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WO2025212832A1 - Ensemble cabestan pour l'élimination du mou dans des éléments d'actionnement, et systèmes et procédés associés - Google Patents

Ensemble cabestan pour l'élimination du mou dans des éléments d'actionnement, et systèmes et procédés associés

Info

Publication number
WO2025212832A1
WO2025212832A1 PCT/US2025/022862 US2025022862W WO2025212832A1 WO 2025212832 A1 WO2025212832 A1 WO 2025212832A1 US 2025022862 W US2025022862 W US 2025022862W WO 2025212832 A1 WO2025212832 A1 WO 2025212832A1
Authority
WO
WIPO (PCT)
Prior art keywords
body part
actuation member
capstan
capstan body
actuation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/US2025/022862
Other languages
English (en)
Inventor
Jacob C. Baril
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Intuitive Surgical Operations Inc
Original Assignee
Intuitive Surgical Operations Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Intuitive Surgical Operations Inc filed Critical Intuitive Surgical Operations Inc
Publication of WO2025212832A1 publication Critical patent/WO2025212832A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0008—Balancing devices
    • B25J19/0016—Balancing devices using springs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/10—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for preventing cable slack
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/28—Other constructional details
    • B66D1/40—Control devices
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A61B2034/715—Cable tensioning mechanisms for removing slack

Definitions

  • a capstan assembly for tensioning an actuation member used to transmit an actuation force, such as, for example, to actuate movement of a component of an instrument.
  • actuation force such as, for example, to actuate movement of a component of an instrument.
  • Related devices, systems and methods also are disclosed.
  • INTRODUCTION [0003]
  • Various medical and industrial instruments include shafts and have one or more components that impart one or more degrees of freedom of movement to such instruments.
  • Such components can be in the form of end effectors that move in one or more degrees of freedom, such as for example, translating mechanisms, jaws that open and close, etc.
  • articulable structures such as joint mechanisms, along the shaft that can pivot or otherwise allow bending (e.g., in pitch and/or yaw) of the shaft or of components relative to the shaft.
  • actuation members may be in the form of pullable (tension) members such as cables, wires, filaments or the like that are flexible in all directions and generally transmit stronger force by pulling on the actuation member to place it in tension (sometimes referred to as pull-pull actuation members).
  • the actuation members extend through the instrument shaft to couple to an actuatable component (e.g., a moveable end effector component and/or an articulable structure) at a relatively distal portion of the shaft and to a drive device of force transmission system at a relatively proximal portion of the instrument shaft.
  • an actuatable component e.g., a moveable end effector component and/or an articulable structure
  • the actuation members transmit forces from the force transmission system, which can remain at a remote location from the work s ite (e.g., outside a patient’s body in the case of a medical instrument performing a medical procedure) to the actuatable component, which is proximate a worksite (e.g., inside a patient’s body in the case of a medical instrument performing a medical procedure).
  • Force transmission PCT PATENT APPLICATION ATTORNEY DOCKET NUMBER: P06850-WO JONES ROBB DOCKET NO.1084.0242.00304 systems can have manually-operated inputs for instruments that are manually operated or can include drive input interfaces that are configured to engage with an output drive, such as of part of manipulator system of a teleoperated, computer-assisted system, which manipulator systems comprise motorized output drives that are under control from remote input mechanisms, as would be familiar to those of ordinary skill in the art.
  • Output drive may also include motors or other actuators onboard the force transmission system.
  • the drive devices to which pull-pull type actuation members are coupled include rotary drive mechanisms, and rotary motion causes the actuation members to be paid in (partially wound around the rotary drive member) and paid out (partially unwound from the rotary drive member). Paying in tensions the actuation member so that it can transmit force to impart movement to the actuatable component.
  • the rotary drive mechanism to which the actuation member couples can include an input drive shaft that receives input either manually or an output drive device, such as an onboard motor or other actuator of the force transmission system, or an output drive device, such as a servo motor and output drive member of a manipulator system to which the force transmission system is coupled.
  • a pair (or multiple pairs) of pull-pull type actuation members may work in tandem through the same rotary drive mechanism such that one actuation member is paid onto the rotary drive member to provide the pulling force (tension) to move an actuatable component in one degree of freedom, while the other actuation member is paid off the rotary drive member, and vice versa to move the actuatable component in a different (or opposite) degree of freedom motion.
  • the actuation member being paid out can develop slack that may interfere with the routing of the actuation member through various components of the instrument, such as pulleys or other guide structures along which the actuation member is routed.
  • the actuation member with slack is paid back in to tension it and actuate the actuatable component in the degree of freedom associated with that actuation member, the removal of slack and repositioning of the actuation member introduces additional time that can negatively impact the responsiveness of the movement of the PCT PATENT APPLICATION ATTORNEY DOCKET NUMBER: P06850-WO JONES ROBB DOCKET NO.1084.0242.00304 actuatable component.
  • Embodiments of the present disclosure may solve one or more of the above-mentioned problems and/or may demonstrate one or more of the above-mentioned desirable features. Other features and/or advantages may become apparent from the description that follows.
