公开(公告)号：US20180353251A1

公开(公告)日：2018-12-13

申请号：US16060587

申请日：2016-12-09

Applicant: CMR Surgical Limited

Inventor： Rebecca Anne Cuthbertson ,  Ben Robert Chaplin ,  Keith Marshall ,  Luke David Ronald Hares ,  Nikki Priyam Su-Ling Phoolchund

IPC: A61B34/35 ,  A61B34/00 ,  A61B17/32

Abstract: A robotic surgical instrument comprising: a shaft; an articulation at a distal end of the shaft for articulating an end effector, the articulation driveable by a pair of driving elements; and an instrument interface at a proximal end of the shaft, the instrument interface comprising an instrument interface element for driving the pair of driving elements, the instrument interface element displaceable over a first displacement range, the instrument interface element comprising a body receivable in a drive assembly interface element of a robot arm when the robotic surgical instrument engages with the surgical robot arm, the drive assembly interface element displaceable over a second displacement range, the length of the body in the displaceable direction being greater than one of the maximum travel of the body over the first displacement range and the maximum travel of the drive assembly interface element over the second displacement range.

公开(公告)号：US20180353249A1

公开(公告)日：2018-12-13

申请号：US16108200

申请日：2018-08-22

Applicant: CMR SURGICAL LIMITED

Inventor： Keith Marshall ,  Luke David Ronald Hares ,  Thomas Bates Jackson ,  Steven James Randle

IPC: A61B34/30 ,  B25J17/02 ,  B25J9/10

CPC classification number: A61B34/30 ,  A61B2034/305 ,  B25J9/102 ,  B25J17/0275 ,  Y10S901/25 ,  Y10S901/26 ,  Y10S901/41

Abstract: A robot arm comprising a joint mechanism for articulating one limb relative to another limb about two non-parallel rotation axes, the mechanism comprising: an intermediate carrier attached to a first one of the limbs by a first revolute joint having a first rotation axis and to a second one of the limbs by a second revolute joint having a second rotation axis; a first drive gear disposed about the first rotation axis and fast with the carrier, whereby rotation of the carrier relative to the first limb about the first rotation axis can be driven; a second drive gear disposed about the second rotation axis and fast with the second one of the limbs, whereby rotation of the second one of the limbs about the second rotation axis relative to the carrier can be driven; at least one of the first and second drive gears being a sector gear.