JP2023534445A - Handle assembly providing unlimited rolls - Google Patents

Abstract

An exemplary roll handle assembly includes a handle body, a roll body, a closure body, and a shuttle body. A roll body is coupled to the handle body and has rotational freedom about the roll axis relative to the handle body. The roll body is translationally constrained relative to the handle body along the roll axis. A closure body is coupled to the handle body and has one or more degrees of freedom of movement relative to the handle body. A shuttle body is coupled to the roll body and the closure body and has translational degrees of freedom relative to the roll body along the roll axis. The shuttle body is rotationally constrained with respect to the roll body about the roll axis and has rotational freedom about the roll axis with respect to the closure body.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS This application is a continuation-in-part of U.S. patent application Ser. is incorporated herein in its entirety. U.S. Patent Application No. 15/943,689 is a continuation of U.S. Patent Application No. 15/284,345, entitled "HANDLE MECHANISM PROVIDING UNLIMITED ROLL," filed October 3, 2016, and is now U.S. Patent No. 9,814,451, the contents of which are incorporated herein by reference in their entirety. U.S. Patent No. 9,814,451 claims priority from U.S. Provisional Patent Application No. 62/236,835, filed Oct. 2, 2015, the contents of which are incorporated herein by reference in their entirety. incorporated into.

This application is also subject to U.S. Provisional Patent Application Nos. 62/147,998 entitled "FOREARM ATTACHMENT APPARATUS FOR REMOTE ACCESS TOOLS" filed on April 15, 2015 and "FOREARM U.S. Provisional Patent Entitled "ATTACHMENT APPARATUS FOR REMOTE ACCESS TOOLS" filed April 15, 2016 claiming priority from U.S. Provisional Patent Application No. 62/236,805 entitled "ATTACHMENT APPARATUS FOR REMOTE ACCESS TOOLS"; It may also relate to application Ser. No. 15/130,915. This application also claims priority from U.S. Provisional Patent Application Serial No. 61/044,168 entitled "MINIMALLY INVASIVE SURGICAL TOOL" filed April 11, 2008. US patent application Ser. No. 12/937,523, entitled "MINIMUM ACCESS TOOL," now a continuation of US patent application Ser. PARALLEL KINEMATIC MECHANISM, filed Feb. 25, 2016, claiming priority as a continuation-in-part of U.S. Patent Application No. 14/166,503, Publication No. US-2014-0142595, entitled "PARALLEL KINEMATIC MECHANISM TOOL". No. 15/054,068, entitled WITH DECOUPLED ROTATIONAL MOTIONS. Each of these patents and patent applications is incorporated herein by reference in its entirety.

INCORPORATION BY REFERENCE All publications and patent applications mentioned in this specification are incorporated by reference to the same extent as if each individual publication or patent application was specifically and individually indicated to be incorporated by reference. is incorporated herein by reference in its entirety.

TECHNICAL FIELD Described herein are handle assemblies and devices and applications using them. For example, described herein are handle assemblies having mechanisms that allow unlimited rotation (“unlimited roll handle assemblies”) and devices for minimally invasive surgical tools and remote access tools using them.

BACKGROUND Many remote access and minimally invasive surgical tools are known that incorporate handle assemblies with unlimited (or infinite) rotational capabilities, for example, as described in International Patent Application Publication No. 2007/146894. This application describes a laparoscopic tool that primarily consists of a proximal handle, a tool frame/tool shaft, and a distal end effector (EE). In some of these laparoscopic devices, to rotate the end effector about the tool shaft axis (i.e., to provide roll rotation of the end effector), the user rotates the handle about the tool shaft axis. Sometimes you have to. The handle may fit or conform to the user's hand, palm, and/or fingers in a nominal state (i.e., prior to any roll rotation), but may fit the user's hand during and after roll rotation. / Can't stay fit. Indeed, during such rotation, the handle may begin to collide with the area of the hand holding the device, typically limiting the amount of roll rotation and/or achieving maximum roll rotation with the end effector. The handle needs to be repositioned within the surgeon's hands in order to do so. Therefore, many of these devices require multiple hands to operate, or require the user's hand to remain in motion during operation, in order to continue to roll in a single direction over a limited amount of roll. may require repositioning of equipment within Additionally, devices that are repositioned to continue roll rotation are typically less ergonomic and more difficult to operate due to loss of access to input joints/mechanisms between the tool frame/tool shaft. A stationary portion of the handle that is normally held by the user's hand and palm (and possibly fingers and/or thumbs) in a nominal state, and a stationary portion about its central axis that is typically held by the user's fingers and/or thumbs. Attempts to address the problem of limited rotation and reduced ergonomics by providing a rotational joint in the handle assembly with the roll portion (e.g., dial, handle dial, rotating dial, etc.) that rotates against it. has been done. These attempts are partially based on the belief that rotating the device in this manner causes the winding of the internal transmission member when rotating the roll portion (e.g., dial, handle dial, rotating dial, etc.) relative to the stationary portion. This challenge has been met with limited effectiveness because of the potential for The stationary portion of the handle is defined as stationary as far as roll rotational motion is concerned. Generally, this stationary portion is "stationary" with respect to the user's palm. This stationary portion can move with the user's hand to provide other degrees of freedom (eg, pitch and yaw rotation in an arthroscopic device).