  • a drive system for controlling tension in an actuation member used to transmit actuation force comprises an input drive shaft having a longitudinal axis, the input drive shaft rotatable about the longitudinal axis; a capstan assembly comprising: a first capstan body part fixed in rotation with the input drive shaft, a second capstan body part coupled with the input drive shaft and the first capstan body part, the second capstan body part rotatable relative to the input drive shaft, a first actuation member receiving part fixed in rotation with the first capstan body part, and a second actuation member receiving part fixed in rotation with the second capstan body part.
  • the drive system may further comprise a first actuation member coupled to the first actuation member receiving portion and configured to be paid relative to the first actuation member receiving portion; and a second actuation member coupled to the second actuation member receiving portion and configured to be paid relative to the second actuation member receiving portion.
  • the first and second capstan body parts are rotatable together with the input drive shaft, an in a state of slack of the second PCT PATENT APPLICATION ATTORNEY DOCKET NUMBER: P06850-WO JONES ROBB DOCKET NO.1084.0242.00304 actuation member in response to the second actuation member being paid out from the second actuation member receiving portion and while the first actuation member is paid in to the first actuation member receiving portion and tensioned to transmit an actuation force, the first capstan body part is rotatable with the input drive shaft, and the second capstan body part is rotatable relative to the first capstan body part and the input drive shaft.
  • a capstan assembly for controlling tension in actuation members comprises a first capstan body part; a second capstan body part coupled to the first capstan body part and rotatable relative to the first capstan body part; a first actuation member receiving portion fixed in rotation with the first capstan body part and configured to provide a surface to pay in an actuation member; a second actuation member receiving portion fixed in rotation with the second capstan body part and configured to provide a surface to pay in an actuation member; and an elastically deformable biasing element coupled between the first capstan body part and the second capstan body part, the elastically deformable biasing element having a compressed state in a first position of rotation of the second capstan body part relative to the first capstan body part and an expanded state in a second position of rotation of the second capstan body part relative to the first capstan body part.
  • a method of controlling tension in actuation members used to transmit actuation force comprises rotating a first capstan body part of a capstan assembly in a first direction, thereby causing a first actuation member to be paid into the capstan assembly so as to tension a first actuation member; causing a second capstan body part of the capstan assembly to rotate in the first direction by rotation of the first capstan body part, thereby causing a second actuation member to paid out from the capstan assembly; and in response to the paying out of the second actuation member and tension in the second actuation member decreasing to a sufficient level, causing the second capstan body part to rotate in a second direction opposite the first and relative to the first capstan body part, thereby causing the second actuation member to be paid in to the capstan assembly first capstan body part.
  • Yet another aspect of the present disclosure contemplates An instrument comprising a shaft; an end effector comprising an actuatable component coupled to the shaft; and the drive system discussed above coupled to the shaft.
  • the first actuation member is operably coupled to PCT PATENT APPLICATION ATTORNEY DOCKET NUMBER: P06850-WO JONES ROBB DOCKET NO.1084.0242.00304 the actuatable component and configured to actuate movement of the actuatable component in a first degree of freedom in response to the first actuation member being paid in and placed in tension
  • the second actuation member is operably coupled to the actuatable component and configured to actuate movement of the actuatable component in a second degree of freedom in response to the second actuation member being paid in and placed in tension.
  • FIG.1 is a perspective view of an embodiment of rotary drive mechanism with a capstan assembly for actuation member slack removal
  • FIG. 2 is a perspective view another embodiment of rotary drive mechanism with capstan assembly for actuation member slack removal
  • FIG.3 is an exemplary workflow in accordance with aspects of the present disclosure
  • FIG. 4 is a perspective view of a rotary drive mechanism with a capstan assembly for actuation member slack removal in accordance with another implementation.
  • FIG.5 is a partial exploded view of FIG.4 showing portions of the capstan assembly and the input drive shaft;
  • FIG.6 is a detailed view of portion 6-6 of FIG.4;
  • FIGs. 7A and 7B depict a first state of operation of the rotary drive mechanism and capstan assembly of FIG.4;
  • FIGs.8A and 8B depict a second state of operation of the rotary drive mechanism and capstan assembly of FIG.4.
  • FIG.9 is another exemplary workflow in accordance with aspects of the present disclosure.
  • FIG.10A is a schematic side view of an instrument in accordance with an aspect of the disclosure.
  • FIG.10B is a plan view of the drive interface of the force transmission system of the instrument of FIG.10B; and
  • FIG.11 is a perspective schematic view of a manipulator system according to an aspect of the present disclosure.
  • a capstan assembly can comprise multiple capstan body portions to allow one portion to move in a differential manner with respect to another. This can allow a differential motion of actuation members so as to be able to remove slack in one actuation member without affecting the tensioned state of another. While various embodiments described herein use the differential motion of multiple capstan body portions to remove slack in one actuation member without affecting the tensioned state of a second actuation member, those having ordinary skill in the art would appreciate that more than two actuation members may be utilized and slack removed from one or more without affecting others of the plurality of actuation members.
  • actuation members may be paid in/out respectively relative to different capstan body portions capable of differential rotation.
  • more than one actuation member may be paid in/out relative a same capstan body portion and moved in a step-wise synchronized manner with the other actuation member, while not exhibiting the same tension state.
