Ben Robert Chaplin,Keith Marshall,Luke David Ronald Hares,Nikki Priyam Su-Ling Phoolchund
申请号：
GB201621013
公开号：
GB2546399A
申请日:
2016.12.09
申请国别(地区):
GB
年份:
2017
代理人:
摘要：
Robotic surgical instrument comprising: an articulation connecting an end effector having first and second end effector elements 502,503 to a shaft 504. The articulation comprises: first joint 506 driveable by a first pair of driving elements A1,A2 allowing end effector rotation about a first axis 510 transverse to the shafts longitudinal axis 511； second joint 503 driveable by a second pair of driving elements B1,B2 allowing first end effector element 502 rotation about a second axis transverse to the first 510； and third joint driveable by a third pair of driving elements C1,C2 allowing rotation of second end effector element 503 about the second axis. Instrument also includes a pulley arrangement around which, the second and third pairs of driving elements B1,B2/C1,C2 are constrained to move, where the second and third pairs of driving elements B1,B2/C1,C2 have symmetrically opposing paths around the pulley arrangement. Second and third driving elements B1,B2/C1,C2 may be cables having the same length for all end effector rotation angles. The symmetry is described as ensuring the second and third pair of driving elements are never slack and remain taut eliminating backlash from articulation of any joint over all three degrees of freedom of the surgical instrument.
