Symmetrically arranged joints of surgical instruments

Abstract

To provide an articulation for a robotic surgical instrument. The robotic surgical instrument (406) includes a shaft (504) and first and second actuators. an end effector (501) including an end effector element and a system for connecting the end effector to the system; and an articulation portion (505) connected to the shaft. The articulation portion is connected to the first pair of drive elements. a first joint actuable by a second pair of drive elements and a second joint actuable by a second pair of drive elements; joint and a third joint actuable by a third pair of drive elements. The robotic surgical instrument has a second pair of drive elements and a third pair of drive elements disposed therearound. A second pair of drive elements and a third pair of drive elements are provided. have opposite symmetrical paths around the pulley mechanism.

Description

[Technical field]

[0001] The use of robots to assist and perform surgery is known (see, e.g., patents FIG. 1 shows a typical example of a robotic arm 102, which is made up of a base 108, an arm 102, and an instrument 105. A surgical robot 100 is shown. The base supports the robot and The articulator itself can be firmly attached to, for example, the floor of an operating room, the ceiling of an operating room, a trolley, etc. The arm extends between the base and the instrument. The arm extends along the length of the arm. a plurality of flexible devices adapted to position the surgical instrument in a desired position relative to the patient; The surgical instrument is rotated by a joint 103 at the distal end of the robot arm. The surgical instrument is attached to a port 107 to access the surgical site. The instrument is inserted into the body of the patient 101 so as to perform the medical procedure. The device is provided with an end effector 106 for performing the above-mentioned operations.

[0002] FIG. 2 illustrates an exemplary surgical instrument 200 for performing robotic laparoscopic surgery. The surgical instrument includes a base 201. The base 201 is connected to the robot arm. Between the base 201 and the joint 203, a shaft 20 is provided. 2 extends from the joint 203. The joint 203 terminates in an end effector 204. In FIG. The concave and convex jaws are depicted as end effectors 204. The joints 203 are The articulation allows the effector 204 to move relative to the shaft 202. , it is desirable to provide at least two degrees of freedom for the movement of the end effector 204.

[0003] In FIG. 3, the end effector 204 is connected to a pitch joint 301 and two yaw joints. A known surgical instrument 302 is movable relative to a shaft 202 by a stud 302. 3. The joint 301 is a joint that the end effector 204 moves along the pitch axis 3 The joint 302 allows the end effector 204 to rotate around the Each jaw can rotate about a yaw axis 304. These joints are The pulley 305 is driven by the cables 306, 307, and 308. 8 through the passage of the cables 307, 308, through the pitch joint, The pulley 305 is used to guide the joint 203 to the central axis of the joint 203. The outer diameter of the shaft is determined by the number, size and position of the parts in the joint. The thickness is 8mm to accommodate this placement. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] International Publication No. 2015 / 132549 Summary of the Invention [Problem to be solved by the invention]

[0005] In order to reduce the incision on the patient's skin and reduce the amount of transection within the patient's body, the device It is desirable to reduce the outer diameter of the device. Reduce the weight of the surgical instrument to reduce the size and weight of the robot's base and arms. This makes the robot compact overall, making it easy to install in an operating room. It takes up less space inside the operating room, allowing for greater freedom of movement within the operating room. .

[0006] In a typical laparoscopic procedure, the surgeon uses many instruments, and the instruments are often separated by Therefore, the instrument is removed from the robot arm and replaced with another one. Reduce the time it takes to install and make this task as easy as possible Furthermore, it is desirable to use the instrument after the instrument is attached to the robot arm. It is desirable to reduce the time it takes to set up a possible state. [Means for solving the problem]

[0007] According to an aspect of the invention, a robotic surgical instrument as claimed in the appended claims is provided. Provided.

[0008] The invention will now be described, by way of example only, with reference to the accompanying drawings, in which: [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 illustrates a surgical robot performing surgery. [Diagram 2] FIG. 1 shows a known surgical instrument. [Diagram 3] 1A-1D show known arrangements of rotating end effectors of surgical instruments. [Figure 4] FIG. 1 illustrates a surgical robot. [Figure 5a] FIG. 2 shows the distal end of the surgical instrument. [Figure 5b] FIG. 2 is another view showing the distal end of the surgical instrument. [Figure 6a] FIG. 5C shows the pulley mechanism at the distal end of the surgical instrument of FIGS. 5a and 5b in a straightened state. [Figure 6b]FIG. 5C is another view of the pulley mechanism of the distal end of the surgical instrument of FIGS. 5a and 5b in a straightened state. [Figure 7] 5a and 5b show the pulley mechanism at the distal end of the surgical instrument in various non-linear positions. [Figure 8] FIG. 5c shows the pulleys of the pulley mechanism shown in FIGS. 5a and 5b offset from one another; [Figure 9] 1A and 1B show a non-straight state of the distal end of the surgical instrument. [Figure 10] FIG. 1 shows the support and deflection pulley of the articulation of the surgical instrument. [Figure 11] FIG. 11 is another view of the support and the deflection pulley of FIG. [Figure 12] FIG. 12 is a diagram showing only the support member of the joint portion of FIGS. 10 and 11. [Figure 13] FIG. 12 is another view showing only the support member of the joint portion of FIGS. 10 and 11. [Figure 14] FIG. 14 shows how a deflection pulley with a spindle mounted thereon is mounted on the support of FIGS. 12 and 13; [Figure 15] FIG. 14 shows the inclined surfaces and grooves of the support of FIGS. 12 and 13. [Figure 16a] FIG. 13 illustrates the arrangement of drive elements within the instrument shaft. [Figure 16b] FIG. 13 illustrates the arrangement of drive elements within the instrument shaft. [Figure 17a] FIG. [Figure 17b] FIG. 13 is another view of the surgical instrument. [Figure 18] FIG. 13 shows spokes within the instrument shaft. [Figure 19a] FIG. 1 illustrates an instrument interface. [Figure 19b] FIG. 13 is another view of the instrument interface. [Figure 19c] FIG. 13 is yet another view of the instrument interface. [Figure 20a] FIG. [Figure 20b] FIG. 13 is another view showing the tensioning mechanism. [Figure 21a] FIG. 1 illustrates a drive assembly interface for a robot arm. [Figure 21b] FIG. 13 is another diagram showing the drive assembly interface of the robot arm. [Figure 21c] FIG. 13 is yet another diagram showing the drive assembly interface of the robot arm. [Figure 22a] FIG. 1 illustrates one configuration of an instrument interface element. [Figure 22b] 13A-13C show alternative configurations of the instrument interface element. [Figure 22c] 13A-13C show yet other configurations of instrument interface elements. [Diagram 23] FIG. 1 illustrates one configuration of a drive assembly interface element. [Figure 24] FIG. 13 illustrates an instrument interface engaged with a drive assembly interface. [Diagram 25] FIG. 13 is a further diagram showing the instrument interface. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] FIG. 4 shows a surgical robot with an arm 400 extending from a base 401 . The arm has rigid limbs 402. These limbs are connected to revolute joints 402. The proximal most limb 402a is connected to the distal end of the rib 402b by a joint 403a. The limb is connected to the remaining limb by a further joint 403. Preferably, the wrist 404 is made up of four separate revolute joints. The wrist 404 has one limb (402b) attached to the distal most limb of the arm. The distal most rim 402c is connected to an access hole 402 for a surgical instrument 406. Each joint 403 of the arm holds an attachment 405. One or more motors 407 that can be actuated to produce rotational motion at the joints, One or more position and / or load sensors that provide information about the current configuration and / or load at the or a torque sensor 408. Preferably, the motor has a good weight distribution. a motor for rotating the joint; In FIG. 4, for the sake of clarity, only some of these motors and sensors are shown. The arm is generally described in the co-pending international application PCT / GB20 filed by the applicant hereof. The invention may be as described in US Pat. No. 5,993,352.

[0011] The arm has an attachment 405 for interfacing with an instrument 406. Preferably, the device 406 is of the construction described with respect to FIG. The diameter of the device is less than 8 mm. Preferably, the diameter of the device is 5 mm. The diameter may be less than 5 mm. The diameter of the instrument may be the diameter of the shaft. The diameter of the device may be the diameter of the joint profile. The diameter of the file is equal to or narrower than the diameter of the shaft. The attachment 405 includes a drive assembly that drives the joints of the instrument. The movable interface elements at the drive assembly interface are an instrument interface for transmitting drive from the robot arm to the instrument; 1. A typical surgical procedure involves the use of a movable interface element. Sometimes the instrument is replaced by another instrument several times. Thus, the instrument is used throughout the procedure. The drive mechanism is attachable to and detachable from a robot arm. The assembly interface and the instrument interface are When the instrument interface and the instrument interface are brought into engagement with each other. to support alignment of the drive assembly interface with the instrument interface. This eliminates the need for a user to perform the drive assembly. The alignment accuracy between the reinterface and the instrument interface can be low. do.

[0012] The instrument 406 includes an end effector for performing a surgical procedure. The data may be of any suitable configuration. For example, The end effector may be a flat jaw, a concave jaw, a gripper, a pair of scissors, a sewing machine, The device may be a needle, a camera, a laser, a knife, a stapler, a cautery, an aspirator, or the like. The instrument may be inserted between the instrument shaft and the end effector as described with respect to FIG. a joint portion, the joint portion being configured to move the end effector relative to the shaft of the instrument; The joints in the articulation section include a plurality of joints that allow the joint to move in a circular arc. These drive elements are connected to the device. The interface element of the instrument interface at the opposite end of the instrument shaft. That is, the robot arm is fixed to the end effector. The motion of the drive assembly interface element is transmitted to the actuator as follows: Move the instrument interface element, and the instrument interface element is driven The drive element moves the joint of the articulation section, and the drive element moves the joint of the articulation section. The point moves the end effector.

[0013] The robot arm includes a motor controller, a torque sensor controller, and The controllers for the sensors and the encoder are distributed. These controllers are connected via a communication bus. The connection unit 409 is connected to the control unit 409 via the processor 410 and the memory. The memory 411 controls the operation of the motor 407 to move the arm 400. software executable by said processor to operate in the manner described herein; Specifically, the software controls the processor 410 to 408 and in response to input from the surgeon command interface 412. The motor may be driven (e.g., via a distributed controller, etc.). The control unit 409 is connected to the motor 407 and controls the output generated by the execution of the software. The motor 407 is driven according to the force. The control unit 409 is connected to the sensor 408. The control unit 409 receives detection input from the sensor. Each of these connections receives input from the command interface 412. The connections may be, for example, electrical or optical cables, respectively, or wireless. The command interface 412 may be provided by a connection. The end effector has an input device, and the input device allows a user to control the operation of the end effector. The input device may be, for example, a control handle, a joystick, or a keyboard. manually actuated mechanical input devices such as gesture sticks; non-mechanical input devices such as optical gesture sensors; The software stored in the memory 411 may be a touch input device or the like. In response to the input, the joints of the arm or the tool are controlled in accordance with a predetermined control policy. The control policy is configured to move the arm or device in response to a command input. In summary, the surgeon can issue a command to the operation of the device. The interface 412 allows the movement of the instrument 406 to be controlled to perform a desired procedure. The control unit 409 and / or the command interface 412 can It may be in a remote location.

[0014] 5a and 5b show opposite views of the distal end of a surgical instrument. The end effector 501 includes a pair of end effector elements 502 and 503. The pair of end effector elements 502, 503 in FIG. 5a and FIG. 5b are This is merely an example. It should be understood that the end effector may be of any suitable configuration. The endoscope may have such a configuration, for example, the configuration described above. The effector 501 is connected to a shaft 504 by a joint 505. 5 is a joint that allows the end effector 501 to move relative to the shaft 504. The first joint 506 is configured to rotate the end effector 501 around a first axis 510. The first axis 510 is aligned with the longitudinal axis 511 of the shaft. The second joint 507 is configured to allow the first end effector element 502 to move across the second The second axis 512 is aligned with the first axis 510. The third joint 513 is a joint between the second end effector element 503 and the second Preferably, the first end effector element is arranged to rotate about its axis 512. The second end effector element 502 and the second end effector element 503 are The joint allows the two to rotate independently of each other around the second axis 512. The end effector elements are rotated in the same direction by the second and third joints. The second end effector element 503 can be rotated in the same direction or in a different direction. The first end effector element 502 is rotated around the second axis. It may also be possible to rotate the first end effector element about the second axis. The second end effector element 502 is rotated around the second axis. It may also be possible to rotate the component 503 about the second axis.

[0015] 5a and 5b show the hand with the end effector aligned with the shaft. The surgical instrument is depicted in a straightened state. In this orientation, the longitudinal axis 511 of the shaft is aligned with the , the longitudinal axis of the joint portion and the longitudinal axis of the end effector are aligned. By rotating the first, second and third joints, the end effector moves forward. The first and second electrodes can be positioned at a range of orientations relative to the shaft. After all of the second and third joints have been rotated from the straight state shown in Figs. 5a and 5b, , several configurations of the distal end of the device are shown.

[0016] Referring to Figures 5a and 5b, the shaft has a first jaw at a distal end of the shaft. The joint 505 terminates in a joint 506. The joint 505 includes a support 509. The support 509 At one end, it is connected to a shaft 504 by a first joint 506. The support 509 has a second joint 507 and a third joint 508 at the other end of the support 509. The first joint 513 is connected to the end effector 501. The support 509 rotates about a first axis 510 relative to the shaft 504. The second joint 507 and the third joint 513 are end-effect joints. The elements 502 and 503 rotate about a second axis 512 relative to the support 509. This makes it possible.

[0017] In the drawing, both the second joint 507 and the third joint 513 are aligned along a common axis. However, in a variant, the second joint and the first joint are The three joints allow the end effector elements to rotate about different axes. The rotation axis of one of the end effector elements may be aligned with the rotation axis of the other end effector element. The axis of rotation of the end effector element is offset in the longitudinal direction of the shaft 504. The rotation axis of one of the end effector elements may be aligned with the rotation axis of the other end effector element. A direction transverse to the longitudinal direction of the shaft 504 from the rotation axis of the end effector element The rotation of one of the end effector elements may be offset relative to the other. The axis of rotation may not be parallel to the axis of rotation of the other end effector element. The rotation axes of the end effector elements 502 and 503 are aligned along the length of the shaft. may be offset in the longitudinal direction of the shaft and / or may be offset in a direction perpendicular to the This may be achieved by asymmetrically assembling the end effector elements. For example, in an electrosurgical element, a first end element may be the first end effector element can be energized and the second end effector element can be energized. To assist in this, the first end effector element may be isolated from the first end effector element without being The rotation axes of the two end effector elements are aligned in the longitudinal direction of the shaft. In another example, the first end effector may be offset in an orthogonal direction. The first end effector element may be a blade and the second end effector element may be a flat cutting To aid in the use of such blades, the two end effectors may be The rotation axes of the elements may be inclined relative to one another.