  • the rotary drive mechanism 100 includes a capstan assembly 130 operably coupled to a input drive device 140 that is configured to be driven by an external mechanism, as discussed above, such as a manual drive force, a drive force provided by a motor, or a drive force provided by a manipulator system, embodiments of which are described further below.
  • the capstan assembly 130 can comprise a shaft portion 136 having a bore that receives a input drive shaft (not shown) coupled to the input drive device 140.
  • the shaft portion 136 can further include an actuation member receiving portion 138.
  • An actuation member 150 can be coupled to the actuation member receiving portion 138 and configured to wrap around the portion 138 as the actuation member 150 is paid in to the capstan assembly 130 and unwrapped therefrom as the actuation member 150 is paid out from the capstan assembly 130.
  • the actuation member receiving portion 138 can comprise guide features 138’, such as helical grooves to assist with guiding the actuation member 150 onto the actuation member receiving portion 138 as it is paid in so as to, for example, avoid the actuation member 150 wrapping on itself.
  • the actuation member 150 can be secured to the actuation member receiving portion 138 via the use of crimps, fittings, various types of mechanical fasteners, and other techniques (e.g., welding, fusing, over-molding, etc.) suitable for coupling the actuation member to the actuation member receiving portion 138 of the capstan assembly 130. Attachment can also occur through various forms of frictional engagement between the capstan assembly 130 and the actuation member 150, without the use of mechanical fasteners.
  • the capstan assembly 130 can have a fixed rotational state relative to the input drive shaft (not shown) in a state of the actuation member 150 being in a paid in, tensioned state in which the actuation member 150 is transmitting force to actuate an actuatable component to which it is operably coupled (not shown in FIG.1).
  • the capstan assembly 130 can have a differential rotational state relative to the input drive shaft in a state of the actuation member 150 PCT PATENT APPLICATION ATTORNEY DOCKET NUMBER: P06850-WO JONES ROBB DOCKET NO.1084.0242.00304 being in a paid out, slack state in which the actuation member 150 is not transmitting force to actuate the actuatable component.
  • the capstan assembly 130 can be fixed in rotation with the input drive shaft (and consequently the input drive device 140) in a first direction of rotation (shown as arrow A in FIG.1) about the longitudinal axis A L of the input drive shaft and the capstan assembly 130.
  • the first direction of rotation A can correspond to the actuation member 150 being paid in to the capstan assembly 130 and tensioned so as to cause actuation of the actuatable component to which it is operably coupled.
  • a second direction of rotation shown by arrow B in FIG.1 opposite the first direction of rotation A, the capstan assembly 130 can provide a differential rotation relative to the input drive shaft such that the capstan assembly 130 or at least the actuation member receiving portion 138 can rotate relative to the input drive shaft.
  • the input drive shaft may be initially driven to pay out the actuation member 150 from the capstan assembly 130.
  • the capstan assembly 130 can rotate in a fixed manner with the input drive shaft.
  • a release of the force of the actuation member 150 acting on the capstan assembly 130 can allow the capstan assembly 130 to become rotatable relative to the input drive shaft.
  • a limit is provided on the differential rotation of the actuation member receiving portion 138 of the capstan assembly 130 relative to the input drive shaft, and consequent amount of paying in of the actuation member 150 in the slack condition, so as to avoid tensioning the actuation member 150 to an amount that would actuate the actuatable component.
  • the amount of slack removal that is desirable by the differential rotational state of the capstan assembly 130 is to maintain desired routing paths and avoid “derailing” the actuation member 150 from guide components and routing paths the actuation member 150 is configured to follow in its tensioned state, without tensioning it to a level that is intended to transmit force to actuate the actuatable component.
  • a rotary drive mechanism 200 is operably coupled with a pair of actuation members 250, 251 that are utilized to transmit force to an actuatable component (not depicted) to which the actuation members 250, 251 are operably coupled. More specifically, the actuation member 250 is used to transmit force to actuate the actuatable component to move in a first degree of freedom and the actuation member 251 is used to transmit force to actuate the actuatable component to move in a second degree of freedom.
  • the actuation members 250, 251 operate in tandem such that the one that is being used to transmit the force to the actuatable component is tensioned, while tension is released from the other.
  • the rotary drive mechanism 200 of FIG.2 includes a capstan assembly 230 operably coupled to a drive input 240 that is configured to be driven by an external mechanism, such as a manual drive force, a drive force provided by a motor, or a drive force provided by a manipulator system.
  • the capstan assembly 230 can comprise a shaft portion 236 having a bore that receives a input drive shaft 241 (a portion of which is visible in FIG.2) coupled to the input drive device 240.
  • the capstan assembly 230 can further include an actuation member receiving portion 238 configured to be coupled to and provide a surface for wrapping (paying in) and unwrapping (paying out) an actuation member 250 coupled to the actuation member receiving portion 238, as described above with reference to FIG.1.
  • the actuation member receiving portion 238 can comprise guide features 238’, such as helical grooves to assist with guiding the actuation member 250 onto the actuation member receiving portion 238 as it is paid in, as also described with reference to FIG.1.
