater than the winding radius R4 of the pulley portion 118 of the toothed link 140. The winding radius R4 of the pulley portion 118 of the toothed link 140 may be substantially equal to the winding radius R1 of the first link 10, and both the first link 10 and the toothed link 140 may be mounted on the first axis of rotation YY.

[0112] At least one or all of the links 10, 20, 40, 43, 50, 140 of the articulating end effector 3 may be manufactured by a manufacturing method that includes two cuts in mutually perpendicular planes, such as electroerosion and / or laser cutting.

[0113] As described above, at least one, but all, of the links 10, 20, 40, 43, 50, 140 of the articulating end effector 3 can be manufactured by a wire electroerosion manufacturing method (WEDM), which involves making two cuts in mutually perpendicular planes with a cutting wire 61. All links of the articulating end effector 3 can be made with the same pass of the cutting wire 61. To this end, the workpieces 610, 620, 642, 650 can be mounted on a wire electroerosion machine 60 having a rotary tool 62 aligned along a direction (which may be curved) such that it intersects at most one of the workpieces 610, 620, 642, 650 at a time, as the cutting wire 61 makes both cuts on the orthogonal cutting planes, as shown, for example, in Figures 15A-15B. Preferably, workpiece exchange between the two cuts is avoided.

[0114] The sliding hub 40 can be made in the form of an axially perforated cylinder and is therefore not manufactured by wire electro-erosion machining (WEDM) according to a possible mode of operation. The cylindrical sliding surfaces of the sliding hub 40, or even just parts of them, can be machined by wire electro-erosion machining in order to reduce the sliding friction with the actuating tendons 31, 32 that are intended to slide longitudinally thereon during operation.

[0115] The surfaces 45, 52, 53 of the links 40, 43, 50 of the articulating end effector 3, along which the antagonistic tendons 31, 32 and 33, 34 slide, are preferably produced by wire electro-erosion machining (WEDM). As mentioned above, the surfaces 45, 52, 53 of the links 40, 43, 50 are preferably all convex ruled surfaces with linear generatrices parallel to the direction of the axes of rotation (axis YY and / or axis PP).

[0116] The surfaces 18, 21, 22, 28 of the links 10, 20 of the articulating end effector 3, on which the antagonistic tendons 31, 32 and 33, 34 are wound without sliding (e.g., close to their end seats 16, 26), are preferably made by wire electro-erosion machining (WEDM).

[0117] With cuts made in two orthogonal cutting planes, the shape of the links 10, 20, 43, 50 can be selected and optimized for production by wire electroerosion machining.

[0118] The above features, taken individually or in any combination where appropriate, are capable of meeting the above-mentioned needs and providing the particularly enumerated advantages.

[0119] - The orientation (yaw) and opening / closing (grip) axes can be decoupled, allowing space to accommodate the actuation radius of the second link that defines the opening / closing degree of freedom of the articulated end effector.

[0120] -It is possible to increase the actuation radius of the second link, which defines the opening / closing degree of freedom, while maintaining the lateral volume of the articulated end effector, and therefore the closing force.

[0121] To meet specific contingency needs, those skilled in the art can make some modifications and adaptations to the above-described embodiments and can replace elements with other elements that are functionally equivalent, without departing from the scope of the appended claims. [Explanation of symbols]

[0122] 1 surgical instruments 2 Locating shaft or rod 3 Articulated end, or articulated end effector device, or articulated end effector 4. The transmission interface part of the device, or back end 5. Robotic systems for remote surgical operations 6. Robot Manipulator 7 Master Console 8 Master Control Unit 9 screens 10 First link of articulated end effector 13 Proximal attachment route 14 Connection part of the first link or first connection part 15 Proximal portion or proximal portion of first link 16 End sheet for link 1 17 Operation part of the first link 18 Take-up pulley part of the first link installation route 19 Distal free end of first link 20 Articulated End Effector 21 Return surface of second link 22 Return surface of second link 23 Distal operating part of second link 24 Second link connection or second connection 25 Proximal transmission tail of second link 26 End sheet for the second link 28 Pulley portion having circumferential profile of second link 29 Distal free end of second link 30 Cross between antagonistic tendons to move the second link 31 Actuating tendon for moving the second link to release 32 actuation tendon for moving the second link to close 33 Actuating tendon for moving the first link 34 Antagonist tendon for moving the first link 35 Actuating tendons for moving the support links 36 Antagonist tendons for moving the support links 37 Further proximal crossing of antagonist tendons 38 Distal end of actuating tendon 40 Sliding hub or sliding bush 41 Yaw pivot pin 42 Grip pivot pin 43 Further proximal links, e.g., links fixed to the shaft 44 pitch pivot pin 45 Convex ruled sliding surface of sliding hub 50 Proximal or supporting link 51 prongs 52 Convex ruled sliding surface of support link 53 Convex ruled sliding surface of proximal link 56 End seat of working tendon of support link 60 Wire electroerosion machine 61 Cutting Wire 62 Rotary tools 63 Tool rotation axis 118 Toothed link pulley part 123 Longitudinal direction of the operating part of the second link 125 Longitudinal extension direction of the tail of the second link 140 Toothed Link 141 Opposite part of toothed link gear part 142 Gear part of second link 610 Work for forming the first link 620 Work for forming the second link 642 Work to form links 650 Work to form a link YY First rotation axis, or yaw rotation axis GG Second rotary axis or open / closed rotary axis PP Pitch or proximal rotation axis L1 1st side L2 2nd side β angle δ Angle formed by the pulley section R1 Winding radius of the first link R2: Second link winding radius R4 Toothed link winding radius X1 Longitudinal distance XX Longitudinal direction Y yaw degrees of freedom G Open / close freedom P Pitch freedom K Separation point of the actuating tendon from the pulley part Q Separation point of antagonistic tendon from pulley K' is the separation point of the actuating tendon from the sliding hub Q' is the separation point of the antagonist tendon from the sliding hub. O Points identifying the opening / closing rotation axis O' Point identifying the yaw axis of rotation A End point of string at pulley B End of string at pulley