[0018] The joints of the articulation are driven by drive elements. The shaft extends from the joint in the articulation section to the instrument interface. Preferably, each drive element is at least The drive element engages components within the articulation and within the instrument interface. The bending of the driving element occurs across the major extent of the driving element in the region where the bending occurs. That is, each driving element can be arranged to have a specific area. The drive element is capable of flexing transversely to its longitudinal axis. Thus, the drive element is wound around the joints, pulleys, and other structures within the instrument. The drive element may be generally aligned along a longitudinal axis of the drive element. The drive element may be capable of deflecting transversely to the center. The driving element cannot be deflected along the main extension of the driving element. Resisting compressive and tensile forces along the length of the drive element. The driving element is resistant to compressive and tensile forces acting in the direction of the longitudinal axis of the driving element. The driving element has a high modulus. The drive element is kept in tension for a period of time. The drive element is prevented from relaxing. This allows the drive element to receive drive from the instrument interface. The drive element may be a cable.

[0019] Preferably, each joint is driven by a pair of drive elements. 5b, the first joint 506 is connected to a first pair of drive elements A1, A2. The second joint 507 is driven by a second pair of drive elements B1, B The third joint is driven by a third pair of drive elements C1, C2. Preferably, each joint is driven by a respective Each joint is driven by a pair of drive elements. Preferably, the joints are driven independently of each other. The pair of drive elements is the third pair of drive elements depicted in Figures 5a and 5b. It may be constructed as a single piece, such as a moving element. A single unitary part is fixed to the joint at one point. For example, the third pair of drive elements The members C1 and C2 have a ball structure 520 fixed to the third joint 513. As a result, when the pair of driving elements are driven, the driving is The motion of the joint around the axis of the joint is reliably transmitted to the joint. The drive element may be constructed as two parts. In this case, the separate parts Each of the members is fixed to the joint.

[0020] The surgical instrument of Figures 5a and 5b further comprises a second pair of drive elements and a front drive element. The third pair of drive elements includes a pulley mechanism that is constrained to move. The pulley mechanism is more clearly illustrated in Figures 6a and 6b. The support 509 has been omitted to more clearly show the pulley mechanism. The mechanism includes a first set of pulleys 601. The first set of pulleys 601 are aligned along a first axis. 510. That is, the first set of pulleys 601 are connected to the first joint. The pulley mechanism further includes a second set of pulleys. The pulley mechanism further includes a pair of deflection pulleys 603.

[0021] The pulley mechanism is more clearly illustrated in FIG. 7. For easier understanding, the support, the first joint and the first pair of drive axes are shown in FIG. The second set of pulleys includes first pulley 701 and second pulley 702. The first pulley 701 includes a third pulley 702 that is parallel to the first axis 510. The third axis 703 is rotatable about the axis 703 from the first axis 510. The offset is both longitudinally and transversely to the longitudinal direction of the shaft. The second pulley 702 is rotatable about a fourth axis 704 that is parallel to the first axis 510. The fourth axis 704 is also aligned with the first axis 510 in the longitudinal direction of the shaft. The third axis and the fourth axis are offset in a direction transverse to the longitudinal direction of the shaft. The third axis 703 and the fourth axis 704 are parallel to each other and offset from each other. In FIG. The distal end of the second set of pulleys is aligned with the axis of the first pulley 701 and the axis of the second pulley. The drawing is made so that it is easier to understand how the axis of the pulley 702 is offset from that of the pulley 703. The driving element wound around each pulley is a first pulley 701 and a second pulley 702. Since the pulley 702 is offset from the pulley 702, the shaft 702 is wound around the pulley 702 and then As shown in FIG. 6a, the second set of pulleys 602 can extend into the shaft. The first pulley 701 and the second pulley 702 are arranged at a first position relative to the longitudinal direction of the shaft 504. The first pulley 701 and the second pulley 702 are disposed on both sides of the joint 506. 02 are disposed on either side of the first pair of drive elements A1, A2.

[0022] The second set of pulleys are aligned with the first set of pulleys and the tool inlet of the shaft. Preferably, the second set of pulleys is disposed between the first and second ends of the pulleys and the interface side. is disposed within the shaft as shown in the drawing. The pulley is connected to a first joint 506 and a second joint 507 in the joint portion. However, the second set of pulleys may be disposed between the shaft The second set of pulleys is disposed toward the distal end 508 of the joint. The distance between the first and second joints is shorter than that of the modified arrangement in which the first and second joints are disposed in the Since the distance is shorter, the support 509 is required to maintain the correct position of the end effector 501. The required rigidity is small.

[0023] The first set of pulleys 601 includes a first pulley 705 and a second pulley 706. Both the first pulley 705 and the second pulley 706 rotate about a first axis 510. The first pulley 705 and the second pulley 706 of the first set of pulleys are The first joint 506 is disposed on both sides of the first joint 506 in the longitudinal direction of the lid 504. The pulley 705 and the second pulley 706 are disposed on either side of the first axis 510. The first pulley 705 and the second pulley 706 are the first pair of drive elements A1, A2. are placed on both sides.

[0024] The second pair of drive elements B1, B2 drives the first pulley of the first set of pulleys 601. The first pulley 705 and the second pulley 706 are constrained to move in opposite directions. The second pair of drive elements B1, B2 drives the first pulley of the second set of pulleys 601. The first pulley 701 and the second pulley 702 are constrained to move in opposite directions. The second pair of drive elements is the first pulley 7 of the first set of pulleys 601. 05 and around the first pulley 701 of the second set of pulleys 602 in opposite directions. The second pair of drive elements are constrained to move sideways relative to the first set of pulleys. around the second pulley 706 of the second set of pulleys 601 and around the second pulley 70 of the second set of pulleys 602. 2 and are constrained to move in opposite directions.

[0025] The third pair of drive elements C1, C2 drives the first pulley of the first set of pulleys 601. The first pulley 705 and the second pulley 706 are constrained to move in opposite directions. The third pair of drive elements C1, C2 drives the first pulley of the second set of pulleys 601. The first pulley 701 and the second pulley 702 are constrained to move in opposite directions. The third pair of drive elements is the first pulley 7 of the first set of pulleys 601. 05 and around the first pulley 701 of the second set of pulleys 602 in opposite directions. The third pair of drive elements are constrained to move sideways relative to the first set of pulleys. around the second pulley 706 of the second set of pulleys 601 and around the second pulley 70 of the second set of pulleys 602. 2 and are constrained to move in opposite directions.

[0026] The second pair of drive elements and the third pair of drive elements each include a first jaw. 506 to the second joint and the third joint. That is, the first drive element of the second pair of drive elements is constrained to reach the The moving element B1 is the first of the first set of pulleys at the first joint axis 510. pulley 705 on one side and the second drive element of the second pair of drive elements. Joint B2 is the second pulley of the first set of pulleys at first joint axis 510. 706 on the opposite side, so that the support 509 supports the first joint 506 Regardless of how the drive elements B1 and B2 rotate about the center, the length of the second pair of drive elements B1 and B2 is Similarly, the first drive element of the third pair of drive elements remains the same. C1 is the second pulley 70 of the first set of pulleys located at the first joint axis 510 6 on one side, and the second drive element C2 of the third pair of drive elements The first pulley 705 of the first set of pulleys is located at the first joint axis 510. The support 509 passes through the first joint 506 at the side, so that the support 509 can move around the first joint 506. Even if the third pair of drive elements C1, C2 rotates as shown in FIG. Thus, the second pair of drive elements B1, If the arrangement of B2 and the arrangement of the third pair of drive elements C1, C2 are symmetrical, At any rotation angle around the first joint 506 of the support body 509, The length of the second pair of drive elements is the same as the length of the third pair of drive elements. In any state of the surgical instrument, the second pair of drive elements and the third pair of drive elements The pair of drive elements are kept in tension. They never slacken. This Therefore, no rattle occurs when any of the joints of the surgical instrument are rotated. In any state of the surgical instrument, all three degrees of freedom of movement of the surgical instrument are It can be controlled freely.

[0027] Preferably, each pulley of the first set of pulleys 601 comprises a pair of pulley elements. The first pulley 705 has an inner pulley element 708 and an outer pulley element 709. The inner pulley element 708 includes an outer pulley element 709. The first pair of drive elements A1 and A2 are preferably disposed between the first pair of drive elements A1 and A2. The inner pulley element 708 abuts against the outer pulley element 709. Pulley element 708 is assumed to be fixed to outer pulley element 709. The inner pulley element 708 may be integral with the outer pulley element 709. The second pulley 706 may be formed with an inner pulley element 710. and outer pulley element 711. Inner pulley element 710 is an outer Located between the pulley element 711 and the first pair of drive elements A1, A2 Preferably, the inner pulley element 710 abuts against the outer pulley element 711. The inner pulley element 710 is fixed to the outer pulley element 711. The inner pulley element 710 may be connected to the outer pulley element 7 Each pulley element may be integrally formed with the drive element 11. The groove engages the corresponding element.

[0028] Preferably, each pulley in the second set of pulleys 602 comprises a pair of pulley elements. The first pulley 701 has an inner pulley element 712 and an outer pulley element 713. The inner pulley element 712 includes an outer pulley element 713. The first pair of drive elements A1 and A2 are preferably disposed between the first pair of drive elements A1 and A2. The inner pulley element 712 abuts against the outer pulley element 713. Pulley element 712 is fixed to outer pulley element 713. The inner pulley element 712 may be integral with the outer pulley element 713. The second pulley 702 may be formed with an inner pulley element 714. and outer pulley element 715. Inner pulley element 714 is an outer Located between the pulley element 715 and the first pair of drive elements A1, A2 Preferably, the inner pulley element 714 abuts the outer pulley element 715. The inner pulley element 714 is fixed to the outer pulley element 715. The inner pulley element 714 may be connected to the outer pulley element 7 Each pulley element may be integrally formed with the drive element 15. The groove engages the corresponding element.

[0029] A second pair of drive elements B1, B2 drives the first pulley of the second set of pulleys. around the inner pulley element 712 of the second set of pulleys and around the second pulley element 713 of the second set of pulleys. The second pair of pulleys are constrained to move around the outer pulley element 715 of the second pair. The driving elements B1, B2 are the inner pulleys of the first set of pulleys. around the pulley element 708 and the outside of the second pulley of the first set of pulleys. It is constrained to move about pulley element 711 .

[0030] A third pair of drive elements C1, C2 drives the first pulley of the second set of pulleys. around the outer pulley element 713 of the second set of pulleys and around the second pulley element 714 of the second set of pulleys. The third pair of pulleys are constrained to move about the inner pulley element 714. The driving elements C1, C2 are arranged on the outer side of the first pulley of the first set of pulleys. around the pulley element 709 and the inner side of the second pulley of the first set of pulleys. The pulley element 710 is constrained to move about it.

[0031] Therefore, the second pair of drive elements B1, B2 and the third pair of drive elements C1, C2 means that the paths around the first and second sets of pulleys 601, 602 are reversed. Before the end effector is aligned with the shaft, In the straight state of the device, the second pair of drive elements B1, B2 rotates around the pulley mechanism. The path of the third pair of drive elements C1, C2 around the pulley mechanism is The second pair of driving elements are rotationally symmetrical about the longitudinal axis of the shaft 511. The second set of pulleys 60 are connected to the second pair of drive elements C1, C2 and B1, B2. 2 into the distal end of the shaft in a symmetrical arrangement. On one side of the shaft, a driving element B1 and a driving element C2 are arranged so that On the opposite side of the shaft, the driving element C1 and the driving element B1 and B2 run adjacent to each other. The arrangement of the driving element C1 and the driving element B2 in the shaft is The arrangement is rotationally symmetrical with respect to the longitudinal axis 511 of the shaft. A second set of pulleys 602 transmits the drive force of the second pair from the first set of pulleys 601. element and the third pair of drive elements are thus biased into the shaft. do.

[0032] FIG. 7 shows the distal end of the surgical instrument in five different configurations. ) is the aforementioned straight state in which the end effector is aligned with the instrument shaft. In the configurations (a), (b), (d) and (e), the first joint from the configuration (c) is In the configurations (a), (b), (d), and (e), the rotation occurs around the center of the ) to the rotation about the second joint and the rotation about the third joint No rotation occurs. Starting from configuration (c), the driving element A2 (not shown) As the first axis 510 is pulled, rotation occurs around the first axis 510, resulting in the configuration of the shape (b). As the driving element A2 is further pulled, the first axis 510 Further rotation occurs around the vertex, resulting in the configuration of form (a). Then, the driving element A1 (not shown) is pulled, and rotates around the first axis 510. The rotation of the axial direction ... The drive element A1 is further pulled, so that the first axis 5 A further rotation of 10 occurs, resulting in a transition to the configuration of form (e).

[0033] Rotation of the end effector 501 around the first axis 510 rotates the first joint 506. The upper limit of the travel of the first pair of drive elements A1 and A2 is limited by the center. In the state (a), the end effector 501 rotates around the first axis 510 in one direction to the maximum extent. In the example (e), the end effector 501 is rotated around the first axis 51. In either case, the front The maximum rotation angle of the shaft with respect to the longitudinal axis 511 is the angle φ. The pulley 602 is also in the position where the second pair of drive elements and the The three pairs of drive elements are connected to the first set of pulleys 601 and the second set of pulleys 60 2, the first set of pulleys 601 are rotated to ensure that the second set of pulleys 601 are maintained in contact with the first set of pulleys 602. The rotation angle of the end effector 501 around the first axis 510 is Regardless of the rotation angle, the end effector 501 always rotates in the second set. A first pulley 701 of the first set of pulleys is connected to a first pulley 705 of the first set of pulleys. The drive element is located within a cone defined by a tangent line that is However, when the end effector 501 is located within the cone, the path of FIG. The second and third joints are shown in all configurations in FIG. As can be seen from FIG. 7, the second cell is maintained in the straight line state shown in FIG. If the pulley 602 of the set is not present, the driving element B2 and the driving element C in the form (a) will The first set of pulleys 601 will lose contact with the first set of pulleys 601. If there is no 2, in the form (e), the driving element B1 and the driving element C2 are the first set 601.

[0034] For any angle of rotation of the end effector about the longitudinal axis of the shaft The second pair of drive elements and the third pair of drive elements are The first joint is maintained in contact with the second set of pulleys. Regardless of rotation about 506, the length of the second pair of drive elements B1, B2 is the same. Also, regardless of the rotation about the first joint 506, the third joint The lengths of the pair of driving elements C1, C2 remain the same. How much the first joint 506 is driven around the first axis 510 by the pulley Regardless of whether the second pair of drive elements and the third pair of drive elements are tensioned, The force can be maintained. Thus, the first joint 506 is aligned with the first axis 510 Regardless of how the second pair of drive elements and the third pair of drive elements are driven around Control of the pair of drive elements can be maintained.