  • the actuation member 250 can be secured to the actuation member receiving portion via any of the ways discussed above with reference to FIG.1 PCT PATENT APPLICATION ATTORNEY DOCKET NUMBER: P06850-WO JONES ROBB DOCKET NO.1084.0242.00304 [0042]
  • the capstan assembly 230 in addition to the actuation member receiving portion 238, includes a second actuation receiving member portion 239 operably coupled to another actuation member 251, using any of the securing techniques described above.
  • Actuation member receiving portion 239 also provides a surface for wrapping (paying in) and unwrapping (paying out) of the actuation member 251, and can include guide features 239’, such as helical grooves, to assist with guiding the actuation member 251 onto the actuation member receiving portion 239, as discussed above.
  • guide features 239’ such as helical grooves, to assist with guiding the actuation member 251 onto the actuation member receiving portion 239, as discussed above.
  • the actuation members 250, 251 pay in and pay out relative to the capstan assembly 230 and respective actuation member receiving portions 238, 239 in opposite directions of rotation. Specifically, when actuation member receiving portion 238 rotates in direction A, actuation member 238 is paid out from actuation member receiving portion 238 and tension is released.
  • actuation member receiving portion 238 can have a fixed rotational state relative to the input drive shaft 241 in a state of the actuation member 250 being in a paid in, tensioned state in which the actuation member 250 is transmitting force to actuate an actuatable component to which it is operably coupled (not shown in FIG.2).
  • the actuation member receiving portion 238 can have a differential rotational state relative to the input drive shaft 241 in a state of the actuation member 250 being in a paid out, slack state in which the actuation member 250 is not transmitting force to actuate the actuatable component.
  • the actuation member receiving portion 238 can be fixed in rotation with the input drive shaft 241 (and with the input device 240 and actuation member receiving portion 239) in a first direction of rotation (shown as arrow B in FIG.2) about the longitudinal axis A L of the input drive shaft 241 and the capstan assembly 230, which corresponds to the actuation member 250 being paid in.
  • the capstan assembly 230 can provide a differential PCT PATENT APPLICATION ATTORNEY DOCKET NUMBER: P06850-WO JONES ROBB DOCKET NO.1084.0242.00304 rotation of at least the actuation member receiving portion 238 relative to the input drive shaft 241 such that the actuation member receiving portion 238 can rotate relative to the input drive shaft 241.
  • the input drive shaft 241 may be initially driven to rotate the capstan assembly 230, including actuation member receiving portions 238, 239, in direction A, thereby paying out the actuation member 250 while paying in actuation member 251.
  • the actuation member receiving portion 239 is fixed rotationally to the input drive shaft 241
  • the actuation member receiving portion 238 exhibits a differential rotational motion relative to the actuation member receiving portion 239 as well as the input drive shaft 241.
  • a limit can be provided on the differential rotation of the actuation member receiving portion 238 relative to the input drive shaft 241, and consequent amount of paying in of the actuation member 250 in the slack condition, so as to avoid tensioning the actuation member 250 to an amount that would actuate the actuatable component.
  • the capstan assembly 230 can be configured such that the shaft portion 236 and the actuation member receiving portion 239 are fixed together in rotation in both states of rotation, or the actuation member receiving portion 239 can be rotatable relative to the shaft portion 236 and the input drive shaft in the differential rotational state of the capstan assembly 230, with the shaft portion 236 being fixed in rotation with the input drive shaft 241 in both states.
  • FIG.3 represents one example workflow 300 for removal of slack from an actuation member which can be implemented using various of the implementations of rotary drive mechanisms described herein, including the implementations of FIGs.1 and 2 discussed above.
  • slack development or a state of slack or other similar references of an actuation member as used herein can correspond to the tension in the actuation member being decreased to a PCT PATENT APPLICATION ATTORNEY DOCKET NUMBER: P06850-WO JONES ROBB DOCKET NO.1084.0242.00304 sufficiently low level that it does not hold the actuation member receiving portion to which the actuation member is operably coupled in a fixed rotational state relative to the rotary drive input mechanism.
  • force to pull out the slack may be about 1 pound- force (lbf) so as to reduce the slack by about 30 degrees of angular rotation around the capstan or about 0.05 in.
  • the rotation of the actuation member receiving portion to pay in the actuation member at action 306 to remove slack can be limited so as to not cause an over tensioning of the actuation member that might trigger an actuation of the actuation component to which it is operably coupled.
  • the input rotary drive device may continue to be driven in rotation in the second direction without impacting and causing the rotation of the actuation member receiving portion in that direction.
  • FIGs.4-8B yet another implementation of a rotary drive mechanism utilizing a capstan assembly that provides differential motion for tensioning an actuation member to remove slack is illustrated.
  • the capstan assembly of FIG.4 provides a relatively simple construction of a differential capstan assembly and illustrates one example of a mechanism for decoupling and allowing the differential rotational motion of one actuation member receiving portion of the capstan assembly relative to the input drive shaft and to another actuation member receiving portion of the capstan assembly.
  • the mechanism implemented in this embodiment of the capstan assembly could be utilized in the embodiments of FIGs.1 and 2 described above.
  • the rotary drive mechanism of FIGs. 4-6 includes a capstan assembly 430 operably coupled to an input drive device 440 that is configured to be driven by an external mechanism, such as a manual drive force, a drive force provided by a motor, or a drive force provided by a manipulator system, as with other implementations described herein.
