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| 국가/구분 | United States(US) Patent 등록 |
|---|---|
| 국제특허분류(IPC7판) |
|
| 출원번호 | US-0902971 (2010-10-12) |
| 등록번호 | US-8551076 (2013-10-08) |
| 발명자 / 주소 |
|
| 출원인 / 주소 |
|
| 인용정보 | 피인용 횟수 : 353 인용 특허 : 12 |
A minimally invasive surgical instrument includes a U-turn mechanism that transmits actuating forces around a U-turn. The U-turn mechanism is coupled between segments of the instrument and has a bend radius that is smaller than flexible arms having a similar cross section diameter. The actuating for
A minimally invasive surgical instrument includes a U-turn mechanism that transmits actuating forces around a U-turn. The U-turn mechanism is coupled between segments of the instrument and has a bend radius that is smaller than flexible arms having a similar cross section diameter. The actuating forces transmitted by the U-turn mechanism are used to move distal components of the instrument, such as an end effector and a wrist mechanism.
1. A surgical instrument assembly comprising: a retrograde surgical instrument comprising: a transmission mechanism;a proximal body segment, wherein a proximal end of the proximal body segment is coupled to the transmission mechanism;a distal body segment;a component coupled to a distal end of the d
1. A surgical instrument assembly comprising: a retrograde surgical instrument comprising: a transmission mechanism;a proximal body segment, wherein a proximal end of the proximal body segment is coupled to the transmission mechanism;a distal body segment;a component coupled to a distal end of the distal body segment; anda U-turn mechanism coupled between the proximal and the distal body segments, the U-turn mechanism comprising a proximal face, a distal face, and cable guide tubes, each of the cable guide tubes having a first end and a second end, the first end being coupled to the proximal face, and the second end being coupled to the distal face, wherein the U-turn mechanism has a constant fixed shape so that a distance between the proximal face and the distal face is unchangeable. 2. The instrument assembly of claim 1: wherein the cable guide tubes are substantially equal length. 3. The instrument assembly of claim 1: wherein the U-turn mechanism comprises a single part. 4. The instrument assembly of claim 1 further comprising: a joint coupling the U-turn mechanism to the distal body segment. 5. The instrument assembly of claim 1: wherein the distal body segment is substantially rigid and straight, andwherein the U-turn mechanism is fixedly attached to the distal body segment. 6. The instrument assembly of claim 1 further comprising: a guide tube comprising an interior channel though which the proximal body segment, the distal body segment, the component, and at least a portion of the U-turn mechanism of the retrograde surgical instrument pass. 7. The instrument assembly of claim 1: wherein the component comprises a wrist assembly. 8. The instrument assembly of claim 1: wherein the component comprises an end effector. 9. A method comprising: transmitting actuating forces from a transmission mechanism through a U-turn mechanism, the U-turn mechanism comprising a proximal face, a distal face, and cable guide tubes, each of the cable guide tubes having a first end and a second end, the first end being coupled to the proximal face, and the second end being coupled to the distal face, wherein the U-turn mechanism has a constant fixed shape so that a distance between the proximal face and the distal face is unchangeable. 10. The method of claim 9: wherein the transmitting actuating forces through the U-turn mechanism comprises moving tendons in the cable guide tubes of the U-turn mechanism. 11. The method of claim 10: wherein the moving tendons in the cable guide tubes further comprises moving the tendons in cable guide tubes of substantially equal length. 12. The method of claim 9: wherein U-turn mechanism comprises a single fixed shape part. 13. The method of claim 9, further comprising: transmitting the actuating forces through a joint that couples the U-turn mechanism to a distal body segment of a surgical instrument. 14. The method of claim 9, wherein the transmitting actuating forces through the U-turn mechanism further comprises: transmitting the actuating forces through a substantially rigid and straight distal body segment coupled between the U-turn mechanism and a distal component. 15. The method of claim 9: wherein the transmitting actuating forces through the U-turn mechanism comprises transmitting the actuating forces through the U-turn mechanism to a wrist assembly coupled between the U-turn mechanism and a distal component. 16. The method of claim 9: wherein the transmitting actuating forces through the U-turn mechanism comprises transmitting the actuating forces through the U-turn mechanism to an end effector. 17. A surgical instrument assembly comprising: a transmission mechanism;a distal component; anda U-turn mechanism, the U-turn mechanism comprising a proximal face, a distal face, and cable guide tubes, each of the cable guide tubes having a first end and a second end, the first end being coupled to the proximal face, and the second end being coupled to the distal face; wherein the U-turn mechanism is coupled between the transmission mechanism and the distal component; andwherein the U-turn mechanism has a constant fixed shape so that a distance between the distal face and the proximal face is unchangeable. 18. The instrument assembly of claim 17: wherein the distal component is selected from a group consisting of a wrist mechanism and an end effector.
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