[0035] The pulley mechanism further includes a pair of deflection pulleys 716, 717. The roller has a first joint 506 and second and third joints in the joint portion 505. These deflection pulleys are located between pulleys 6 and 507 and 513 of the first set. 01 to the second pair of drive elements B1, B2 to the second joint 507, A third pair of drive elements C1, C2 are connected from the pulley 601 of the third joint 513 are positioned so as to be biased towards

[0036] The second pair of drive elements B1, B2 are adapted to move around the first deflection pulley 716. The first deflection pulley 716 is constrained to rotate about a first deflection pulley axis 718. The first deflection pulley axis 718 forms an angle θ with respect to the first axis 510. θ is the angle at which the first driving element B1 of the second pair of driving elements rotates with respect to the first set of pulleys 6 From the unwinding point of the first pulley 705 of 01 to the winding point 721 on the second joint 507 Preferably, the first deflection pulley 716 is set at an angle such that the first deflection pulley 716 is deflected by the drive element. The third pair of drive elements C1, C2 has a groove for engaging the first drive element B1. The third pair of drive pulleys 716 are not constrained to move around the deflection pulley 716. The second driving element C2 of the element is connected to the second driving element C2 of the third joint 513. The payout point of element C2 on the first pulley 705 of the first set of pulleys 601 Between the winding point of the second drive element C2, it passes by the first deflection pulley 716. The drive element C2 is partially surrounded by a first deflection pulley 716. For example, the driving element C2 may be in the groove of the first deflection pulley 716. The first deflection pulley 716 may pass partially between the shoulders of the The groove does not engage with the corresponding groove.

[0037] The third pair of drive elements C1, C2 are adapted to move around the second deflection pulley 717. The second deflection pulley 717 is constrained to rotate about a second deflection pulley axis 719. The second deflection pulley axis 719 forms an angle ψ with respect to the first axis 510. ψ is the distance that the first driving element C1 of the third pair of driving elements moves toward the first set of pulleys 6 From the unwinding point 720 of the second pulley 706 of 01 to the winding point on the third joint 513 Preferably, the second deflection pulley 717 is set at an angle such that the second deflection pulley 717 is deflected by the drive element. The second pair of drive elements B1, B2 has a groove for engaging the second member C1. The second pair of drive pulleys 717 are not constrained to move around the deflection pulley 717. The second drive element B2 of the element is connected to the second drive element B2 of the second joint 507. on the payout point 720 of element B2 and on the second pulley 706 of the first set of pulleys 601 Between the winding point of the second driving element B2, the second deflection pulley 717 is disposed The drive element B2 is partially surrounded by a second deflection pulley 717. For example, the driving element B2 may be arranged in the groove of the second deflection pulley 717. The second deflection pulley may be configured to pass partially between the shoulders of the It does not engage with the corresponding groove of 717.

[0038] The pay-off point is the point at which the drive element loses contact with the pulley. This is the point where the element first contacts the pulley. Directly from the first pulley to the second pulley. In the case of a driving element being passed, the payout of the driving element from the first pulley The winding point of the drive element on the second pulley and the winding point of the drive element on the first pulley and the second pulley are The payout point is a point on a line that is tangent to both the first and second pulleys, and the payout point is where the tangent intersects with the first pulley. The point where the wire splits and the take-up point is where the tangent line intersects with the second pulley. However, this is for the convenience of explanation, and the thickness of the driving element is negligible. In reality, the tangent has a thickness equal to the thickness of the driving element. The payout point is where one side of the tangent meets the first pulley. The take-up point is where the other side of the tangent meets the second pulley.

[0039] The deflection pulley 716 is provided, so that the deflection pulley 716 is provided The driving element B1 is wound more completely around the second joint 507 than when it is not wound around the second joint 507. Therefore, the length of the engagement portion between the driving element B1 and the second joint 507 is increased. Therefore, the range of motion of the driving element B1 around the second joint 507 is Since the rotation of the end effector element 502 about the second axis 512 is increased, the The deflection pulley 716 can be tilted more than if it were not provided. 716 is provided to prevent the drive element B1 from being pulled down on the second joint 507. The winding point of the deflection pulley 716 is 1 / 100 the position of the winding point when the deflection pulley 716 is not provided. Change.

[0040] The deflection pulley 717 is provided, so that the deflection pulley 717 is provided The driving element C1 is wound more completely around the third joint 513 than when it is not wound around the third joint 513. Therefore, the length of the engagement portion between the driving element C1 and the third joint 513 is increased. Therefore, the range of motion of the driving element C1 around the third joint 513 is Since the rotation of the end effector element 503 about the second axis 512 is biased, The deflection pulley 717 can be tilted more than if it were not provided. 717 is provided to prevent the drive element C1 from being pulled down on the third joint 513. The winding point of is 10 mm from the position of the winding point when the deflection pulley 717 is not provided. Change.

[0041] The deflection pulleys are arranged on both sides of the joint toward the outer edge of the joint. This can be easily seen in Figure 5. As can be seen in Figure 6a, Each deflection pulley is aligned with the longitudinal axis of the joint on either side of the joint. Preferably, the deflection pulley is disposed between the outer profile of the joint. The diameter is maximized for the available space. The pulley allows a drive element to engage the pulley on one side of the pulley. and another drive element can drive the pulley on the opposite side without snagging. The pulley and the two drive elements are connected to each other while allowing the pulley to pass by. As large as possible while still fitting within the profile of the joint .

[0042] The first deflection pulley 716 is: (i) the first pulley 705 of the first set of pulleys 601; (ii) the desired payout point of the driving element B1 from the second joint 507; (iii) a point on the boundary of the joint; The point (iii) is located in a plane in which the first deflection pulley 716 is located. When the first deflection pulley 716 is positioned, the first deflection pulley 716 is located inside the boundary of the joint. Preferably, the first deflection pulley 716 is located in this plane and is connected to the articulation portion 714. 10, without interfering with the path of the driving element C2. B1 is as large as possible while still allowing it to move freely around the first deflection pulley 716. It is considered to be a valuable item.

[0043] The second deflection pulley 717 is (i) the second pulley 706 of the first set of pulleys 601 (ii) the desired payout point of the driving element C1 from the third joint 513; (iii) a point on the boundary of the joint; The point (iii) is located in a plane in which the second deflection pulley 717 is located. When the second deflection pulley 717 is positioned, the second deflection pulley 717 is located inside the boundary of the joint. Preferably, the second deflection pulley 717 is located in this plane and is connected to the articulation portion 714. 10, without interfering with the path of the driving element B2. C1 is as large as possible while still allowing it to move freely around the second deflection pulley 717. It is considered to be a valuable item.

[0044] The desired unwinding point and the desired winding point are located around the second joint and the third joint. a desired range of motion of the drive element, Allowing for a desired range of motion that allows for a desired maximum rotation about the second axis. It can be decided as follows.

[0045] The first and second deflection pulleys are located in different planes. As can be seen in FIG. 5a, these planes are defined relative to a plane perpendicular to the first axis 510. These planes may be rotationally symmetrical with respect to a plane perpendicular to the first axis 510. Specifically, these planes may be on a plane perpendicular to the first axis 510. These planes are defined as planes in which the device is aligned with the line shown in FIG. When the shaft 511 is in the rotational symmetrical state, the rotational symmetrical state is determined based on the longitudinal axis of the shaft 511. These planes are mirror images of each other in a plane perpendicular to the first axis 510. In the illustrated example, the end effector element 502 and the end effector element The drive element 503 is rotationally symmetrical with the joint 507 and the diameter of the drive element 503 is The path of the drive element around the joint 513 is rotationally symmetric. , the axis of the end effector element 502 and the axis of the end effector element 503 and / or the drive element about joint 507 may be rotationally asymmetric. The path of the drive element around joint 513 may be asymmetric. The path of the drive element around joint 507 and the path of the drive element around joint 513 The diameter of these joints is different (to allow different tension ratios). ) the results that are different and / or that these joints are in the support 509 They may be asymmetric as a result of being located at different offsets from the core. In any of these modified examples, the first deflection pulley 716 and the second deflection pulley 717 In this case, the positions of the first deflection pulley 716 and the second deflection pulley 717 are as follows: The location and / or dimensions of the drive element may be such that the drive element has a desired payout point and a desired This differs from the above in order to take a winding point.

[0046] Preferably, the first set of pulleys, the second set of pulleys and the deflection pulley The entire pulley mechanism including the first axis 510 is symmetrical with respect to a plane perpendicular to the first axis 510. Specifically, the first pulley 705 of the first pulley set, the second pulley A first partial arrangement including a first pulley 701 and a first deflection pulley 716 of the set of pulleys. The second pulley 706 of the first set of pulleys, the first pulley 707 of the second set of pulleys, For the second partial arrangement including the second pulley 702 and the second deflection pulley 717, The first partial arrangement is rotationally symmetrical with respect to a plane perpendicular to the axis 510 of the first partial arrangement. The arrangement is a mirror image of the second partial arrangement in the aforementioned plane perpendicular to the first axis 510. The second pair of drive elements B1, B2 are connected to the third pair of drive elements C1, C2. in a rotationally symmetric manner that is the opposite of the manner in which the pulley mechanism is constrained to move around the The pulley mechanism is constrained to move around the pulley mechanism in accordance with the above formula. Such symmetry constrains the pulley mechanism to move symmetrically around the pulley mechanism. The second pair of drive elements and the third pair of drive elements also have the same symmetry. This reduces the rotation of the second pair of drive elements B1, B2 around the pulley mechanism. The path of the third pair of drive elements C1, C2 around the pulley mechanism is in rotational opposition to the path of the third pair of drive elements C1, C2 around the pulley mechanism. It became a title.

[0047] In one exemplary application, the first deflection pulley and the second deflection pulley are supported by a support 50. 9. Only the support 509 and these deflection pulleys are shown in FIG. Each deflection pulley is attached to the surface of the support 509 by a spindle. A spindle 1001 fastens the first deflection pulley 716 to the support 509. Also, the spindle 1102 fastens the second deflection pulley 717 to the support 509. do.

[0048] As can be seen clearly in FIG. 11, the support 509 is supported by a first deflection pulley 716. The first deflection pulley 716 has an inclined surface 1101 on which the support 5 The mounting surface 1104 faces the inclined surface 1101 of the mounting member 1109. The first deflection pulley is disposed on the same plane as the mounting surface 1101. The mounting surface 1104 has an opposite surface 1105. The opposite surface 1105 is parallel to the mounting surface 1104. The support 509 has a second deflection pulley 717 mounted on a spindle 1103. The second deflection pulley 717 has a further inclined surface which is inclined toward the support 509. The mounting surface 1106 faces the inclined surface 1102. The second deflection pulley is disposed on the opposite side of the mounting surface 1102. It has an opposing surface 1107. The opposing surface 1107 is parallel to the mounting surface 1102.

[0049] The inclined surfaces of the support 509 are not parallel to the longitudinal axis of the support. The inclined surface 1101 of the first deflection pulley 716 is parallel to the plane 1109 on which the first deflection pulley 716 is located. The inclined surface 1101 is located on a plane 1108. That is, the inclined surface 1101 is located on the plane 1108 of the first set of pools. (ii) a desired payout point of the driving element B1 from the first pulley 705 of the first pulley 601; (iii) the desired winding point of the driving element B1 on the joint 507 of the second joint and a point on the boundary of the portion, Point (iii) is the first deflection pulley 716 when it is located on the plane 1109. The deflection pulley 716 of the first joint is located inside the boundary of the joint. The plane 1108 of the first deflection pulley 1101 is a plane 1109 defined by these points. 11. The offset is d1, which is half the width of rib 716 (as shown in FIG. 11).

[0050] The inclined surface 1102 of the support 509 is inclined with respect to the plane 111 on which the second deflection pulley 717 is located. That is, the inclined surface 1102 is located on a plane 1110 parallel to the first cell. the desired pay-out point of the drive element C1 from the second pulley 706 of the first pulley 601 and (ii) the desired winding point of the driving element C1 on the third joint 513; and (iii) ) located on a plane 1110 parallel to a plane 1111 defined by a point on the boundary of the joint The point (iii) is the point where the second deflection pulley 717 is located on the plane 1111. When the second deflection pulley 717 is moved, the point is set so that it is within the boundary of the joint. The plane 1110 of the inclined surface 1101 is a second plane 1111 defined by these points. The deflection pulley 717 is offset by half the width d2 (as shown in FIG. 11). Preferably, the first deflection pulley 716 and the second deflection pulley 7171 have the same shape and dimensions. In this case, d1 = d2.

[0051] As previously mentioned, each deflection pulley is spun onto the corresponding inclined surface of the support. The spindle is attached by a spindle body and a spindle The spindle body is inserted through a central opening in the deflection pulley. The central opening extends vertically between the mounting surface and the opposing surface of the deflection pulley. The body of the spindle passes through the central opening in the deflection pulley. 12 and 13 show the structure of the support 509. These figures show an exemplary application of the holes in the support. The hole is a recess in the support that tapers to a point. The body of the spindle is inserted through the first opening of the bore and fixedly pressed into the reduced diameter portion. The head of the spindle is larger than the central opening in the deflection pulley. As a result, the deflection pulley is unable to pass through the central opening. The head of the spindle holds the deflection pulley flush with the inclined surface of the support. The head of the spindle is fixed to at least one of the opposite faces of the deflection pulley. A portion of the deflection pulley is contacted, and the contact holds the deflection pulley against the inclined surface.

[0052] Please refer to FIG. 14. The diameter of the hole 1401 in the support is 140 mm in the body 14 of the spindle. The diameter of the central opening 1402 in the deflection pulley is larger than the diameter of the The diameter of the spindle body 1403 may be larger than the diameter of the spindle body 1403. The body may fit loosely into the central opening in the deflection pulley. The body of the spindle is inserted into the hole in the support (the reduced diameter portion in the above example). Typically, the support is fitted loosely into the hole except for the area where it is fixed. The inclined surface of the support is formed by drilling holes in the inclined surface of the support during manufacture. Since the diameter of the opening of the hole in the hole is larger than the body of the spindle, The precision of the angle at which the support is drilled to form the hole becomes less important. The deflector includes a precision insert within the bore for engaging the deflection pulley flush with the inclined surface. The fit of the spindle body in the bore is an interference fit. and this is a means for rotating the deflection pulley about the deflection pulley axis 718, 719. In the case of a stepped hole, it is important to drill the hole at an angle very accurately. The pulley is tightly attached to the spindle and the spindle is fixed to the hole. The tight attachment of the pulley to the shaft prevents the pulley from precessing. However, there is no room for manufacturing deviation in the angle at which the hole is drilled in the support. In the example, the deflection pulley is inclined perpendicular to the deflection pulley axis 718, 719 of the support 509. As a result of the deflection pulley being held flush with the deflection pulley axis 718, 719. Therefore, in the above application example, the hole is drilled in the support. Even if there is a large manufacturing variation in the accuracy of the angle to be measured, this can be tolerated.