  • the capstan assembly 430 can comprise a shaft portion 436 having a bore that receives an input drive shaft 441 coupled to and configured to rotate with the input drive device 440.
  • the capstan assembly 430 further has two actuation member receiving portions 438, 439, similar to those described above with reference to FIG.2, and which are respectively operably coupled to actuation members 450, 451 in the same manner as described above with reference to FIG.2.
  • the actuation members 450, 451 are also operably coupled to and configured to drive actuation of an actuatable component (not shown) in differing degrees of freedom, as described above.
  • the capstan assembly 430 utilizes a decoupling mechanism 460.
  • Decoupling mechanism 460 enables the actuation member receiving portion 438 to be placed in a fixed rotational state with the input drive shaft 441 and the actuation member receiving portion 439, or in a decoupled, differentially rotational state with the input drive shaft 441 and actuation member receiving portion 439.
  • the decoupling mechanism 460 comprises a two-part device comprising a fixed capstan body part 469 coupled in a fixed relationship with the input drive shaft 441 and a rotatable capstan body part 468 rotatably coupled to the input drive shaft 441. Both parts 468, 469 coupled together form an annular, cylindrical end piece of the capstan assembly 430 that secures the capstan assembly 430 in a fixed axial position on the input drive shaft 441, as will be explained further below. [0056] Because the fixed capstan body part 469 is fixed in rotation with the input drive shaft 441, it is also fixed in rotation with the actuation member receiving portion 439 that is fixed to the input drive shaft 441.
  • the rotatable capstan body part 468 is fixedly coupled (or integrally formed with) actuation member receiving portion 438, and both parts are rotatably coupled to the input drive shaft 441.
  • the rotatable capstan body part 468 coupled with the actuation member receiving portion 438 are rotationally floating relative to the input drive shaft PCT PATENT APPLICATION ATTORNEY DOCKET NUMBER: P06850-WO JONES ROBB DOCKET NO.1084.0242.00304 441, and accordingly relative to the fixed capstan body part 469 and actuation member receiving portion 439.
  • the fixed capstan body part 469 and the rotatable capstan body part 468 are configured to fit together such that they form two portions of an overall annular cylindrical structure.
  • the fixed capstan body part 469 has a split ring configuration that includes an annular plate defining an annular end face 471 configured to extend around the entire circumference of the input drive shaft 441. Extending from the annular end face 471 is a partial annular arc segment 473 having a thickness along the longitudinal axial direction of the fixed capstan body part 469 and terminating at ends of the arc defined by the segment 473 in radially inwardly extending surfaces 473’, 473’’ which can function as stop surfaces as described further below.
  • the rotatable capstan body part 468 includes an annular plate defining an annular end face 470 configured to extend around the circumference of the input drive shaft 441.
  • the actuation member receiving portion 438 Extending longitudinally in one direction from the annular end face 470 is the actuation member receiving portion 438 and in the opposite direction an arc-shaped outer lateral wall 472 that extends partially along the peripheral edge of the annular end face 470.
  • the wall 472 can have an angular extent ranging from about 0 degrees to about 30 degrees.
  • a radially extending surface 474 can extend radially inwardly from one end of the lateral wall 472. [0059] As illustrated in FIGs.
  • the fixed capstan body part 469 and the rotatable capstan body part 468 are configured to be fit together to form an overall generally annular cylindrical structure with the end faces 470, 471 forming the end faces of the annular, cylindrical structure that are transverse (perpendicular) to the longitudinal axis of the structure and axis of rotation AL when assembled on the input drive shaft 441.
  • the partial annular segment 473 is received between the ends of the lateral wall 472. In the fit together configuration, the annular segment 473 and lateral wall 472 form an outer lateral wall of the overall annular cylindrical structure.
  • the relative circumferential lengths of the lateral wall 472 and the outer surface of the annular segment 473 are such that a gap is provided allowing the wall 472 space to move to some degree around the longitudinal axis A L as the rotatable capstan body part 468 rotates. This gap and the rotation of the rotatable capstan body part 468 and lateral wall 472 is explained in further detail below.
  • the biasing element 480 has a relaxed (uncompressed), resting state in the configuration shown in FIGs.4 and 6, such that the end of the lateral wall 472 is spaced from the radially inwardly extending surface 473’.
  • the biasing element 480 can have a compressed state by rotating the rotatable capstan body part 468 relative to the input drive shaft 441 and the fixed capstan body part 469 such that the radially extending surface 474 moves toward radially extending surface 473’ and a distance between those two surfaces is decreased.
  • the radially inwardly extending surface 473’ has a recessed region 473’r that captures the end of the biasing element 480 (compression spring).
  • a variety of elastically deformable biasing elements can be used other than a coiled compression spring, such as, but not limited to, for example, a torsion spring in the same location as element 480 or nested between rotatable capstan body part 468 and fixed capstan body part 469, with location hard stops external to the torsion spring; an extension spring, which could be wrapped and affixed on external surfaces of the between rotatable capstan body part 468 and fixed capstan body part 469; a constant force coil spring nested between rotatable capstan body part 468 and fixed capstan body part 469.
