Interested in licensing this patent?
MTEC can help explore whether this patent might be available for licensing for your application.
Publication Number
US-12336778-B2
Publication Date
2025-06-24
Expiration Date
Abstract
In a surgical tool, a cord-shaped element transmits a movement of a driven portion to a working portion. A rotor has a circumferential surface around which the cord-shaped element extending from the driven portion to the working portion is wound. A first and a second supporting portion support the rotor such that the rotor is movable in relation to one or both of the driven portion and the working portion. A rotational shaft includes a first end securable to a first supporting portion, and supports the rotor such that the rotor is rotatable about a rotational axis thereof. A securing portion is arranged between a second end of the rotational shaft and the second supporting portion. A position of the securing portion relative to the rotational shaft is changeable in a rotational axis direction. The securing portion is securable to the second supporting portion.
Core Innovation
The invention relates to a surgical tool in which a driving force is transmitted to at least one driven portion from an external portion, and the movement of the at least one driven portion is transmitted to a working portion by a cord-shaped element. At least one rotor having a circumferential surface is used, with the cord-shaped element extending from the at least one driven portion to the working portion and being wound around the circumferential surface. The rotor is supported by a first supporting portion and a second supporting portion arranged so that the rotor is movable in an approaching and separating manner with respect to at least one of the driven portion and the working portion.
To enable rotor rotation and adjustable restraint along a rotational axis direction, at least one rotational shaft includes a first end securable to the first supporting portion and supports the rotor so that the rotor is rotatable about a rotational axis. A securing portion is arranged between a second end of the rotational shaft and the second supporting portion, where a position of the securing portion relative to the rotational shaft is changeable in a rotational axis direction. The securing portion is securable to the second supporting portion to maintain the rotor-supported cord tension during movement.
In an embodiment, a housing includes a first portion and a second portion coupled together, and a drive element receives driving force between the housing portions. A wire portion arranged between the housing portions is connected to the drive element and to forceps, and a pulley arranged between the housing portions is movable within the housing with respect to at least one of the drive element and the forceps. The pulley has a shaft with a first end securable to the first housing portion and a block arranged between the second end of the shaft and the second housing portion, where the block position is changeable relative to the shaft in an axial direction of the shaft, improving friction stability for force transmission via the wound wire.
Claims Coverage
The provided independent claims define a surgical tool architecture with a cord or wire wound around a rotor or pulley, supported so the winding element is movable for tension control, and mounted with an adjustable securing portion or block that changes position in an axis direction. Across the independent claims, the core inventive features number at least 6.
Wound cord between driven portion and working portion using rotor
A cord-shaped element transmits a movement of at least one driven portion to a working portion, where at least one rotor with a circumferential surface winds the cord-shaped element extending from the at least one driven portion to the working portion.
Rotor movable in approaching and separating manner for tension control
A first supporting portion and a second supporting portion arranged to interpose the at least one rotor therebetween, supporting the rotor so the at least one rotor is movable in an approaching and separating manner in relation to at least one of the at least one driven portion and the working portion.
Rotational shaft mounting with axis-direction adjustable securing portion
At least one rotational shaft including a first end securable to the first supporting portion supports the rotor for rotation about a rotational axis, and a securing portion arranged between a second end of the rotational shaft and the second supporting portion has a changeable position relative to the rotational shaft in the rotational axis direction, with the securing portion securable to the second supporting portion.
Two-part housing with drive element and wire connected to forceps
A housing comprising a first portion and a second portion configured to be coupled together, a drive element arranged between the first and second portions receiving a driving force, and a wire between the first and second portions connected to the drive element and to forceps.
Movable pulley with shaft secured to housing and axially movable block
A pulley arranged between the first and second portions movable within the housing with respect to at least one of the drive element and the forceps, where the pulley comprises a shaft about which the pulley rotates with a first end securable to the first portion of the housing, and a block arranged between the second end of the shaft and the second portion so that the block position is changeable relative to the shaft in an axial direction of the shaft, with the block securable to the second portion.
Housing-driven force transmitted to forceps via wire and movable pulley with axially adjustable block
A housing with a drive element transmitting driving force to forceps via a wire, and a pulley arranged in the housing at an end opposite from a location where a shaft is connected to the housing, the pulley movable within the housing with respect to at least one of the drive element and the forceps, the pulley comprising a pulley shaft rotatable with a first end securable to the housing, and a block arranged between the second end of the pulley shaft and the housing so that the block position is changeable relative to the pulley shaft in an axial direction, with the block securable to the housing.
The claim coverage centers on using a cord or wire wound around a rotor or pulley, supporting that winding element so it moves for stabilized transmission, and mounting the rotor or pulley with a rotational or rotatable shaft and an axis-direction adjustable securing portion or block whose position is changeable and securable relative to the shaft.
Stated Advantages
More fine tension adjustment.
Reduced tension variation.
Stabilized friction.
Enhanced external force estimation accuracy.
Documented Applications
Master-slave surgical robot using a master-slave surgical tool architecture with wire/cord transmission and forceps actuation.
Interested in licensing this patent?