[0053] The inclined surface 1101 and the inclined surface 1102 of the support are not parallel to each other. The inclined surfaces may be symmetrical with respect to a plane perpendicular to the first axis 510. The first axis 510 may be rotationally symmetric with respect to a plane perpendicular to the first axis 510. Then, these inclined surfaces rotate relative to a straight line on a plane perpendicular to the first axis 510. The inclined surfaces are aligned when the device is in the straight position shown in FIG. It is rotationally symmetrical about the longitudinal axis of the shaft 511. This is two-fold rotational symmetry. The inclined surfaces may be mirror images of each other in a plane perpendicular to the first axis 510.

[0054] See FIG. 15. In one example, the support 509 has a groove thereon for engaging the drive element. The support has a second pair of drive elements of the third pair. The drive element C2 is engaged with a groove 1501 near the inclined surface 1101. Element C2 is engaged in groove 1501 and is partially deflected by first deflection pulley 716. The support is surrounded by a second drive element B of the second pair of drive elements. 11, the groove 1502 is located near the inclined surface 1102. The drive element B2 is engaged in the groove 1502 and drives the second deflection pulley 7 Partially surrounded by 17.

[0055] The first pair of drive elements, the second pair of drive elements and the third pair of drive elements The shaft is connected to the distal end of the shaft at the joint portion and extends through the shaft. The shaft extends to a proximal end that is coupled to a drive mechanism of the instrument interface. 17a and 17b show the first pair of drive elements from the articulation. The second pair of drive elements and the third pair of drive elements are exemplary instrument interfaces. In one exemplary application, the second pair of a drive element and a third pair of drive elements disposed at a distal end of the shaft; within the shaft to proceed from the proximal end of the shaft in a configuration different from In FIG. 16, a cross section of the shaft shows the relative positions of the drive elements. It is depicted as such.

[0056] FIG. 16(a) shows a cross section of the shaft at its distal end. That is, FIG. 16(a) shows the state where the driving element is rotated from the second set of pulleys 602. The figure shows the position of the driving element A1 when it leaves the driving element A2. The moving element A2 is a moving element that moves in the opposite direction of the shaft after leaving the first joint 506. The driving element C1 and the driving element B2 are located on the opposite sides of the shaft. On the opposite side to the adjacent driving elements B1 and C2, The driving element C1 and the driving element B2 are adjacent to the driving element A1. The driving element A1 is connected to the driving element A2 via an axis 1601 that crosses the axis 1602. This is offset from the second set of drives B1 and C2. This is the result of the axis centers of the two pulleys being offset from each other.

[0057] FIG. 16(b) shows a cross section of the shaft at its proximal end. That is, FIG. 16(b) shows the driving element being driven from the shaft to the instrument insert. 1 shows the position of the drive element as it exits into the interface. The pair of driving elements A1 and A2 of the first pair of driving elements in FIG. Similar to the arrangement of the ports A1 and A2, they are located on opposite sides of the shaft. A first pair of drive elements are arranged in the shaft. They can approach each other by approaching each other slightly over the extended trajectory. In the example, the driving element B1 is the driving element B in FIG. In FIG. 16(b), the driving element C1 is located on the opposite side to the position of the shaft 1. The shaft is located on the opposite side to the position of the driving element C1 in FIG. 16(a). To achieve this, the driving element B1 and the driving element C1 are connected to the shaft 511. Rather, the drive element B1 and the driving element C1 are connected to the driving element B1 and the driving element C1 in the shaft. The overlap occurs during the extension of the pulleys C1 of the second set of pulleys 602. The position of the driving element B1 in Figure 16(a) is Since the positions of the driving element C1 and the driving element B are also offset from each other, The driving element B2 is driven by the front drive element C1 without any collision. Although the position of the shaft moves slightly, it is on the same side of the shaft as in FIG. 16(a). It stays there and therefore travels adjacent to drive element B1 at the proximal end of the shaft. The driving element C2 moves slightly in position within the shaft, but is aligned with the shaft as shown in FIG. Since the drive element remains on the same side as in (a) at the proximal end of the shaft, It progresses adjacent to C1.

[0058] The instrument interface has a first pair of drive elements and a second pair of drive elements disposed about it. a third pair of drive elements and a third pair of drive elements constrained to move; The drive elements A1, A2, B1, B2, C1, and C2 are disposed at the proximal ends of the shafts. In the section, the driving elements A1, A2, B1, B2, C1, and C2 are In one application, the cam is adapted for direct engagement with the surface of the cam. the drive element at a proximal end of the shaft of the instrument interface 16(b) for direct engagement with the further pulley mechanism as described in detail below. Preferably, the first pair of drive elements, the second pair of drive elements a third pair of drive elements for driving the pulley at a distal end of the shaft; The wire extends from the mechanism to the instrument interface without being wrapped around an intermediate pulley. The first pair of drive elements and / or the second pair of drive elements are arranged around the circumference. and / or an intermediate pulley around which the third pair of drive elements are constrained to move, It is not present in the shaft.

[0059] The instrument interface is relatively flat as can be seen in Figures 17a and 17b. The instrument interface extends mostly on the central plane directly opposite FIG. Preferably, the instrument shaft 504 is rigidly attached to the instrument interface 1701. The instrument shaft 504 rotates relative to the instrument interface 1701. Preferably, the end effector elements 502, 503 rotate. The second axis 512 is perpendicular to the mid-plane of the instrument interface. This applies when the device is in the straight position shown in Figures 17a and 17b. In the straightened state of the instrument, the jaws of the end effector are aligned with the jaws of the instrument interface. It can move on the midplane.

[0060] The drive element has the same shape and size along its length and Alternatively, the drive element may be a single piece constructed of the same material. In one example, the driving element may be configured with a plurality of different parts. The components of the instrument interface of the instrument (e.g., pulleys, interface elements, etc.) Similarly, the portion of the driving element that engages with the surgical instrument is flexible. A part that engages with a part at the distal end of the tool (e.g., the pulley, joint, etc. in the articulation part). Between these two flexible parts, the spot shown in Figures 17a and 17b is That is, each pair of drive elements has two spokes and two Each pair of drive elements forms a loop. The spokes are arranged in a substantially or completely parallel relationship with each other. The distal flexible section is fitted at one end to one of the a spoke having a distal end and a distal end that is connected to the other spoke; The distal flexible portion terminates in an end portion that engages the articulation component. The flexible portion terminates at one end at the proximal end of one of said spokes and at the other end The proximal flexible portion terminates at the proximal end of the other spoke. The spokes are stiffer than the flexible portion. Preferably, the spokes are rigid. The spokes may be hollow. Typically, the spokes have a larger diameter than the flexible portion. The flexible portion may be a cable and the spokes may be hollow tubes. Alternatively, the spokes may terminate at the points where the flexible portions meet the spokes. The spokes may encase the material of the flexure. For example, the spokes may encase a flexible cable. It may be a rigid sheath.

[0061] The spokes have higher rigidity than the flexible portion. By forming the drive element from a poke and a flexible section, the possibility of the drive element stretching is reduced. For this reason, the proportion of spokes in each driving element is determined by the fact that the spokes are Ensure that no contact is made with any part of the joint or the instrument interface and that adjacent It is preferable to maximize the driving force while ensuring that the driving elements do not collide with each other. The spokes are stronger than the flexible parts, so they can withstand any compressive or tensile force applied in any direction. The spokes are also more flexible than the flexible portion. This makes the drive element as a whole more rigid and less prone to stretching. This extends the life of the drive element before it needs to be re-tensioned or replaced.

[0062] In FIG. 18, the spokes of the driving elements A1, A2, B1, and C1 are respectively A1 18, the end effector 501 is shown. 18 illustrates the straightened state of the surgical instrument, where the stator 502 is aligned with the shaft 504. As can be seen, the distal flexible portion of the driving element A1 is The shaft is connected to the spoke A1s at a point 1801 along the longitudinal direction x. The distal flexible portion of the drive element A2 is in the direction of the longitudinal axis 511. The drive element terminates in a spoke A2s at a point 1802 along the longitudinal direction x of the drive element. The distal flexible portion of the shaft B1 is spliced ​​at a location 1803 along the longitudinal direction x of the shaft. The distal flexible portion of the drive element C1 is connected to the longitudinal axis of the shaft. The driving element B2 terminates in a spoke C1s at a point 1804 along the direction x. The distal flexure of the drive element C2 is as shown in FIG. 17a. and terminate in respective spokes at the more proximal end of the shaft.

[0063] As can be seen from FIG. 18, when the instrument is in the straight position shown, the drive elements The longitudinal positions 1801, 1802 where the distal flexible portions of the studs terminate at the distal ends of the spokes. 1802, 1803, and 1804 do not match. Rather, the longitudinal positions 1801, 1802, and 803, 1804 are offset from each other, i.e., when the instrument is in a straight line and the distal ends of the spokes of the drive element are aligned along the longitudinal direction of the shaft. Specifically, in the straight state, the distal ends of adjacent spokes are offset. The portions are offset along the length of the shaft. The distal ends of the shafts are aligned in a straight line along the longitudinal direction of the shaft. For example, in FIG. 18, the non-adjacent spokes A1s and A2s may be , terminating at the same points 1801, 1802 along the length of the shaft. The spokes of the drive element are arranged to engage with each other in any state of the surgical instrument. The distal ends are offset along the length of the shaft. and preferably, in any state of the surgical instrument, the distal ends of adjacent spokes The sections are offset along the length of the shaft.

[0064] As previously described with respect to FIG. 16, the drive element is A pulley is wound around an intermediate pulley from the pulley mechanism to the pulley mechanism in the instrument interface. In one application in which the drive elements are directly connected to the shaft without any The first pair of drive elements are not parallel to each other. A first drive element A1 is disposed within the shaft and is a second drive element of the first pair of drive elements. The driving element A1 and the driving element A2 extend substantially parallel to each other. Slightly increased over the length of the shaft in a direction from the node to the instrument interface. The first drive element B1 of the second pair of drive elements B1 may be close to each other. A second drive element B1 of the second pair of drive elements is disposed within the shaft. The driving element B1 extends obliquely relative to the shaft B2. The driving element A1, the driving element A2, the driving element C1 and the driving element C The driving element B2 extends inclinedly relative to the shaft 2. A1, driving element A2, driving element C1 and driving element C2 are inclined relative to each other. A first drive element C1 of the third pair of drive elements extends into the shaft. The second driving element C2 of the third pair of driving elements extends obliquely with respect to the second driving element C2. The driving element C1 further includes a driving element A1 and a driving element B1. The drive elements A1, B2 and B3 extend obliquely relative to each other. The element C2 is connected to the driving element A1, the driving element A2, and the driving element A3 in the shaft. The driving element B1 and the driving element B2 extend obliquely.

[0065] The longitudinal positions of the distal ends of the spokes are such that the spokes are aligned relative to the distal ends of the spokes when the instrument is rotated. The diameter of the spokes is selected so that they do not collide with each other. Since the flexible portions are large, they can extend into the shaft without colliding with each other. However, the spokes will not collide with each other inside the shaft. Preferably, the spokes in the straightened state of the device may not be able to extend far enough. The longitudinal position of the distal end of the end effector may be any of the configurations of the end effector. The length is such that no part of one drive element contacts any part of another drive element. Preferably, the positions of the proximal and distal ends of the spokes in a straight state are set to the hand direction position. The position of the end of the drive element is determined so as to be within the range of the distance between the drive elements while satisfying the condition that the drive elements do not come into contact with each other. The spokes are selected to be as long as possible. Therefore, by such a configuration, the rigidity of the driving element is increased. The drive element can be wound around parts in the articulation and in the instrument interface. With such a configuration, the driving element can be driven with the maximum possible torque. Strength is provided by the drive element being wound around parts within the articulation and within the instrument interface. This allows the system to be as strong as possible while still allowing it to be used in a variety of ways.

[0066] In FIG. 19a, the spokes of the driving elements A1, A2, B1, and C1 are respectively 1s, A2s, B1s, and C1s. In FIG. 19a, the end effector 5 5 depicts a non-linear state of the surgical instrument where .01 is not aligned with shaft 504. As can be seen in FIG. 19a, the proximal flexible portion of the driving element A1 is The spoke A1s terminates at a point 1901 along the longitudinal direction x. The direction of the longitudinal axis 511 of the shaft. The proximal flexible portion of the driving element A2 is , terminating in spoke A2s at point 1904 along the longitudinal direction x of the shaft. The proximal flexible portion of the drive element B1 is at point 190 along the longitudinal direction x of the shaft. The proximal flexible portion of the drive element C1 is connected to the spoke B1s at the shaft 2. The shaft terminates in a spoke C1s at a point 1903 along the longitudinal direction x of the shaft. The proximal flexible portion of the drive element B2 and the proximal flexible portion of the drive element C2 are shown in FIG. Each of the spokes terminates at a more distal end of the shaft so that the spokes can be attached to the shaft. As shown in the example of driving elements B2 and C2, the spokes are arranged in the shaft. The driving elements A1, A2, A3, A4, A5, A6, A7, A8, A9, A10, A11, A12, A13, A14, A15, A16, A17, A18, A19, A20, A21, A22, A23, A24, A25, A26, A27, A28, A29, A30, A31, A32, A33, A As in B1 and C1, the spokes are flexible proximally within the instrument interface. Some spokes may terminate in a proximal flexible portion within the shaft. At the end, some of the spokes terminate in a proximal flexible portion within the instrument interface. In the configuration of the instrument interface shown in FIG. Element B2 and drive element C2 extend from the shaft to the instrument interface. As soon as the spoke and the drive element B2 enter the pulley, they engage with each other. The spokes of the moving element C2 are arranged so that the proximal flexible portion can engage the pulley in such a way. The drive element terminates at the proximal flexible section within the shaft as shown (not shown). All of the ports A1, A2, B1, and C1 extend some distance into the instrument interface. Since the drive elements A1, A2 are engaged with the parts of the instrument interface after the drive elements A1, A2 are 2, B1, C1 spokes can extend into the instrument interface It is said that.