  • a torsion spring in the same location as element 480 or nested between rotatable capstan body part 468 and fixed capstan body part 469, with location hard stops external to the torsion spring
  • an extension spring which could be wrapped and affixed on external surfaces of the between rotatable capstan body part 468 and fixed capstan body part 469
  • a constant force coil spring nested between
  • the split ring configuration of the fixed capstan body part 469 allows for ease in assembly of the parts 468, 469 and the biasing element 480 with each other and with the input drive shaft 441.
  • a through hole 475 can be tunneled through the annular segment 473 and across a separation gap 477 of the split ring configuration to allow PCT PATENT APPLICATION ATTORNEY DOCKET NUMBER: P06850-WO JONES ROBB DOCKET NO.1084.0242.00304 a securing device (not shown), such as a bolt or the like, to be received and tightened to clamp and fix the fixed capstan body part 469 to the input drive shaft 441.
  • the through hole 475 can terminate in opposite openings 475’, 475’’ in the outer lateral side wall portions of the annular segment 473 to allow access to the securing device, for example, via a tool to tighten and loosen the same.
  • the rotatable capstan body part 468 is limited in the extent of its rotation by the abutment of the lateral wall 472 and inwardly extending surface 474 with the radially inwardly extending stop surfaces 473’, 473’’, respectively, of the annular segment 473.
  • the rotatable capstan body part 468 can rotate over a range of about +/- 0-30 degrees around the longitudinal axis between the surfaces 473’ and 473’’.
  • surfaces 473’, 473’’ function as stop surfaces to limit the range of rotation of the rotatably capstan body part 468.
  • limiting the range of rotation of the rotatable capstan body part 468 can assist with limiting the paying in of the actuation member 450 to the degree needed to remove slack without tensioning the actuation member to a degree at which it would transmit force to actuate the actuatable component to which it is operably coupled.
  • FIGs.7A and 8A are perspective views of the rotary drive mechanism 400 and actuation members 450, 451 showing the capstan assembly 430 with the rotatable capstan body part 469 in differing states, as further described below.
  • FIG.7B and 8B are sectional views taken through section 7B-7B of FIG.7A and 8B-8B of FIG.8A, respectively, to show the differing states of the rotatable capstan body part 469 and elastically deformable biasing element 480.
  • FIGs.7A and 7B depict the capstan assembly 430 and decoupling mechanism 460 in a state in which the actuation member 450 is in tension (paid in) to actuate an actuatable component to which it is coupled.
  • the end of the lateral wall 472 is spaced by the gap G from the radially inwardly extending surface 473’ of the arc segment 473.
  • the rotatable capstan body part 468 is free to differentially rotate about the input drive shaft 441 and relative to the fixed capstan body part 469 and actuation member receiving portion 439. Rotation of the actuation member receiving portion 438 in direction C in this state allows the actuation member 450 to be paid in, thereby removing slack, without affecting additional paying in or the state of tension of actuation member 451.
  • the decoupling mechanism 460 decouples the rotation of rotatable capstan body part 468 from the input drive shaft 441, the fixed capstan body part 469, and actuation member receiving part 439.
  • This decoupling of the rotation allows for slack removal in the actuation member 450 not actively transmitting force to actuate the actuatable component without affecting the ability of the actuation member 451 to be paid in to transmit the force to actuate the actuatable component in the degree of freedom associated with that actuation member 451.
  • limiting the overall rotation of the rotatable capstan body part 468 and actuation member receiving portion 438 in direction C e.g., through use of the stop surface 473’’, provides a limit on the paying in and amount of tension that will be applied to actuation member 450 so as to not affect actuation of the actuatable component based on force transmitted by the actuation member 450.
  • FIG.9 another example workflow 900 for removal of slack in an actuation member using various of the implementations of rotary drive mechanisms described herein, including the implementations of FIGs.4-8B and instruments and systems utilizing the same, is illustrated.
  • the workflow 900 of FIG.9 includes at action 902 rotation of a first capstan body part of a capstan assembly operably coupled to an input rotary drive device in a first direction, causing a first actuation member to be paid in and be placed in tension.
  • a second capstan body part of the capstan assembly is rotated in the first direction by the first capstan body part, causing a second actuation member to be paid out from the capstan assembly.
  • tension in the second actuation member is decreased.
  • the second capstan body part Upon decreasing of the tension to a sufficient level (slack developing), the second capstan body part is caused to rotate in a second direction opposite the first direction and relative to the first capstan body part, thereby causing the second actuation member to be paid in to the capstan assembly.
  • the paying in of the second actuation member at action 906 is limited to an amount that will not increase the tension of the second actuation member to a level for transmission of an actuation force to the actuate an actuatable component.
  • Instruments of this type can be configured for remote actuation of the actuatable components via the force applied to drive inputs of the force transmission mechanism, whether manually or via a computer-assisted manipulator system, as PCT PATENT APPLICATION ATTORNEY DOCKET NUMBER: P06850-WO JONES ROBB DOCKET NO.1084.0242.00304 described further below.
  • Instruments of this type can be medical instruments configured for minimally invasive surgical, diagnostic, or therapeutic procedures, or can be other types of industrial instruments that perform a variety of procedures, such as inspection or other procedure, at a worksite.