Claims

1. a support structure; a first link (10) articulated to the support structure such that the first link (10) and the support structure are rotatable relative to each other about a first axis of rotation (Y-Y); an articulated end effector (3) having a second link (20) articulated to the first link (10) such that the second link (20) and the first link (10) are relatively rotatable about a second axis of rotation (G-G) that together define an opening / closing degree of freedom (G) of the articulated end effector (3); the surgical instrument comprises a yaw actuation tendon (33 or 34) for moving the first link (10) relative to the support structure; the first link (10) has an attachment root (13) with a take-up pulley portion (18) having a radius (R1) centered on the first axis of rotation (Y-Y); A yaw actuating tendon (33 or 34) for moving the first link is wound around the take-up pulley portion (18) of the attachment root (13) of the first link; the surgical instrument further comprises a closure actuation tendon (32) for moving the second link (20) relative to the first link in a closure direction of an opening / closing degree of freedom (G); the second link (20) has a circumferential operating portion (28; 142) having an operating radius (R2) centered on the second rotation axis (G-G); the first rotation axis (Y-Y) and the second rotation axis (GG) are separated and spaced apart from each other; the working radius (R2) of the circumferential operating portion (28; 128) of the second link (20) is greater than the radius (R1) of the take-up pulley portion (18) of the attachment root (13) of the first link (10); Surgical instruments (1).

2. The circumferential working portion of the second link (20) is a pulley portion (28) having a circumferential profile with the working radius (R2) about the second axis of rotation (G-G), A closing actuation tendon (32) for moving the second link is wound around the pulley portion (28) of the second link. A surgical instrument (1) according to claim 1.

3. the second link (20) has a body with a proximal tail (25) extending proximally to the second axis of rotation (G-G); the proximal tail (25) has the pulley portion (28) having a circumferential profile about the second axis of rotation (GG); A surgical instrument (1) according to claim 2.

4. The proximal tail (25) has at least one return surface (22) for returning a closure actuation tendon (32) across the pulley portion (28) to move the second link. A surgical instrument (1) according to claim 3.

5. A pair of antagonistic tendons (31, 32), a closing actuation tendon (32) having an antagonistic action for moving the second link (20) relative to the first link; Both of the pair of actuating tendons (31, 32) are wound around the pulley portion (28) having the circumferential profile of the second link (20), Respective paths of antagonistic acting tendons (31, 32) for moving the second link (20) between the first axis of rotation (Y-Y) and the second axis of rotation (G-G) define an intersection (30). A surgical instrument (1) according to any one of claims 1 to 4.

6. The articulated end effector (3) further comprises a sliding hub (40) disposed proximal to the second link (20); a closure actuation tendon (32) for moving the second link (20) is wound around the sliding hub (40) in longitudinal sliding contact; A surgical instrument (1) according to any one of claims 1 to 5.

7. the first rotation axis (Y-Y) and the second rotation axis (G-G) are parallel and separated by a distance (X1) that is preferably constant in any operating configuration of the articulated end effector (3); A surgical instrument (1) according to any one of claims 1 to 6.

8. The working radius (R2) of the pulley portion (28) of the second link (20) is greater than the lateral extent (Y2), and / or the working radius (R2) of the pulley portion (28) is greater than the radius of the positioning shaft (2) of the surgical instrument; A surgical instrument (1) according to any one of claims 1 to 7.

9. the circumferential working portion of the second link (20) has a toothed circumferential profile (142) having the working radius (R2) about the second axis of rotation (G-G); the articulated end effector has a toothed link (140) attached to the first axis of rotation (Y-Y); the toothed link (140) has a circumferential toothed counter portion (141) centered on the first axis of rotation (Y-Y) and connected to a toothed portion (142) of the toothed link (140); the toothed link (140) further comprises a pulley portion (118) having a take-up radius (R4) about the first axis of rotation (Y-Y); A closure actuation tendon (32) is wound around the pulley portion (118) of the toothed link (140). A surgical instrument (1) according to claim 1.

10. the working radius (R2) of the toothed circumferential profile (142) of the second link (20) is greater than the winding radius (R4) of the pulley portion (118) of the toothed link (140); A surgical instrument (1) according to claim 9.

Images