[0067] As can be seen in FIG. 19a, the proximal flexible portion of the drive element is The longitudinal positions 1901, 1902, 1903, and 1904 that terminate at the proximal end do not coincide. Rather, the longitudinal positions 1901, 1902, 1903, and 1904 are offset from one another. That is, when the instrument is in the configuration shown, the spouts of the drive elements The proximal ends of the proximal ends are offset along the length of the shaft. When the device is in a straight state, the proximal ends of the spokes of the drive element are in contact with each other. They are offset along the length of the shaft. The proximal ends of adjacent spokes are offset along the length of the shaft. The proximal ends of the non-adjacent spokes are aligned in a straight line along the shaft. For example, in FIG. 19a, non-adjacent sports Both of the ribs B1s and C1s are located at the same points 1902 and 1903 along the longitudinal direction of the shaft. 03. Preferably, in any state of the surgical instrument, the driving The proximal ends of the spokes of the elements are offset along the length of the shaft. Specifically, in any state of the surgical instrument, The distal ends of adjacent spokes are offset along the length of the shaft. There are.

[0068] The longitudinal position of the proximal end of the spoke is determined by the relative position of the spoke when the instrument is rotated. Preferably, the front of the tool in a straight line is selected so as not to collide with the front of the tool. The longitudinal position of the proximal ends of the spokes may be determined in any configuration of the end effector. No part of any driving element shall contact any part of another driving element. The longitudinal position is set as follows:

[0069] Each pair of drive elements is connected to a single instrument interface within the instrument interface. Each drive element engages the instrument interface element. 19a, 19b and 19c. In the example shown in c, each driving element has its own device. Each instrument interface element is engaged with Each drive element drives a pair of drive elements. In an alternative arrangement, multiple A compound drive action in which the instrument interface element drives one drive element; a compound drive action in which the instrument interface element drives pairs of drive elements; Alternatively, multiple instrument interface elements may cooperate to drive multiple drive elements. A compound drive action may be provided that moves the

[0070] FIG. 19b shows a first instrument interface engaging a first pair of drive elements A1, A2. A second instrument interface element 1905 is depicted. 06 engages the second pair of drive elements B1, B2. Element 1907 engages the third pair of drive elements C1, C2. Each drive element is connected to an instrument interface associated with the respective drive element. That is, each drive element is fixed to the corresponding face element. A device interface element is fixed to the device interface element associated with each of the drive elements. It is being done.

[0071] The profile of the instrument interface 1701 is significantly larger than the instrument shaft 504. Typically, the instrument shaft has a circular cross section with a diameter of 5 mm or less. However, the corresponding cross section of the instrument interface may be larger. The tool interface has an inner portion and an outer portion. The inner portion is indicated by dashed line 19. 50 (illustrated in Figures 19a and 19b). is the remaining portion of the instrument interface that is not included in the inner portion. The portion is on the inside of the projection profile of the shaft. The profile of the shaft of the instrument interface is The outer portion is the portion that would have been included if the outer portion had continued to the In the illustrated example, the shaft has a constant circular cross section. The inner portion has the same circular cross section as the shaft and has a surface. The inner portion is a cylinder having the same longitudinal axis 511 as the lid. Such a constant cross section of the shaft is extrapolated into the instrument interface. The inner portion 1950 is shown from the side in FIG. 19a and from above in FIG. 19b. .

[0072] The instrument interface elements 1905, 1906, and 1907 are shown in FIG. The arrangement shown in FIG. In the configuration, one instrument interface element 1905 is Specifically, the instrument interface element is located within the interior portion 1950 of the instrument. The portion of the drive element of the instrument interface 1905 is The instrument interface element 1905 is generally located in the side portion 1950. 19b, substantially within the interior portion 1950 of the instrument interface. The instrument interface element 1905 generally comprises: It may be assumed that the instrument interface is entirely within the interior portion 1950 of the instrument interface. Preferably, the instrument interface element 1905 is disposed longitudinally of the shaft 504. In one exemplary arrangement, the inner surface of the instrument interface is aligned with an axis 511. Only one instrument interface element is located in the side section. Interface elements 1906, 1907 are the outer periphery of the instrument interface. These remaining instrument interface elements 1906, 1907 are located in the side region. 07 are disposed on either side of the instrument interface element 1905 that is aligned as described above. Specifically, these remaining instrument interface elements 190 6, 1907 are the instrument interface elements 1905 that are matched as described above. On either side, they are arranged perpendicular to the longitudinal axis 511 of the shaft. The interface elements 1906 and 1907 are aligned with the longitudinal axis 511 of the shaft 504. The instrument interface elements 1906 and 1907 are not aligned. The shaft is constrained to move along rail 1929 and rail 1930. The shaft 504 is constrained to move parallel to the longitudinal axis 511 of the shaft 504.

[0073] The instrument interface element 1905 includes a first pair of drive elements A1, A2 and As can be seen in FIG. 19a, the proximal end of the shaft and the instrument interface The pair of driving elements A1 and A2 are completely in the inner portion 195 between the inner face 1905 and the inner face 1905. 0. The proximal end of the shaft and the instrument interface element 190 The pair of driving elements A1 and A2 between the shaft 511 and the driving element 511 are arranged in the longitudinal direction of the shaft 511. Preferably, the shaft is disposed parallel to the shaft axis of the instrument interface. A pair of drive elements are disposed around the proximal end of the hub and the instrument interface element 1905. There is an intermediate pulley or other structure that constrains the A1 and A2 components from moving. Preferably, there is a pair of drive elements within the interior portion 1950 of the instrument interface. Only one instrument interface element 1905 is engaged with A1 and A2. be.

[0074] The instrument interface element 1906 is coupled to a second pair of drive elements B1, B2. The instrument interface element 1906 is in front of the instrument interface. A second pair of drive elements B1, B2 are engaged in the outer portion.

[0075] The instrument interface element 1907 is coupled to a third pair of drive elements C1, C2. The instrument interface element 1907 is in front of the instrument interface. A third pair of drive elements C1, C2 are engaged in the outer portion.

[0076] The drive element is connected to the instrument interface element located in the outer portion. A pulley mechanism is used to shift the drive elements of each pair into engagement with the , by engaging the first pair of pulleys, the first pair of pulleys is attached to the proximal end of the shaft 504. shifting each pair of drive elements to a respective instrument interface element; and attaching itself to the instrument interface element by engaging the second pair of pulleys. 504. The actuator 502 is then shifted from alignment with the center of gravity 504 back into alignment with shaft 504.

[0077] In the illustrated arrangement, a second pair of drive elements B1, B2 are connected to the proximal end of the shaft. The driving elements B1 and B2 are shown in FIG. As a result of the change in direction described above, the longitudinal axis 511 of the shaft 504 and the The second pair of drive elements B1, B2 then rotates through the pulley pair 190 It is constrained to move around 8,1909, which allows it to The second instrument interface element 1906 is engaged with the second instrument interface element 1906 from the point where the instrument advances outside the lid 504. The second pair of drive elements B1, B2 shifts the pulley pair 1908, 1909 into the engaged state. From 909, the second pair of drive elements B1, B2 advance from the proximal end of the shaft. The second pair of actuators travel in a direction parallel to and offset from the direction in which the actuators travel. Elements B1 and B2 are constrained to move around pulley pair 1910 and 1911. 1906, thereby aligning itself with the second instrument interface element 1906. 504 to a position in alignment with the shaft 504.

[0078] In the illustrated arrangement, a third pair of drive elements C1, C2 are connected to the proximal end of the shaft. The driving elements C1 and C2 are shown in FIG. As a result of the change in direction described above, the longitudinal axis 511 of the shaft 504 and the The third pair of drive elements C1, C2 then rotates through the pulley pair 191 2,1913, which constrains itself to move around The third instrument interface element 1907 is engaged with the third instrument interface element 1907 from the point where the instrument advances outside the lid 504. The third pair of drive elements C1, C2 shifts the pulley pair 1912, 1913 into the engaged state. From 913, the third pair of drive elements C1, C2 advance from the proximal end of the shaft. The third pair of drives travel in a direction parallel to and offset from the direction in which the first pair of drives travel. Elements C1 and C2 are constrained to move around pulley pair 1914 and 1915. 1907, thereby aligning itself with the third instrument interface element 1907. 504 to a position in alignment with the shaft 504.

[0079] In the arrangement shown in Figures 19a, 19b and 19c, a pair of drive elements A1, A2 engages a first instrument interface element 1905 in the interior portion. A pair of drive elements A1, A2 drives the joint (and therefore the end effector) Rotate around a first axis 510 (see FIG. 5a). The range of motion is the range of motion centered on the second joint 507 and the third joint 513. As described below, the first instrument interface element 190 5 is the maximum distance d1 minus the length of the first instrument interface element 1905 This distance is determined by the distance of the second instrument interface element. The maximum displacement d2 of the second instrument interface element 1906 is calculated by dividing the length of the second instrument interface element 1906 by the maximum displacement d2 of the second instrument interface element 1906. and the length of the third instrument interface element 1907 minus the length of the Large displacement d3 minus the length of the third instrument interface element 1907 In this way, the above-mentioned The range of movement of the instrument interface element is centered on the second and third joints. shorter than the range of movement of the instrument interface element when controlling the movement of the instrument The higher the sensitivity of the movement, the better. The cable can slip on the pulley and / or Therefore, the first instrument interface element and the first joystick element may be stretched. The cabling for transmitting motion between the actuator 506 and the actuator should be as simple as possible. Preferably, the first instrument interface element 1905 is positioned forward within the interior region. The first pair of drive elements are arranged on the longitudinal axis 511 of the shaft. The joint is between the first joint 506 and the first instrument interface element 1905. Therefore, the rotational axis of the pulley is not constrained to pass around the intermediate pulley.

[0080] Each instrument interface element is displaceable within the instrument interface. Each instrument interface element is connected to a corresponding pair of drive elements. Since the instrument interface element is fixed to the mating member, the displacement of the instrument interface element is Preferably, each instrument interface element is coupled to a drive element. The pair of instrument interface elements are secured to the respective instrument interface elements. The actuator elements are displaceable along the same straight line as the actuator elements. The interface element interfaces with a corresponding drive assembly of the robot arm. This allows the displacement of the instrument interface element , is driven by the robot arm. In this way, the robot arm The pair of drive elements are driven.

[0081] Each pair of drive elements is disposed within the instrument interface. The pair of drive elements further includes a tensioning mechanism and a position The tensioning mechanism engages the pair of drive mechanisms during manufacture of the device. The alignment mechanism is used to achieve a desired tension in the moving element. The interface element is arranged to be in a predetermined configuration of the end effector. It is used to set the shaft at a predetermined longitudinal alignment position. Each instrument interface element is The predetermined alignment positions have a range of displacement within which the respective components can be displaced. The end effector may be at a midpoint of the range of displacement of the instrument interface element. The predetermined configuration of the end effector may be such that the end effector elements are closed together (e.g. For example, the jaws are closed together and the longitudinal axis of the joint and the end face are aligned. The longitudinal axis of the vector is aligned with the longitudinal axis of the shaft 511. The instrument interface element may be attached to the end effector when the end effector assumes a predetermined configuration. By setting the instrument in the desired alignment position when the instrument is being replaced during surgery, This can reduce the time it takes to set up the new device for use. In fact, the robot arm assembly is configured to automatically retract the instrument when the instrument is removed from the robot arm. , receiving the instrument interface element disposed in the predetermined alignment position. For example, the above-mentioned The interface elements of the robot arm assembly are -Face element within the displacement range of the respective instrument interface element and an initial position in which the device is positioned to receive the intermediate point. is manually set to the predetermined configuration and then attached to the robot arm. For example, The assistant moves the joint and the end effector to a straight state and then moves the instrument to the When the instrument is in the predetermined configuration, the instrument interface is Since it is known that the face element is in the predetermined alignment position, The instrument interface element is an interface of the robot arm assembly. The control system controls the end effector to directly engage the base element. Since the end effector is known to have a certain shape, the position and orientation of the end effector can be mapped. Additional calibration and software setup steps must be performed to do not have.

[0082] The tensioning and alignment mechanisms, which are independent of each other, are described below. By separating the tensioning mechanism and the alignment mechanism, it is possible to provide a desired tension and a desired The procedure for achieving alignment can be simplified. This allows for a desired alignment during manufacturing. This can reduce the amount of tension and the time it takes to achieve the desired alignment.

[0083] Figures 19a, 19b and 19c depict a tensioning mechanism using pulleys. Each pair of drive elements is tensioned independently of the other. Each pair of drive elements is The actuator is constrained to move around the displaceable pulley. 9c is a pulley mechanism for tensioning the pair of drive elements, which includes two types of phase Different example pulley mechanisms are depicted. The pulleys in each example are linearly displaceable. It is said that.

[0084] First, regarding the pair of driving elements B1, B2 and the pair of driving elements C1, C2 Referring to the tensioning mechanism shown in the figure, attention is first directed to the pair of drive elements B1 and B2. and a pulley 1911 is used to tension the pair of drive elements B1 and B2. The pulley 1911 has a displacement axis 1920 parallel to the longitudinal axis 511 of the shaft. The displacement axis 1920 is aligned with the longitudinal axis 51 of the shaft. 1. The displacement axis 1920 is depicted in FIG. 19b. The lever 1911 is attached to a block 1918 that is slidable along a rail 1919. The block 1918 slides along the rail 1919, and the pulley 19 11 is displaced along the displacement axis 1920. Block 1918 moves away from the shaft. When the block is moved to the left, the tension in the second pair of drive elements B1, B2 increases. When the drive element 1918 is moved toward the shaft, the second pair of drive elements B1, B The tension in 2 decreases. What mechanism, if any, would be suitable to move the block? For example, a screw adjustment mechanism may be used. FIG. 19c illustrates a screw adjustment mechanism in which a screw 1921 is threaded into block 1918. This can be seen most clearly in FIG. 19a. The screw 1921 rotates. The instrument interface portion is configured such that it can be moved but cannot be linearly displaced. The screw is constrained by a position 1922. As a result, when the screw is turned, the threads of the screw Since the threads engage the threads in block 1918, the block (and therefore the When the screw 1921 is tightened, the pulley 1911 moves linearly. When the screw 1921 is loosened, the pulley 1911 moves in the opposite linear direction. Regarding the driving elements C1 and C2 illustrated in Figures 19a, 19b and 19c, All tensioning mechanisms are arranged in a manner corresponding to that described for the drive elements B1, B2. It works.