  • the instrument 1000 further optionally includes an articulable component 1030 coupling the end effector 1020 to the shaft 1024.
  • the articulable PCT PATENT APPLICATION ATTORNEY DOCKET NUMBER: P06850-WO JONES ROBB DOCKET NO.1084.0242.00304 structure 1030 can be positioned along the distal end portion 1002 of the shaft 1024. But the disclosure is not so limited and the articulable structure 1030 can be positioned at any location along the shaft 1024 without limitation.
  • the instrument 1000 can include more than one articulable structure 1030, such as two, three, or more articulable structures located in series or at multiple spaced apart locations along the length of the shaft 1024.
  • the articulable structure 1030 can be controlled and actuated via actuation members (not illustrated in FIG. 10A), such as pull-pull type or push-pull type actuation members as described herein, operably coupled to one or more drive components of the force transmission system 1008, and thus able to be actuated via a manipulator through the force transmission system.
  • actuation members such as pull-pull type or push-pull type actuation members as described herein, operably coupled to one or more drive components of the force transmission system 1008, and thus able to be actuated via a manipulator through the force transmission system.
  • an articulable structure can serve as a wrist mechanism supporting and coupling the end effector 1020 to the shaft 1024 so as to allow orientation of the end effector 1020 relative to the shaft in pitch and/or yaw.
  • the force transmission system 1008 is coupled to the proximal end portion 1001 of the shaft 1024.
  • the force transmission system 1008 may be coupled at various locations along the shaft 1024, and in some cases moveable along the shaft, but generally in a position such that it remains external to a remote site (such as a patient’s body) at which the end effector 1020 and a distal end portion 1002 of the shaft 1024 are inserted to perform a procedure, thereby permitting access to manipulate inputs on the force transmission system 1008.
  • Force transmission system 1008 includes a housing 1025 supporting an input drive portion 1026.
  • Input drive portion 1026 includes a drive interface 1027.
  • Drive interface 1027 provides mechanical connections to the other control features of force transmission system 1008, such as various output drives configured to be operated to transmit force to control the moveable components and operations at the distal end portion 1002 of the instrument 1000.
  • drive interface 1027 is configured to couple to a manipulator system, such as those described further below.
  • drive interface 1027 includes a plurality of input drive devices 1032, each of which can control a different aspect of movement of the movable components (e.g., articulable structures, end effector components) of the instrument 1000.
  • more or less input drive devices 1032 can be provided in different implementations.
  • each of drive input devices 1032 interfaces with an actuator that drives the steering input.
  • drive input devices 1032 are configured to form a direct mechanical engagement with respective rotary actuators (e.g., servo motors) of a manipulator of a manipulator system.
  • rotary actuators e.g., servo motors
  • other suitable configurations for power transmission can also be used (e.g., indirect mechanical couplings including speed and/or torque converters, fluid couplings, and/or electrical couplings).
  • one of the input drive devices 1032 can be an input drive device (such as 140, 240, 440 of the rotary drive mechanisms described herein) and that drives rotation of an input drive shaft (such as input drive shaft 241, 441) so as to pay in/pay out an actuation member (such as actuation member 150, 250, 251, 450, 451) and thereby control movement of end effector 1020 or other moveable component of the instrument 1000.
  • an input drive shaft such as input drive shaft 241, 441
  • an actuation member such as actuation member 150, 250, 251, 450, 451
  • the present disclosure contemplates the various rotary drive mechanisms of the embodiments described above, such as the embodiment of FIGs.4-8B, operably coupled to drive the opening/closing movement of the jaws 1028 to provide a gripping force.
  • the actuation member operably coupled to the rotatable capstan body parts and corresponding actuation member receiving portion can be coupled to the jaws 1028 to actuate a grip open degree of freedom movement (pivoting of the jaw members away from each other) of the jaws 1028
  • the actuation member operably coupled to the fixed capstan body part and corresponding actuation member receiving portion can be coupled to the jaws 1028 to actuate a grip close degree of freedom movement (pivoting of the jaw members toward each other).
  • force transmission systems of the present disclosure are configured for use in teleoperated, computer-assisted surgical systems employing robotic technology (sometimes referred to as robotic surgical systems).
  • robotic surgical systems employing robotic technology
  • FIG.11 an embodiment of a manipulator system 1100 of a computer-assisted surgical system, to which surgical instruments are configured to be mounted for use, is shown.
  • a surgical system may further include a user control system, such as a surgeon console (not shown) for receiving input from a user to control instruments coupled to the manipulator system 1100, as well as an auxiliary system, such as auxiliary systems associated with the da Vinci® systems noted above.
  • the manipulator system 1100 of FIG.11 is shown and described having a main boom 1160 to which the plurality of manipulator arms 1110, 1111, 1112, 1113 are coupled and supported thereby, in other PCT PATENT APPLICATION ATTORNEY DOCKET NUMBER: P06850-WO JONES ROBB DOCKET NO.1084.0242.00304 embodiments, the plurality of manipulator arms 1110, 1111, 1112, 1113 can be coupled and supported by other structures, such as an operating table, a ceiling, wall, or floor of an operating room, etc.
