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公开(公告)号：US20230389952A1
公开(公告)日：2023-12-07
申请号：US18249813
申请日：2021-10-22
申请人： CMR Surgical Limited
IPC分类号： A61B17/32 , A61B17/3201
CPC分类号： A61B17/320016 , A61B17/3201 , A61B2034/305
摘要： A robotic surgical instrument comprising: an end effector with opposing first and second end effector elements, each end effector element comprising a first portion for enabling rotation of that end effector element about a respective joint and a second portion with a surface configured to interface with a corresponding surface of the opposing end effector element; and an articulation comprising: a first joint permitting rotation of the first end effector element about a first axis; a second joint permitting rotation of the second end effector element about a second axis; and a supporting body comprising opposing first and second tines within which the first portions of the first and second end effector elements are permitted to rotate; wherein the first portion of the first end effector element is proximal to the first tine, and the second portion of the first end effector element is proximal to the second tine.
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公开(公告)号：US20220354599A1
公开(公告)日：2022-11-10
申请号：US17814618
申请日：2022-07-25
申请人： CMR SURGICAL LIMITED
摘要： A surgical robot arm extending between a base and a terminal link, the terminal link connected to an adjacent link in the surgical robot arm by a joint which permits the terminal link to rotate about a longitudinal axis of the terminal link, the terminal link comprising: a drive assembly having a first drive assembly interface element for driving a first instrument interface element of a robotic surgical instrument when the surgical robot arm engages the robotic surgical instrument, the first drive assembly interface element engageable with the first instrument interface element on the longitudinal axis of the terminal link, and the first drive assembly interface element being linearly displaceable along the longitudinal axis of the terminal link so as to drive the first instrument interface element along the longitudinal axis of the terminal link.
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公开(公告)号：US10517685B2
公开(公告)日：2019-12-31
申请号：US15374121
申请日：2016-12-09
申请人： CMR Surgical Limited
摘要： A robotic surgical instrument comprising an articulation connecting an end effector to a distal end of a shaft. The articulation comprises joints permitting the end effector to adopt a range of orientations relative to a longitudinal axis of the shaft. An instrument interface connects to a proximal end of the shaft. Pairs of driving elements drive the joints. The driving elements extend from the instrument interface to the joints. Each driving element comprises a spoke which terminates at a distal end in a distal flexible portion that engages the articulation and at a proximal end in a proximal flexible portion that engages the instrument interface. In a straight configuration of the robotic surgical instrument in which the end effector is aligned with the shaft, the distal ends of the spokes of adjacent driving elements are offset along a longitudinal direction of the shaft.
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公开(公告)号：US20190223960A1
公开(公告)日：2019-07-25
申请号：US16060591
申请日：2016-12-09
申请人： CMR SURGICAL LIMITED
CPC分类号： A61B34/30 , A61B17/29 , A61B2017/2902 , A61B2017/2908 , A61B2017/2927 , A61B2017/2939 , A61B2034/305 , A61B2034/306 , A61B2034/715 , B25J9/1045
摘要： A robotic surgical instrument comprising: a shaft; an end effector element; an articulation connecting the end effector element to the shaft, the articulation comprising: joints permitting the end effector element to adopt a range of orientations relative to a longitudinal axis of the shaft; pairs of driving elements configured to drive the joints; a supporting body having a bevelled surface; and are directing pulley mounted on the bevelled surface such that the redirecting pulley rotates about a redirecting pulley axis transverse to the bevelled surface.
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公开(公告)号：US12108995B2
公开(公告)日：2024-10-08
申请号：US17654294
申请日：2022-03-10
申请人： CMR SURGICAL LIMITED
发明人： Ben Robert Chaplin , James Oliver Grant , Keith Marshall , Nikki Priyam Su-Ling Phoolchund , Thomas Bates Jackson
CPC分类号： A61B34/30 , A61B46/10 , A61B46/17 , A61B46/40 , A61B90/50 , A61B2017/00477 , A61B17/29 , A61B2034/302
摘要： An interface structure for detachably interfacing a surgical robot arm to a surgical instrument, the interface structure comprising a main body; and a drive transfer element comprising a first portion and a second portion, the first portion being releasably engageable with a portion of the surgical robot arm and the second portion being releasably engageable with a portion of the surgical instrument; the drive transfer element being movable relative to the main body so as to enable transfer of drive between the surgical robot arm and the surgical instrument.