[0085] Next, the tensioning for the first pair of drive elements A1, A2 depicted in FIG. Regarding the mechanism for tensioning, a pulley 1923 tensions the pair of drive elements A1 and A2. The pulley 1923 is linearly displaceable along a displacement axis 1924. The displacement axis 1924 is inclined with respect to the longitudinal axis 511 of the shaft. Preferably, the displacement axis 1924 is at an angle of 45° to the longitudinal axis 511 of the shaft. The tensioning pulley 1923 may be angled. The block 1925 is mounted in a socket 1926. The drive shaft 1925 and tensioning pulley 1923 can slide within a socket 1926. The block 1925 slides in the socket 1926, causing the pulley to move along the axis of displacement. 1924. As block 1925 slides further into the socket, The tension in the first pair of drive elements A1, A2 increases. When the block is slid out of the slot, the tension in the first pair of drive elements A1, A2 is reduced. Any suitable mechanism may be used to move the hook 1925. For example, the screw adjustment mechanism described above with respect to block 1918 may be used. The driving elements A1 and A2 of the first pair are substantially parallel to each other. The wire is wound almost entirely around the tensioning pulley 1923 so that it extends almost parallel to the The tensioning machine described with respect to the second pair of drive elements and the third pair of drive elements. In comparison with the conventional tension pulley structure, the tension applied per unit displacement of the tension pulley is larger.

[0086] 19a, 19b and 19c show the first pair of drive elements in a diagonal tensioned configuration. By utilizing a feed mechanism, the second pair of drive elements and the third pair of drive elements are aligned in a straight line. Although the tensioning mechanism is depicted, each pair of drive elements is Tensioning may be achieved using any suitable mechanism that fits within the device interface. It may be something that is done.

[0087] An alternative tensioning mechanism is shown in Figure 20a. Each pair of drive elements is It terminates in a lug 1927 (see FIG. 19c) of the interface element. FIG. 19a depicts an alternative arrangement for the lug 1927 depicted in FIG. 19c. In the arrangement of FIG. 20a, the lugs are utilized in the tensioning mechanism. The lug has a pair of lug elements 2001, 2002. One drive element of the pair of drive ends in one lug element, The other drive element of the first element terminates in the other lug element. The first drive element C1 of the three pairs of drive elements terminates in a lug element 2001. and the second drive element C2 of the third pair of drive elements is connected to the lug element 200. The pair of lug elements are arranged so as to be linearly displaceable relative to each other. Preferably, the pair of lug elements are connected as follows: The pair of drive elements to which the actuator is attached are linearly displaceable along a direction y. Preferably, the pair of lug elements are parallel to the longitudinal axis 511 of the shaft. and is displaceable along a displacement axis that is offset from the longitudinal axis 511 . The lug element 2001 and the lug element 2002 are connected to each other as described above. Any suitable mechanism that allows relative movement along the displacement axis is acceptable. For example, the lug elements may be connected to each other by a spring mechanism. The first lug element 200 may be connected to the second lug element 200 by a screw 2003. The screw 2003 may 2 and the first lug element 2002 of the screw 2003 The first lug element 2002 is constrained so that linear displacement relative to the For example, the screw may be threaded through the first lug element as depicted in FIG. The screw can be inserted into a hole in the first lath so that the screw can rotate, and the first lath can be inserted into the hole in the first lath. The hole in the first lug element is provided to prevent linear displacement within the lug element. The screw 2003 can be restrained by the two sections 2004 and 2005, which are the largest in diameter. 2 is screwed through the lug element 2001. , 2002 are linearly displaced toward each other when the screws are tightened and linearly displaced toward each other when the screws are loosened. When the electrodes are pressed against each other, they are displaced linearly away from each other.

[0088] A further alternative tensioning mechanism is shown in Figure 20b. A further alternative arrangement for the lug 1927 is depicted in FIG. In the arrangement of FIG. 20b, the lug is used in the tensioning mechanism. The drive element has a pair of lug elements 2006, 2007. Each drive element of the pair terminates in one of the lug elements, The other drive element of the pair terminates in the other lug element. a first one of the drive elements C1 terminates in a lug element 2006; The second drive element C2 of the third pair of drive elements terminates in a lug element 2007. The pair of lug elements are connected to each other so as to be capable of linear displacement relative to each other. Preferably, the pair of lug elements are provided with The pair of drive elements are linearly displaceable along a direction y to which they are attached. The pair of lug elements are parallel to the longitudinal axis 511 of the shaft and It is displaceable along a displacement axis that is offset from the longitudinal axis 511. The lug element 2006 and the lug element 2007 are connected to each other by the displacement axis. Any suitable mechanism that can move the object relatively along the axis of the For example, the lug elements may be connected to each other by a screw 200. 8. The screw 2008 is received in the first lug element 2007. and the screw 2008 is aligned with the first lug element 2007. The first lug element 2007 is restrained from displacing in a straight line. For example, The screw abuts against a hole in the first lug element as depicted in FIG. 20b. The screw can be inserted so as to be able to turn and pass directly through the first lug element. Two holes having a diameter larger than the hole in the first lug element to prevent linear displacement. The screw 2008 may be constrained by the portions 2009 and 2010. The lug elements 2006 and 2007 are screwed through the lug elements 2006 and 2007. When the screws are tightened they displace linearly towards each other and when the screws are loosened they displace linearly away from each other. The linear displacement occurs as shown in FIG.

[0089] See FIG. 19c. Respective instrument interface elements 1905, 1906 , 1907 are linearly displaceable parallel to the longitudinal axis 511 of the shaft. The instrument interface element may be slidable along a linear rail. For example, the first instrument interface element 1905 may be slidable along a rail 1928. 1929, and the second instrument interface element 1906 slides along the rail 1929. The third instrument interface element 1907 is movable along the rail 1930. Each instrument interface element has a minimum displacement position and a maximum displacement position. The displacement range between the minimum displacement position and the minimum displacement position can be set. The position and maximum displacement positions are determined by the fact that the instrument interface element is aligned longitudinally along the shaft. It can be determined by the end of the rail sliding in the direction x. In Figures 19b and 19c, The minimum for the second and third instrument interface elements 1906, 1907 The displacement position and the maximum displacement position are labeled 1931 and 1932. The minimum and maximum displacement positions for one instrument interface element 1905 The first instrument interface element is shown at 1931 and 1943. The first instrument interface element is located at a maximum distance d1 from the first instrument interface element in the direction x. The second instrument interface element is linearly displaceable by a distance equal to or greater than the length of the first instrument interface element. The second instrument interface element is located at a maximum distance d2 from the second instrument interface element in the direction x. The third instrument interface element is linearly displaceable by a distance equal to the length of the third instrument interface element. The third instrument interface element is located at a maximum distance d3 from the third instrument interface element in the direction x. Preferably, the linear displacement is d1 minus the length of the ment. <d2かつd1< d3. Preferably, d2=d3.

[0090] Preferably, the straightened state of the instrument is such that the end effector is aligned with the shaft. Now, the first instrument interface element 1905, the second instrument interface element a third instrument interface element 1906 and a third instrument interface element 1907, The shafts are disposed in a common plane perpendicular to the longitudinal axis of the shafts. The center of the first tool interface element 1905 is located in the straight tool state. The plane includes a second instrument interface element 1906 and a third instrument interface element 1907. It is assumed that the center of element 1907 is located in a different plane from that in which it is located. This may be done by dividing the travel of the first instrument interface element 1905 by d1. The midpoint is the midpoint of the travel of the second instrument interface element 1906 over d2. and d3 from the midpoint of the travel of the third instrument interface element 1907 to This is because it is offset.

[0091] Preferably, each instrument interface element includes a body 1933, 1934. , 1935 and lugs 1927, 1936, 1937. Body 1933, 1 934, 1935 are the minimum and maximum displacement positions of the instrument interface element. The instrument interface element is linearly displaceable between a large displacement position and a large displacement position. The pair of drive elements are secured to the lugs of the instrument interface element. The lug is disposed in a straight line within the body, parallel to the direction in which the body is displaceable. Preferably, the lug is displaceable along the longitudinal direction x of the shaft. The alignment mechanism is linearly displaceable parallel to the longitudinal axis 511 of the bolt. The displacement position of the alignment mechanism is adjusted without displacing the lug. The mechanism is connected to the body and the lug, and the movement of the body causes the lug to move. FIG. 19c shows a screw adjustment mechanism that allows the screw adjustment mechanism to be Bodies 1933 and 1935 are depicted in a manner such that they are aligned in a direction in which they can be displaced. The screw 1940 and the screw 1941 are inserted into the slots 1938 and 1939. The lugs are threaded through the threads 1938 and 1939. The threads 1940 and 1941 are The head of the screw is constrained to slide along the slot. The screw may be too large to pass through the slot and the body of the screw may be too large to pass through the slot. This allows the body to fit loosely against the lug when the screw is loose. When the screw is tightened, the front The body is fixed to the lug. In this way, the relative position of the body and the lug is The width of the slot can be adjusted.

[0092] In the following, the tension of the drive element and the tension of the device are measured after the device is assembled during manufacture. The process performed to set the alignment of tool interface elements is described below. Reveal.

[0093] First, the instrument interface is loosened from the drive element. The interface elements are set to the alignment position. The tool interface element is a displacement of each of the tool interface elements. at a midpoint of the movement of the respective instrument interface element through a range. is the alignment position, the instrument interface elements are This first step is to align the instrument interface element , or coarse alignment to the alignment position of the instrument interface element. Alternatively, this first step may not be performed. The actuator is set to the predetermined configuration. The pair of drive elements are then tensioned. This may be done using any of the tensioning mechanisms described herein, for example, tensioning Sliding the application pulley along a rail or in a socket; Next, the alignment mechanism is used to displace the elements. and the tensioned instrument interface element is displaced to the predetermined position. For example, in the application shown in Figures 19a, 19b and 19c, The screws 1940, 1941 are loosened to remove the body 193 of the instrument interface element. 3, 1935 are connected along rails 1930, 1929 to the instrument interface element. against lugs 1938, 1937 until the body of the While the pair of drive elements are tensioned, the end effector is Alternatively or additionally, the pair may be driven to be held in the predetermined configuration. After the element is tensioned, the end effector is returned to the predetermined configuration. The screws may then be tightened.

[0094] 21a, 21b and 21c show a drive assembly interface 2100. The drive assembly interface is a distal link of the robot arm. The end link is located at the end of the roll joint. The roll joint is connected to the adjacent link. The drive assembly interface 2102 is connected to the drive shaft 2104. The face 2100 includes drive assembly interface elements 2101, 2102, 2103. The drive assembly interface element includes an instrument interface. The first base element 1905, the second base element 1906, and the third base element 1907 are configured to receive the first base element 1905, the second base element 1906, and the third base element 1907. The drive assembly interface element 2102 is a first instrument interface element. The second drive assembly interface is configured to receive the drive element 1905. The base element 2101 houses the second instrument interface element 1906. The third drive assembly interface element 2102 is configured as follows: The third instrument interface element 1907 is configured to receive the third instrument interface element 1907 .

[0095] Each drive assembly interface element is disposed along a longitudinal axis of the drive assembly. The drive assembly is displaceable along a direction parallel to the directional axis 2104. The interface element is displaceable over a range of displacement. When the instrument interface is engaged with the drive assembly, the respective drive assembly The drive assembly interface element is connected to the drive assembly interface element. The instrument interface element can be displaced in the same direction as the associated instrument interface element. It will be possible to position it.

[0096] The first drive assembly interface element 2102 is a first instrument interface. 21. The drive assembly includes a base element 1905 that engages the base element 1905 on the longitudinal axis 2104 of the drive assembly. This causes the first drive assembly interface element 1905 to Interface element 1905 is aligned along the longitudinal axis of the drive assembly. Thus, the robot arm is driven along the longitudinal axis of the distal link. Preferably, all of the drive assembly interface elements in the drive assembly. Of these, only the first drive assembly interface element 2102 is The first instrument interface element is displaceable along a longitudinal axis 2104 of the first instrument interface element. The element 1905 drives the first pair of drive elements A1 and A2, The distal end of the instrument is rotated about a first axis 510 perpendicular to the instrument shaft axis 511. When the instrument interface 1701 is engaged with the drive assembly 2100, the instrument The longitudinal axis 511 of the tool shaft is parallel to the longitudinal axis 2104 of the end link. Preferably, the longitudinal axis 511 of the instrument shaft is aligned with the longitudinal axis 2 of the distal link. Matches 104.

[0097] The second drive assembly interface element 2101 is a second instrument interface. and a base element 1906 aligned parallel to and in relation to the longitudinal axis 2104 of the drive assembly. The second drive assembly engages on an axis that is offset from the longitudinal axis 2104. Along this axis, the interface element 2101 is adapted to receive a second instrument interface. The second instrument is displaceable to drive the element 1906 along this axis. The interface element 1906 drives a second pair of drive elements B1, B2. 507, the end effector element 502 is rotated about the second joint 507. Rotate as.

[0098] The third drive assembly interface element 2103 is a third instrument interface. and a base element 1907 aligned parallel to and in relation to the longitudinal axis 2104 of the drive assembly. The third drive assembly is engaged on an axis that is offset from the longitudinal axis 2104. Along this axis, the interface element 2103 is adapted to receive a third instrument interface. The element 1907 is displaceable to drive the element 1907 along this axis. The interface element 1907 drives a third pair of drive elements C1, C2. 513, the end effector element 503 is rotated about the third joint 513. Rotate as.

[0099] Preferably, the drive assembly interface element is connected to a corresponding one of the instrument interfaces. The interface element is releasably engaged with the interface element.

[0100] 21a, 21b and 21c show the drive assembly within the drive assembly. An exemplary mechanism for driving the linear displacement of the interface element is depicted. Each of the drive assembly interface elements 2101, 2102, and 2103 Each of the drive shafts 2105, 2106, and 2107 is driven by a corresponding one of the threaded drive shafts. The first, second and third drive assembly interface elements are coupled to the drive shaft. The guide structures are connected to the respective drive assembly interfaces. By constraining the base element, when the corresponding drive shaft is rotated, the drive shaft Prevents assembly interface elements from rotating. For example, guide rails By constraining each drive assembly interface element, The drive assembly interface element rotates when the drive shaft that corresponds to the drive assembly is rotated. The guide rails prevent the drive assembly interface elements from The movement that the drive assembly interface element can perform is determined by its guide rail. The drive assembly interface constrains the actuator to only linear motion parallel to the axis of the drive shaft. The element may, for example, slide along said guide rail. The first drive assembly interface element 2102 and the second drive assembly interface element The first drive assembly interface element 2102 and the interface element 2101 are both constrained by the same guide rail 2108. The third drive assembly interface element 2103 is constrained by a different guide rail 2109. In an alternative arrangement, the first drive assembly interface element 2102 and the third drive assembly interface element 2103 are both constrained by the same guide rail 2109. The second drive assembly interface element 2101 is constrained by the guide rail 2108. In a further alternative arrangement, each drive assembly interface element is constrained by a respective guide rail for that drive assembly interface element. In other examples, the guide structure is a guide slot, and the guide slot constrains the movement of the drive assembly interface element such that the drive assembly interface element can only move linearly parallel to the guide slot. Similar to the guide rail, the guide slot is parallel to the longitudinal direction 2104 of the drive assembly interface. The first drive assembly interface element 2102 is linearly displaceable over a maximum distance s1. The second drive assembly interface element 2101 is linearly displaceable over a maximum distance s2. The third drive assembly interface element 2103 is linearly displaceable over a maximum distance s3. Preferably, s1 < s2 or s1 < s3. Preferably, s2 = s3. or the drive assembly interface element can only move linearly parallel to the guide slot. Similar to the guide rail, the guide slot is parallel to the longitudinal direction 2104 of the drive assembly interface. The first drive assembly interface element 2102 is linearly displaceable over a maximum distance s1. The second drive assembly interface element 2101 is linearly displaceable over a maximum distance s2. The third drive assembly interface element 2103 is linearly displaceable over a maximum distance s3. Preferably, s1 < s2 or s1 < s3. Preferably, s2 = s3. or the drive assembly interface element can only move linearly parallel to the guide slot. Similar to the guide rail, the guide slot is parallel to the longitudinal direction 2104 of the drive assembly interface. The first drive assembly interface element 2102 is linearly displaceable over a maximum distance s1. The second drive assembly interface element 2101 is linearly displaceable over a maximum distance s2. The third drive assembly interface element 2103 is linearly displaceable over a maximum distance s3. Preferably, s1 < s2 or s1 < s3. Preferably, s2 = s3.

