US7121781B2
Expired / Lapsed
US
⏱️ 0.0 years remaining
Surgical instrument with a universal wrist
Assignee: Intuitive Surgical Operations Inc
•
Filing: 2003-06-11
•
Granted: 2006-10-17
•
Expires: 2023-06-11
Abstract
Abstract A robotically controlled endoscopic medical instrument that includes an end effector coupled to a wrist. The wrist provides two separate degrees of freedom about the same pivot point. The end effector can be moved and actuated by pins. The pins allow for a compact minimally invasive medical instrument that has a wrist with two degrees of freedom.
Inventors
- 👤 Dan Sanchez
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 11:34
CPC Classifications
A; A61; A61B; A61B34/00; A61B34/70; A61B34/30; A61B34/37; B; B25; B25J; B25J13/00; B25J13/02; B25J17/00; B25J17/02; B25J17/0258; B25J17/0266; B25J3/00; B25J3/04; B25J9/00; B25J9/003; B25J9/0033; B25J9/0039; A61B2034/304; A61B2034/305; A61B90/00; A61B90/36; A61B90/361; Y; Y10; Y10T; Y10T74/00; Y10T74/20; Y10T74/20207; Y10T74/20305; Y10T74/20329; Y10T74/20335
Claims Analysis
Total Claims: 12
Claim 1
Independent Claim
196 words
A robotically controlled medical instrument, comprising: an end effector base having a plurality of ball joints; a stationary jaw connected to the end effector base; a movable jaw pivotally coupled to the stationary jaw; first and second pins respectively coupled to the end effector base at first and second of the plurality of ball joints; a third pin coupled to the movable jaw; a stationary pin coupled to the end effector base at a third of the plurality of ball joints so as to define a pivot point; and a tool driver configured to effect a first degree of freedom movement of the end effector base at the pivot point by moving the first and second pins in opposite directions, effect a second degree of freedom movement of the end effector base at the pivot point by moving the first and second pins in a same direction, effect pivotal movement of the movable jaw in a first angular direction by moving the third pin in a first direction, and effect pivotal movement of the movable jaw in a second annular direction by moving the third in a second direction opposite to that of the first direction.
Claim 2
Dependent Claim
196 words
A robotically controlled medical instrument, comprising: an end effector base having a plurality of ball joints; a stationary jaw connected to the end effector base; a movable jaw pivotally coupled to the stationary jaw; first and second pins respectively coupled to the end effector base at first and second of the plurality of ball joints; a third pin coupled to the movable jaw; a stationary pin coupled to the end effector base at a third of the plurality of ball joints so as to define a pivot point; and a tool driver configured to effect a first degree of freedom movement of the end effector base at the pivot point by moving the first and second pins in opposite directions, effect a second degree of freedom movement of the end effector base at the pivot point by moving the first and second pins in a same direction, effect pivotal movement of the movable jaw in a first angular direction by moving the third pin in a first direction, and effect pivotal movement of the movable jaw in a second annular direction by moving the third in a second direction opposite to that of the first direction.
Claim 3
Dependent Claim
27 words
The robotically controlled medical instrument of claim 1 , wherein the third of the plurality of ball joints is approximately centrally located on the end effector base.
Claim 4
Dependent Claim
31 words
The robotically controlled medical instrument of claim 1 , further comprising an instrument shaft, wherein the first pin, the second pin, and the stationary pin are positioned within the instrument shaft.
Claim 5
Dependent Claim
43 words
The robotically controlled medical instrument of claim 3 , further comprising a bellows coupling the end effector base to the instrument shaft so as to allow the first and second degree of freedom movement of the end effector base at the pivot point.
Claim 6
Dependent Claim
42 words
The robotically controlled medical instrument of claim 1 , wherein the first and second pins are respectively coupled to the end effector base through first and second linkages coupled in turn to the first and second of the plurality of ball joints.
Claim 7
Dependent Claim
94 words
A robotically controlled medical instrument, comprising: an end effector having opposing jaws; first, second and third pins coupled to the end effector, and a tool driver configured to effect a first degree of freedom movement of the end effector about a pivot point by moving the first and second pins in opposite directions, effect a second degree of freedom movement of the end effector about the pivot point by moving the first and second pins in a same direction, and effect opening and closing of the end effector jaws by moving the third pin.
Claim 8
Dependent Claim
94 words
A robotically controlled medical instrument, comprising: an end effector having opposing jaws; first, second and third pins coupled to the end effector, and a tool driver configured to effect a first degree of freedom movement of the end effector about a pivot point by moving the first and second pins in opposite directions, effect a second degree of freedom movement of the end effector about the pivot point by moving the first and second pins in a same direction, and effect opening and closing of the end effector jaws by moving the third pin.
Claim 9
Dependent Claim
33 words
The robotically controlled medical instrument of claim 6 , further comprising an instrument shaft, wherein the first pin, the second pin, and the third pin are positioned and movable within the instrument shaft.
Claim 10
Dependent Claim
41 words
The robotically controlled medical instrument of claim 7 , further comprising a bellows coupling the end effector to the instrument shaft so as to allow the first and second degree of freedom movement of the end effector about the pivot point.
Claim 11
Dependent Claim
46 words
The robotically controlled medical instrument of claim 6 , wherein the opposing jaws comprise: a stationary jaw to which the first pin and the second pin are coupled; and a movable jaw pivotally coupled to the stationary jaw, and to which the third pin is coupled.
Claim 12
Dependent Claim
67 words
The robotically controlled medical instrument of claim 6 , wherein axial distal movement of each of the first pin, the second pin, and the third pin drives movement of the end effector with axial compression of the pins, and axial proximal movement of each of the first pin, the second pin, and the third pin drives movement of the end effector with axial tension of the pins.
References Cited (Backward Citations)
US3628535A
Cited
US4499790A
Cited
US4604016A
Cited
US4723460A
Cited
US4739241A
Cited
US4805477A
Cited
US5053687A
Cited
US5239883A
Cited
US5808665A
Cited
US5474571A
Cited
US5454827A
Cited
US5715729A
Cited
US5740699A
Cited
US6296635B1
Cited
US6102850A
Cited
US6425177B1
Cited
US5699695A
Cited
US5792135A
Cited
US5797900A
Cited
US6132441A
Cited
US5938678A
Cited
US6330837B1
Cited
US6307285B1
Cited
US6196081B1
Cited
US6331181B1
Cited
US6270453B1
Cited
US6394998B1
Cited
US6424885B1
Cited
US6312435B1
Cited
US6685698B2
Cited
WO2003001986A2
Cited
US6699235B2
Cited
US20030028217A1
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2009-10-16 | 2010-04-17 | 2010-10-17 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2013-10-16 | 2014-04-17 | 2014-10-17 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2017-10-16 | 2018-04-17 | 2018-10-17 | $7700.00 | Window Closed / Lapsed |