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公开(公告)号：US11607279B2
公开(公告)日：2023-03-21
申请号：US16620327
申请日：2018-06-06
申请人： CMR Surgical Limited
发明人： Ben Robert Chaplin
摘要： A robotic surgical instrument, comprising: a shaft; an end effector element; an articulation at a distal end of the shaft for articulating the end effector element, the articulation comprising: a first and second joint permitting the end effector element to adopt a range of configurations relative to a longitudinal axis of the shaft, the first joint being driveable by a first pair of driving elements having a first positional accuracy requirement and the second joint being driveable by a second pair of driving elements having a second positional accuracy requirement lower than the positional accuracy requirement of the first pair of driving elements; and an instrument interface at a proximal end of the shaft, comprising: a chassis formed from the attachment of a first chassis portion to a second chassis portion, the first chassis portion comprising a mounting surface to which the shaft is mounted; wherein the first pair of driving elements are secured relative to the first chassis portion.
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公开(公告)号：US11382705B2
公开(公告)日：2022-07-12
申请号：US16589319
申请日：2019-10-01
申请人： CMR Surgical Limited
发明人： Ben Robert Chaplin , Keith Marshall , Nikki Priyam Su-Ling Phoolchund , Rebecca Anne Cuthbertson
摘要： A robotic surgical instrument comprising: a shaft; an articulation at a distal end of the shaft configured to articulate 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 configured to drive the pair of driving elements, the instrument interface element displaceable over a displacement range, the pair of driving elements fast with the instrument interface element such that a displacement of the instrument interface element is transferred to the pair of driving elements; a tensioning mechanism configured to tension the pair of driving elements; and an alignment mechanism configured to set the displacement position of the instrument interface element to a predetermined alignment position when the end effector has a predetermined configuration, the alignment mechanism being independent of the tensioning mechanism.
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公开(公告)号：US20190151035A1
公开(公告)日：2019-05-23
申请号：US16321750
申请日：2017-07-27
申请人： CMR SURGICAL LIMITED
发明人： Ben Robert Chaplin , James Oliver Grant , Keith Marshall , Nikki Priyam Su-Ling Phoolchund , Thomas Bates Jackson
摘要： A drive transfer element for transferring drive between a surgical robot arm and a surgical instrument, the drive transfer element comprising a drive transfer element recess being releasably engageable with an interface protrusion; and a drive transfer element protrusion being releasably engageable with an interface recess; the drive transfer element protrusion comprising a cavity in communication with the drive transfer element recess so as to enable the interface protrusion engageable with the drive transfer element recess to project into the cavity.
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公开(公告)号：US11628021B2
公开(公告)日：2023-04-18
申请号：US16620329
申请日：2018-06-06
申请人： CMR Surgical Limited
摘要： A robotic surgical instrument, comprising: a shaft; an end effector element; an articulation at a distal end of the shaft for articulating the end effector element, the articulation comprising a first joint permitting the end effector to adopt a range of configurations relative to the longitudinal axis of the shaft, the first joint being driveable by a first pair of driving elements; and an instrument interface at a proximal end of the shaft, comprising: a chassis formed from the securement of a first chassis portion to a second chassis portion, wherein the first pair of driving elements are secured relative to the chassis, the chassis portions being configured to be secured together by sliding the chassis portions relative to each other in a longitudinal direction parallel to the longitudinal axis of the shaft.
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公开(公告)号：US11484298B2
公开(公告)日：2022-11-01
申请号：US16661921
申请日：2019-10-23
申请人： CMR Surgical Limited
摘要： A robotic surgical instrument comprising a shaft and end effector element connected by an articulation. The articulation comprises a first joint driveable by a first pair of driving elements. The first joint permits the end effector element to rotate about a first axis transverse to a longitudinal axis of the shaft, the rotation of the end effector element about the first axis bounded by an extreme rotation angle relative to the longitudinal axis. A second joint is driveable by a second pair of driving elements. A pulley arrangement constrains the second pair of driving elements, and comprises a first set of pulleys rotatable about the first axis, and a second set of pulleys located relative to the first set of pulleys such that at the extreme rotation angle the second pair of driving elements is retained in contact with both the first and second sets of pulleys.
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