  • Instrument mount portion 1122 comprises a drive output assembly 1123 and a cannula mount 1124, with a transmission mechanism 1108 (which may generally correspond to the force transmission system 1008 discussed in connection with FIGs.10A and 10B of the instrument 1000 connecting with the drive output assembly 1123, according to an embodiment.
  • Cannula mount 1124 is configured to hold a cannula 1136 through which a shaft of instrument 1130 may extend to a surgery site during a surgical procedure.
  • Drive output assembly 1123 contains a variety of drive and other mechanisms that are controlled to respond to input commands at the surgeon console and transmit forces to the transmission mechanism 1134 to actuate the instrument 1130.
  • FIG.13 shows an instrument 1130 attached to only manipulator arm 1010 for ease of viewing, an instrument may be attached to any and each of the manipulator arms 1110, 1111, 1112, 1113.
  • Other configurations of surgical systems such as surgical systems configured for single- port surgery, are also contemplated.
  • Embodiments described herein may be used, for example, with remotely operated, computer-assisted systems (such, for example, teleoperated surgical systems) such as those described in, for example, U.S. Patent No.9,358,074 (filed May 31, 2013) to Schena et al., entitled “Multi-Port Surgical Robotic System Architecture”, U.S.
  • Patent No.9,295,524 (filed May 31, 2013) to Schena et al., entitled “Redundant Axis and Degree of Freedom for Hardware- Constrained Remote Center Robotic Manipulator”, and U.S. Patent No.8,852,208 (filed August 12, 2010) to Gomez et al., entitled “Surgical System Instrument Mounting”, each of which is hereby incorporated by reference in its entirety. Further, embodiments described herein may be used, for example, with various da Vinci® Surgical Systems, commercialized by Intuitive Surgical, Inc., of Sunnyvale, California.
  • the embodiments described herein are not limited to the surgical systems noted above, and various other teleoperated, computer-assisted surgical and manipulator system configurations may be used with the embodiments described herein. Further, although various embodiments described herein are discussed in connection with a manipulating system of a teleoperated surgical system, the present disclosure is not limited to use with a teleoperated PCT PATENT APPLICATION ATTORNEY DOCKET NUMBER: P06850-WO JONES ROBB DOCKET NO.1084.0242.00304 surgical system. Various embodiments described herein can optionally be used in conjunction with hand-held, manual instruments. [0095] Other configurations of manipulator systems that can be used in conjunction with the present disclosure can use several individual manipulator arms.
  • individual manipulator arms may include a single instrument or a plurality of instruments.
  • an instrument may be a surgical instrument with an end effector or may be a camera instrument or other sensing instrument utilized during a surgical procedure to provide information, (e.g., visualization, electrophysiological activity, pressure, fluid flow, and/or other sensed data) of a remote surgical site.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Transmission Devices (AREA)

Abstract

L'invention concerne un ensemble cabestan comprenant des première et deuxième parties de corps de cabestan couplées l'une à l'autre, la deuxième partie de corps de cabestan pouvant tourner par rapport à la première partie de corps de cabestan; une première portion de réception d'élément d'actionnement fixée en rotation avec la première partie de corps de cabestan et ayant une surface conçue pour avaler du mou dans un élément d'actionnement; une deuxième portion de réception d'élément d'actionnement fixée en rotation avec la deuxième partie de corps de cabestan et ayant une surface configurée pour avaler du mou dans un élément d'actionnement; et un élément de sollicitation élastiquement déformable couplé entre la première partie de corps de cabestan et la deuxième partie de corps de cabestan, l'élément de sollicitation élastiquement déformable ayant un état comprimé dans une première position de rotation de la deuxième partie de corps de cabestan par rapport à la première partie de corps de cabestan et un état déployé dans une deuxième position de rotation de la deuxième partie de corps de cabestan par rapport à la première partie de corps de cabestan.
PCT/US2025/022862 2024-04-04 2025-04-03 Ensemble cabestan pour l'élimination du mou dans des éléments d'actionnement, et systèmes et procédés associés Pending WO2025212832A1 (fr)

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US202463574554P 2024-04-04 2024-04-04
US63/574,554 2024-04-04

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8852208B2 (en) 2010-05-14 2014-10-07 Intuitive Surgical Operations, Inc. Surgical system instrument mounting
US9295524B2 (en) 2012-06-01 2016-03-29 Intuitive Surgical Operations, Inc. Redundant axis and degree of freedom for hardware-constrained remote center robotic manipulator
US9358074B2 (en) 2012-06-01 2016-06-07 Intuitive Surgical Operations, Inc. Multi-port surgical robotic system architecture
US20230380920A1 (en) * 2019-04-08 2023-11-30 Cilag Gmbh International Slack cable eliminating capstan

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8852208B2 (en) 2010-05-14 2014-10-07 Intuitive Surgical Operations, Inc. Surgical system instrument mounting
US9295524B2 (en) 2012-06-01 2016-03-29 Intuitive Surgical Operations, Inc. Redundant axis and degree of freedom for hardware-constrained remote center robotic manipulator
US9358074B2 (en) 2012-06-01 2016-06-07 Intuitive Surgical Operations, Inc. Multi-port surgical robotic system architecture
US20230380920A1 (en) * 2019-04-08 2023-11-30 Cilag Gmbh International Slack cable eliminating capstan

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