[0101] Preferably, in one embodiment of the drive assembly, there are first, second and third drive assemblies. The interfaces 2101, 2102, and 2103 are all arranged in the longitudinal direction of the end link. The two axial centers 2104 and 2106 are located in a common plane perpendicular to each other. and the configuration depicted in FIG. 21c. All of the drive assembly interface elements The centers of the end links are located on a single cross section perpendicular to the longitudinal axis 2104 of the end links. Preferably, each drive assembly interface element in this configuration The actuators span the displacement range of their respective drive assembly interface elements. at the midpoint of the linear displacement of each of said drive assembly interface elements. Preferably, this configuration is maintained when the instrument is removed from the robot arm. This is the initial form that the assembly interface takes. As mentioned above, this form is The instrument interface element is aligned to the alignment position of the instrument interface element. The predetermined alignment position is a position where each drive assembly is accommodated in a position. The interface element is a respective drive assembly interface element. The predetermined alignment position may be a position at the midpoint of the travel of all the front When the center points of the drive assembly interface elements lie on a common plane, It may be a position.

[0102] In any configuration of the drive assembly, a second drive assembly interface The center of the base 2101 and the third drive assembly interface element 2103 In either case, the first, second and third driving modes are shown in Figs. 21a, 21b and 21c. The centers of all the assembly interface elements 2102, 2102, and 2103 are positioned The second plane is located in a second plane perpendicular to the plane in which the sensor is to be placed. The first drive shaft 2104 does not intersect with the longitudinal axis 2104 of the end link. The center of the assembly interface element 2102 is parallel to and aligned with the second plane. It lies in a third plane that is offset from the second plane.

[0103] The drive assembly shown in Figs. 21a, 21b and 21c is 19c, driving the instrument interface element. The actuator can drive the first, second and third joints depicted in Figures 5a and 5b. Therefore, the first drive assembly interface element 2102 is connected to the first joint 5 06 so that the second drive assembly interface element 2101 The joint 507 is driven to connect the third drive assembly interface element 21 03 drives the third joint 513. In an alternative arrangement, these drive axes The assembly interface element drives a different joint than the above. For example, the first pair of drive elements A1, A2 may be connected to the second instrument interface. When connected to the drive element 1906, the second drive assembly interface element The second pair of drive elements 2101 drives the first joint 506. When the first instrument interface element 1905 is connected to the first instrument interface element 1905, The first drive assembly interface element 2102 is connected to the second joint 50 It will drive 7. In this example, the third pair of drive elements C1, C2 are connected to the third tool interface element 1907, and the third drive assembly interface element 2103 will drive the third joint 513. In this example, the first drive assembly interface element 2102 is linearly displaceable over a maximum distance s1. The second drive assembly interface element 2101 is linearly displaceable over a maximum distance s2. The third drive assembly interface element 2103 is linearly displaceable over a maximum distance s3. Preferably, s2 < s1 and s2 < s3. Preferably, s1 = s3.

[0104] Each tool interface element has a body that can be accommodated in the corresponding socket of the drive assembly interface element. The shapes of these bodies and the shapes of the sockets correspond to each other such that when the drive assembly interface element is displaced, this displacement is transmitted to the tool interface element without causing slippage. That is, the body fits snugly into the socket along at least one straight line in the displacement direction. Preferably, the tool interface element is displaceable over the same displacement range as the drive assembly interface element corresponding to that tool interface element.

[0105] FIG. 22a shows an exemplary arrangement of the portion of the body of the tool interface element that is mounted in the socket of the drive assembly interface element. ​​​​​​​​​​​The structure shown is that the bodies are spaced apart by the length of the bodies in the displacement direction x. The body has lower side walls 2201, 2202 spaced apart from each other. The upper side walls 2203 and 2204 are perpendicular to the displacement direction x of the lower side wall. 205. Preferably, the upper sidewall tapers symmetrically to a point. Engaging the instrument interface to the drive assembly interface. When the drive assembly is driven, point 2205 is first driven into the drive assembly interface element. Then the remaining portions of the upper side walls 2203 and 2204 are inserted, and finally the lower side wall 2201. , 2202 are inserted. Preferably, the angle α at which the upper side walls meet is 80° or less. By selecting α to be 80° or less, the body and the socket are in a displacement direction. Even if the point is not perfectly aligned along the x direction, if the point is within the socket, The body slides into the socket when a force is applied in the direction F. The direction F is the displacement direction. That is, the direction F is perpendicular to the longitudinal axis of the shaft 504 and is parallel to the front The axis is perpendicular to the longitudinal axis of the drive assembly.

[0106] FIG. 22b shows the drive assembly interface of the body of the instrument interface. FIG. 1 is an example of a portion of a face element that is mounted in the socket of the drive assembly. Another possible arrangement is shown. In this case, the body is formed by joining the two upper side walls. 22a, except that it includes rollers 2206 disposed at the The roller 2206 is configured to rotate around an axis perpendicular to the displacement direction x. The angle β at which the upper side walls meet may be greater than 80°. When a force is applied in the direction F, the body and the socket are completely displaced along the displacement direction x. Even when not aligned, rollers 2206 support the engagement of the body into the socket. Because we support them.

[0107] FIG. 22c illustrates the drive assembly interface of the body of the instrument interface. FIG. 1 is an example of a portion of a face element that is mounted in the socket of the drive assembly. Yet another possible arrangement is shown, in which the body has a 22a, except that the rollers 2207, 2208 are disposed The rollers 2207 and 2208 rotate around an axis perpendicular to the displacement direction x. The angle γ at which the upper side walls meet is greater than 80°. This is because when a force is applied in the direction F, the body and the socket are displaced in the direction Even if the rollers 2207 and 2208 are not perfectly aligned along x, This is because it aids in the engagement of the body into the socket.

[0108] FIG. 23 illustrates an exemplary socket arrangement for a drive assembly interface element. The bodies are spaced apart by their length in the displacement direction x. These side walls are perpendicular to the displacement direction x of the body. The side walls terminate in rollers 2303 and 2304, respectively. 303 and 2304 are configured to rotate around an axis perpendicular to the displacement direction x. Rollers 2303, 2304 are configured to rotate the instrument interface relative to the drive assembly interface. When applied to a face, the body and socket are perfectly aligned along the displacement direction x. Even if not aligned, this aids in engagement of the body into the socket.

[0109] In one example, the length A of the body in the displacement direction x is Preferably, the displacement is greater than the maximum distance that the actuator can move over the range of displacement. The length A of the body in the direction x is The socket moves over a displacement range of the socket in the displacement direction. This allows the instrument interface to move relative to the drive assembly. When the body is moved to an engaged state with the reinterface, the displacement position and the front Regardless of the displacement position of the socket, the body engages in the socket. Thus, the instrument interface and the drive assembly interface are combined To achieve this, the instrument interface element and the drive assembly interface Preferably, the body is a base element. The maximum distance that a body can move over its range of motion is half the length of the body, A / 2. A is the length of the body. Preferably, the socket is a variable socket. The maximum distance that the object can move through its range is half the length of the body, A / 2. do.

[0110] In one example, the length B of the socket in the displacement direction x is Preferably, the displacement is greater than the maximum distance that the actuator can move over the displacement range in the The length B of the socket in the position direction x is The socket of the socket moves over the displacement range of the socket in the displacement direction. This allows the instrument interface to be moved relative to the drive assembly. When the body is brought into engagement with the assembly interface, the displacement position and and the body engages in the socket regardless of the displacement position of the socket. Thus, the instrument interface and the drive assembly interface The instrument interface element and the drive assembly interface are coupled together. Preferably, the body is provided with a face element, which eliminates the need for pre-aligning the face element. The maximum distance the body can move through its range of motion is half the length of the socket. The length of the socket is B / 2, where B is the length of the socket. The maximum distance that a socket can move through its range of motion is half the length of the socket. It is B / 2.

[0111] Preferably, the length A of the body in the displacement direction is is equal to the length B of the socket.

[0112] The instrument interface and the drive assembly interface When the drive assembly interface is brought into engagement with the drive assembly interface, a guide bar to assist in alignment and engagement of the instrument interface with the The guide bar may be a guide bar for the instrument interface. When the drive assembly interface and the drive assembly interface are brought into an engaged state, The guide bar is disposed on an outer surface facing the drive assembly interface. , the drive assembly interface element prior to the instrument interface element. Preferably, the guide bar is disposed within the instrument of the instrument interface. The interface and the drive assembly interface are brought into contact with each other. It is the first part received within the drive assembly interface when the drive assembly is seated. The guide bar, when received within the drive assembly interface, The drive assembly interface and the drive assembly interface can be engaged relative to each other. The desired orientation is determined by the longitudinal orientation of the instrument interface and the longitudinal orientation of the drive assembly interface. Preferably, the guide bar is arranged to align the longitudinal orientation of the instrument with the longitudinal orientation of the instrument base. The longitudinal axis 511 of the shaft is aligned with the longitudinal axis 2 of the end link of the robot arm. 104, the instrument interface is aligned with the drive assembly interface. This allows the bearing to fully engage into the face.

[0113] Preferably, the guide bar is elongated, straight, and aligned with the longitudinal axis of the instrument shaft. The guide bar is parallel to the center 511 of the instrument interface. For example, the guide bar may extend from the instrument system of the instrument interface. From the end that abuts the shaft 504 to the opposite end of the instrument interface Alternatively, the guide bar may extend in the longitudinal direction x. The minimum displacement position 1931 and the maximum displacement position of the face elements 1905, 1906, and 1907 The longitudinal direction x extends only over a longitudinal range bounded by the position 1932. The drive assembly interface and the instrument interface may be The drive assembly interface and the instrument interface are in their initial positions. The actuators are configured to assume a predetermined alignment position before being brought into engagement with each other. When the guide bars are aligned in their predetermined alignment positions, the guide bars guide the instrument guides in their predetermined alignment positions. The length is determined only over the longitudinal range defined by the displacement area of ​​the interface element. All the instruments in the predetermined alignment position may be arranged to extend in a hand direction x. The interface element is a common interface element that is perpendicular to the longitudinal axis 511 of the instrument shaft. When aligned on a plane, the guide bar guides the instrument interface elements. It may be that the casing extends in the longitudinal direction x only over the area of ​​the casing itself. The guide bar is narrower than the diameter of the instrument shaft 504. The guide bar is housed parallel to the longitudinal axis 2104 of the drive assembly.

[0114] The guide bar may be constructed in one piece, such as guide bar 1960 shown in FIG. 19a. The guide bar shown may extend along the entire length of the instrument interface. The guide bar includes the drive elements A1, A2, B1, and C1. In this way, these drive elements are partially or completely enclosed. The tool interface is moved into engagement with the drive assembly interface. The guide bar 1960 is not exposed to the exterior of the instrument interface when the instrument is inserted. , increasing the stiffness of the instrument interface.

[0115] Alternatively, the guide bar may have multiple sections. , an initial engagement of the instrument interface to the drive assembly interface. This figure shows the surface of the guide bar. Two guide bar sections 2501 and 2502 are shown in this figure. The guide bar defines a minimum and maximum displacement position of the instrument interface element. The longitudinal direction x extends over a portion of the longitudinal range bounded by the position do.

[0116] Both the guide bar and the first instrument interface element 1905 are The first in this case is housed within the drive assembly interface element 2102. The instrument interface element includes a body portion located on one side of the guide bar and The two body parts 1905a, 1905b are located on opposite sides of the guide bar. 05b. The first drive assembly interface element in this case is Two socket sites 210 located on either side of the longitudinal axis 2104 of the drive assembly. 1a, 2101b. The instrument interface and the drive assembly interface When the faces are brought into engagement with each other, the guide bar first The first drive assembly interface element is housed within the guide bar. The longitudinal axis of the shaft is between the two socket portions 2101a and 2101b. The guide bar engages along the axis 2104 of the first drive assembly interface. When housed within the actuator element 2101, the instrument interface is The instrument interface may twist when placed into the reinterface. The guide bar is connected to the drive assembly interface and the instrument interface. The orientation of the drive assembly interface and the position of the instrument interface when the interface is engaged. The instrument interface further maintains the orientation of the drive face in alignment with the drive shaft. When lowered into the moving assembly interface, the first body portion 1905a At the same time as engaging the first socket portion 2101a on one side of the guide bar, the second body The socket portion 1905b engages a second socket portion 2101b on the opposite side of the guide bar. .

[0117] It should be noted that the drive assembly interfaces described herein may be used to provide drive to additional instrument interfaces. Further drive assembly interface element The instrument interfaces described herein may be modified to include and transmitting the motion to a further joint of the articulation at the distal end of the instrument shaft. The articulation portion may be modified to include additional instrument interface elements. The joint itself may also be modified to include further joints.

[0118] The end effector includes only one end effector element. In this case, the articulation section does not include the third joint 513, and the instrument The interface includes an instrument interface element that drives the third joint. First, the drive assembly is a drive assembly that drives the instrument interface element. It does not include any assembly interface elements.

[0119] The instrument may be used for purposes other than surgery. For example, the instrument may be It may also be used for cosmetic treatments.

[0120] The specification of this application refers to any individual feature described herein and any combination of two or more such features. Each of the intended combinations is understood to be such based on the entire specification of this application and the general common knowledge of a person skilled in the art. To the extent that a feature or combination of features is practicable, such feature or combination of features is disclosed herein. Without being limited by the scope of the claims, whether or not they solve any of the problems set forth herein, Aspects of the invention may include any such individual feature or combination of features. Various modifications may be made within the scope of the present invention. This will be apparent to those skilled in the art in light of the above description. The present invention includes the following embodiments. [Aspect 1] A shaft, An end effector having a first end effector element and a second end effector element. and a joint portion connecting the end effector to the shaft; A robotic surgical instrument comprising: The joint portion is A first joint actuable by a first pair of drive elements, the end The effector is capable of rotating about a first axis transverse to the longitudinal axis of the shaft. a first joint; A second joint actuable by a second pair of drive elements, the first The end effector element rotates about a second axis that intersects the first axis. A second joint that allows a third joint actuable by a third pair of drive elements, the second a third axis that allows the end effector element to rotate about the second axis; Joints and Equipped with The robotic surgical instrument further comprises a second pair of drive elements and a third pair of drive elements disposed about the second pair of drive elements. a pulley mechanism in which the first pair of drive elements are constrained to move, The moving element and the third pair of drive elements are arranged such that their paths around the pulley mechanism are mutually parallel. The robotic surgical instrument has a symmetrical path that is the reverse of the previous one. [Aspect 2] 2. The robotic surgical instrument of claim 1, wherein the end effector is aligned with the shaft. In a linear state of the robotic surgical instrument, the second the path of the first pair of drive elements around the pulley mechanism is The robot hand is rotationally symmetrical with respect to the path with respect to the longitudinal axis of the shaft. Surgical instruments. [Aspect 3] 3. The robotic surgical instrument of claim 1 or 2, wherein the second pair of drive elements and The third pair of drive elements are disposed on the distal end of the shaft. 11. The robotic surgical instrument proceeds in a symmetric arrangement from. [Aspect 4] In the robotic surgical instrument according to any one of aspects 1 to 3, the pulley mechanism comprises: a first set of pulleys rotatable about a first axis; and a pulley assembly from the first set of pulleys. the second pair of drive elements and the third pair of drive elements into the shaft and a second set of pulleys configured to deflect the first and second pulleys. [Aspect 5] 5. The robotic surgical instrument of claim 4, wherein the second set of pulleys are A first pulley and a second pulley are disposed on both sides of the first joint in the longitudinal direction of the shaft. A robotic surgical instrument having a pulley. [Aspect 6] 6. The robotic surgical instrument of claim 5, wherein each pulley of the second set of pulleys comprises: A robotic surgical instrument that is rotatable about an axis parallel to the first axis. [Aspect 7] 7. The robotic surgical instrument of claim 6, wherein each pulley of the second set of pulleys comprises: A robotic surgical instrument that is rotatable about an axis offset from the first axis. [Aspect 8] 8. The robotic surgical instrument of claim 6 or 7, wherein the second set of pulleys The first pulley is rotatable about a third axis, and the second set of pulleys The second pulley is rotatable around a fourth axis, and the third axis is offset from the fourth axis. Offset, robotic surgical instruments. [Aspect 9] In the robotic surgical instrument according to any one of aspects 5 to 8, the second pair of drive elements a first drive element of the third pair of drive elements and a second drive element of the third pair of drive elements The second set of pulleys are arranged so that the first pulley moves around the second set of pulleys on one side. and the second drive element of the second pair of drive elements is constrained as follows: and a first drive element of the third pair of drive elements drives the second set of pulleys. the second pulley is constrained to move around the opposite side of the first pulley, The first drive element of the second pair of drive elements and the third drive element of the third pair of drive elements the second pair of drive elements relative to the shaft. the second drive element of the third pair of drive elements and the first drive element of the third pair of drive elements A robotic surgical instrument that is advanced to the opposite side of the cerebrospinal fluid. [Aspect 10] 10. The robotic surgical instrument of claim 9, wherein a distal end of the shaft is connected to the joint portion. The proximal end of the shaft is connected to a drive shaft for driving the joint of the end effector. The second pair of drive elements and the third pair of drive elements are coupled to a mechanism. means that the first driving element of the second pair of driving elements is the driving element of the second pair of driving elements adjacent to the second drive element of the third pair of drive elements The first drive element is the second drive element of the third pair of drive elements. overlaps within the shaft so as to travel in the drive mechanism adjacent to , robotic surgical instruments. [Aspect 11] 11. The robotic surgical instrument of claim 10, wherein the drive mechanism rotates around the second pair of The drive element and the third pair of drive elements are constrained to move. A robotic surgical instrument including a surgical mechanism. [Aspect 12] 12. The robotic surgical instrument of claim 11, wherein the second pair of drive elements and the Each of the third pair of drive elements is connected from the pulley mechanism to the additional pulley mechanism. A robotic surgical instrument extends without being wrapped around an intermediate pulley. [Aspect 13] 13. The robotic surgical instrument of claim 4, wherein the second set of prostheses a pulley is disposed between the first set of pulleys and the proximal end of the shaft. Robotic surgery instruments. [Aspect 14] 14. The robotic surgical instrument of claim 4, wherein the second set of prostheses a shaft disposed within the surgical instrument. [Aspect 15] In the robotic surgical instrument according to any one of aspects 4 to 13, the joint portion is A robotic surgical instrument having two sets of pulleys. [Aspect 16] 16. The robotic surgical instrument of claim 4, wherein the first set of prostheses A first pair of rollers are disposed on both sides of the first joint in the longitudinal direction of the shaft. a first pulley and a second pulley. [Aspect 17] 17. The robotic surgical instrument of claim 16 when dependent on claim 9, wherein the second The first drive element and the third drive element of a pair of drive elements The second drive element moves around the first pulley of the first set of pulleys. the second pair of drive elements being constrained to move on one side and a second drive element and the first drive element of the third pair of drive elements The first set of pulleys are constrained to move around the second set of pulleys on opposite sides. A bundle of robotic surgical instruments. [Aspect 18] 18. The robotic surgical instrument of claim 17, wherein the first and second sets of pulleys Each pulley has a pair of pulley elements, the pair of pulley elements being inwardly and an outer pulley element, is disposed between the outer pulley element and the longitudinal axis of the shaft. and each pulley element has a groove for engaging a drive element. Surgical instruments. [Aspect 19] 19. The robotic surgical instrument of claim 18, wherein the second pair of drive elements comprises: around the inner pulley element of the first pulley of a second set of pulleys; a second set of pulleys and around the outer pulley element of the second pulley; the third pair of drive elements are constrained to rotate the second set of pulleys. around the outer pulley element of the first pulley of the second set of pulleys. the inner pulley element of the second pulley of the first pulley is constrained to move about the inner pulley element of the second pulley of the first pulley. Robotic surgical instruments. [Aspect 20] 20. The robotic surgical instrument of claim 18 or 19, wherein the second pair of drive elements a first pulley of the first set of pulleys having a circumference of the inner pulley element of the first pulley of the first set of pulleys; and a circumference of the outer pulley element of the second pulley of the first set of pulleys. the third pair of drive elements are constrained to move relative to the first around the outer pulley element of the first pulley of the set of pulleys and the first cell the inner pulley element of the second pulley is adapted to move about the inner pulley element of the first pulley. A robotic surgical instrument is attached to the [Aspect 21] 21. The robotic surgical instrument of any one of claims 18 to 20, wherein for each pulley, One of the pair of pulley elements is connected to the other of the pair of pulley elements. abutting one of the pulley elements. [Aspect 22] 22. The robotic surgical instrument of any one of claims 4 to 21, wherein the pulley mechanism further comprises: and a pair of deflection pulleys between the first set of pulleys and the second joint. picture, The pair of deflection pulleys are a first deflection pulley rotatable about a first deflection pulley axis, A drive element is constrained to move about the first deflection pulley, The first deflection pulley axis is aligned with the first pulley of the first set of pulleys. A first drive element of the second pair of drive elements is moved from a payout point of the reel to the second pair of drive elements. a first axis that is inclined relative to the first axis so as to bias the first axis toward a take-up point of the joint; A deflection pulley of a second deflection pulley rotatable about a second deflection pulley axis, A drive element is constrained to move about the second deflection pulley; The second deflection pulley axis is connected to the second deflection pulley of the first set of pulleys. A first drive element of the third pair of drive elements is moved from the payout point of the reel to the third pair of drive elements. a second axis that is inclined relative to the first axis so as to bias the joint toward a take-up point; A deflection pulley of A robotic surgical instrument comprising: [Aspect 23] 23. The robotic surgical instrument of any one of claims 1 to 22, wherein the end effector For every angle of rotation of the element about the longitudinal axis of the shaft, The second pair of drive elements and the third pair of drive elements have the same length. Bot surgical instruments. [Aspect 24] 24. The robotic surgical instrument according to any one of claims 1 to 23, wherein the first and second The end effector element is disposed between opposed first and second jaws of the end effector. That is, robotic surgical instruments. [Aspect 25] 25. The robotic surgical instrument of any one of claims 1 to 24, wherein the pair of drive elements The robotic surgical instrument is elongated and flexible. [Aspect 26] 26. The robotic surgical instrument of any one of claims 1 to 25, wherein the pair of drive elements A robotic surgical instrument in which the actuator is a cable. [Aspect 27] 27. The robotic surgical instrument of any one of claims 1 to 26, wherein the pair of drive elements A robotic surgical instrument having a distal end that resists compressive and tensile forces. [Aspect 28] 28. The robotic surgical instrument according to any one of claims 1 to 27, In the linear state, the second axis is perpendicular to the central plane of the drive mechanism. Surgical instruments.

Claims

1. A shaft, an end effector having a first end effector element and a second end effector element; a joint portion connecting the end effector to the shaft; A robotic surgical instrument comprising: The joint portion is a first joint actuable by a first pair of drive elements to enable the end effector to rotate about a first axis transverse to a longitudinal axis of the shaft; a second joint actuable by a second pair of drive elements to enable the first end effector element to rotate about a second axis transverse to the first axis; a third joint actuable by a third pair of drive elements, the third joint enabling the second end effector element to rotate about the second axis; Equipped with the robotic surgical instrument further comprising a pulley mechanism about which the second pair of drive elements and the third pair of drive elements are constrained to move, the second pair of drive elements and the third pair of drive elements following opposite paths around the pulley mechanism that are symmetrical about the longitudinal axis of the shaft; Each drive element includes a cable; The shaft is configured such that the drive element extends therethrough; the pulley mechanism includes a first set of pulleys rotatable about the first axis and a second set of pulleys configured to bias the second pair of drive elements and the third pair of drive elements from the first set of pulleys into the shaft; the first set of pulleys includes a first pulley and a second pulley disposed on either side of the first joint relative to a longitudinal direction of the shaft; the second set of pulleys includes a first pulley and a second pulley disposed on either side of the first joint relative to a longitudinal direction of the shaft; each of the first pulley and the second pulley of the second set of pulleys is rotatable about an axis parallel to and offset from the first axis; a first drive element of the second pair of drive elements and a second drive element of the third pair of drive elements are constrained to move around the first pulley of the first set of pulleys on one side, and a second drive element of the second pair of drive elements and a first drive element of the third pair of drive elements are constrained to move around the second pulley of the first set of pulleys on an opposite side of the joint from the one side.

2. 2. The robotic surgical instrument of claim 1, wherein a distal end of the shaft is coupled to the joint portion, and a proximal end of the shaft is coupled to a drive mechanism that drives the joint portion of the end effector via the first to third pairs of drive elements, the second pair of drive elements and the third pair of drive elements overlap during extension within the shaft, and at the proximal end of the shaft in the drive mechanism, the first drive element of the second pair of drive elements is adjacent to the second drive element of the second pair of drive elements and the first drive element of the third pair of drive elements is adjacent to the second drive element of the third pair of drive elements.

3. 3. The robotic surgical instrument of claim 2, wherein the drive mechanism includes an additional pulley mechanism about which the second pair of drive elements and a third pair of drive elements are constrained to move.

4. 4. The robotic surgical instrument of claim 3, wherein each of the second pair of drive elements and the third pair of drive elements extend from the pulley mechanism to the additional pulley mechanism without being wrapped around an intermediate pulley.

5. The robotic surgical instrument of claim 1 , wherein the second set of pulleys is disposed within the shaft.

6. The robotic surgical instrument of claim 1 , wherein the joint comprises the second set of pulleys.

7. 7. The robotic surgical instrument of claim 1, wherein the pulley mechanism further comprises a pair of biasing pulleys within the articulation between the first joint and the second and third joints to bias the second pair of drive elements from the first set of pulleys to the second joint and to bias the third pair of drive elements from the first set of pulleys to the third joint; The pair of deflection pulleys are a first deflection pulley rotatable about a first deflection pulley axis, the second pair of drive elements being constrained to move about said first deflection pulley, the first deflection pulley axis being inclined with respect to said first axis to cause said first deflection pulley to deflect a first drive element of said second pair of drive elements from a pay-out point of a first pulley of said first set of pulleys to said second joint take-up point; a second deflection pulley rotatable about a second deflection pulley axis, the third pair of drive elements being constrained to move about said second deflection pulley, the second deflection pulley axis being inclined with respect to the first axis to cause said second deflection pulley to deflect a first drive element of said third pair of drive elements from a pay-out point of a second pulley of said first set of pulleys to a take-up point of said third joint; A robotic surgical instrument comprising:

8. 8. The robotic surgical instrument of claim 1, wherein each pulley of the first and second sets of pulleys has a pair of pulley elements including an inner pulley element and an outer pulley element, the inner pulley element being disposed between the outer pulley element and the longitudinal axis of the shaft, each pulley element having a groove for engaging a drive element.

9. 9. The robotic surgical instrument of claim 8, wherein the second pair of drive elements is constrained to move around the inner pulley element of the first pulley of the second set of pulleys and around the outer pulley element of the second pulley of the second set of pulleys, and the third pair of drive elements is constrained to move around the outer pulley element of the first pulley of the second set of pulleys and around the inner pulley element of the second pulley of the second set of pulleys.

10. 10. The robotic surgical instrument of claim 8 or 9, wherein the second pair of drive elements is constrained to move around the inner pulley element of the first pulley of the first set of pulleys and around the outer pulley element of the second pulley of the first set of pulleys, and the third pair of drive elements is constrained to move around the outer pulley element of the first pulley of the first set of pulleys and around the inner pulley element of the second pulley of the first set of pulleys.

11. 11. The robotic surgical instrument of claim 8, wherein for each pulley, one pulley element of the pair of pulley elements abuts the other pulley element of the pair of pulley elements.

12. 12. The robotic surgical instrument of any one of claims 1-11, wherein the first and second end effector elements are opposed first and second jaws of an end effector.

13. The robotic surgical instrument of claim 1 , wherein the pair of drive elements comprises elongated flexible cables.

14. 14. The robotic surgical instrument of claim 1, wherein the pair of drive elements resists compressive and tensile forces.

15. 15. The robotic surgical instrument of claim 1, wherein the second set of pulleys is disposed between the first set of pulleys and a proximal end of the shaft.

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