These devices that incorporate stationary and rolling portions in the handle assembly may be articulated or non-articulated. In some non-articulated devices, the handle assembly and tool shaft can be rigidly connected, and rotation of the entire handle assembly can drive rotation of the tool shaft and end effector. In other non-articulating devices, the handle assembly and tool shaft can be rigidly connected, the handle can be equipped with a dial, the dial is connected to the end effector and has a roll transmission member fed through the tool shaft. drives rotation of the end effector via Additionally, laparoscopic devices are becoming more complex and accommodate difficult laparoscopic procedures. Here, a laparoscopic tool can include an articulating end effector that can be actuated by input articulation between the tool shaft and handle assembly. An articulating end effector allows the surgeon to change the roll rotation axis of the end effector by articulating the handle assembly with respect to the tool shaft about the input articulation (also referred to herein as the input articulation or articulating input joint) to The handle assembly of such devices is not rigidly connected to the tool shaft, but instead generally allows two degrees of freedom of articulation (e.g., yaw and pitch rotations) and constrains roll rotation, thus connected through a transmitting input junction. In some articulated devices, rotation of the end effector may be driven by rotation of a dial portion of the handle assembly, which further transfers roll to the end effector via rotation of the tool shaft. Here, the tool shaft provides yaw and pitch degrees of freedom, but is connected to the handle assembly via an input articulation that transfers roll rotation from the handle assembly to the tool shaft. Similarly, roll rotation of the tool shaft is transmitted to the end effector through the output articulation. An example of such a device configuration is the joint device by Novare™ (WO 2007/146894). In other articulated devices, articulation and roll transmission are not through degree of constraint (DoC) of roll for input articulation, tool shaft, and output articulation (also referred to herein as output joint or articulation output joint). Direct transmission of roll to the end effector is decoupled from rotation of the dial portion of the handle assembly via a separate roll transmission member. This roll transmission member must have an appropriate torsional rigidity in order to transmit the rotation of the roll. This roll transmission member may not be routed through the input articulation or tool frame/tool shaft. One example of such a device configuration is the joint device sold by Covidien™ (US Pat. No. 8,603,135).

Typically, the improved dexterity provided by these articulated tools is traded off for increased resistance to roll rotation of the roll portion of the handle assembly. This resistance to roll rotation is further increased as the end effector articulates. This resistance may be further increased when a handle input (e.g., a lever in the handle assembly) is engaged, causing end effector actuation (e.g., opening and closing the moving portion of the end effector relative to the reference portion of the end effector). Bring. Resistance to roll while simultaneously performing end effector articulation and end effector actuation can be substantial. Engagement of a handle input (e.g., a handle input lever) to actuate the opening and closing of an end effector having jaws at the end of the tool shaft is typically by the user interfacing with each other to allow rotation. This results in high loads occurring between the stationary portion of the retained handle assembly and the rotatable portion of the handle assembly (eg dial). The result of high loading between these independent bodies typically limits the surgeon's ability to use fine rotational input at the handle assembly to precisely control end effector roll rotation. Frictional resistance to roll rotation is an increase in High jaw (open/close) actuation loads are typically transmitted from handle inputs by transmission members such as steel cables, steel wires, monofilament steel, nitinol rods, or tungsten cables. These types of transmission members work well to transmit loads from an input location to an output or remote portion of the instrument. the complexity of simultaneously transmitting and providing roll, articulation, and actuation functions to the end effector in such devices, and the limitation of working within a small volume to incorporate features to fulfill these functionalities; Because of this, it is difficult to incorporate assemblies, mechanisms, joints, and bodies that meet the structural and interface requirements so as to be able to provide the functionality described above.

Described herein are devices (eg, mechanisms, devices, tools, machines, systems, etc.) that include handle assemblies with unlimited roll mechanisms that can address these issues.

SUMMARY OF THE DISCLOSURE A handle assembly can be included that provides unlimited (e.g., "infinite") roll of a portion of the handle assembly relative to other portions of the handle assembly, and can advantageously transfer this roll to an end effector. Described herein are devices (including mechanisms, instruments, devices, tools, systems, etc.) that can. The unlimited roll mechanism described herein may be part of a device that includes a handle assembly, a tool frame (which may be or include a tool shaft), and an end effector assembly. In some variations, the device can include an end effector assembly (or simply an end effector) that can articulate with respect to the tool frame via an end effector articulation at the distal end of the device, Articulation of the end effector may be controlled by input articulations (input joints) at the proximal end of the device, including between the handle assembly and the tool frame. In any of these devices, the tool frame may be connected to the user's arm (e.g., wrist, forearm, etc.) via an arm attachment (e.g., forearm attachment), and the user's hand (palm, fingers, thumb, etc.) etc.) interacts with the handle assembly. The arm attachment may be connected to the tool frame by a joint (eg, bearing) that allows one or more degrees of freedom (eg, pitch, yaw, roll) between the user's arm and the tool frame. In any of these devices, the end effector has at least one motion portion (e.g., opening and closing) that can be actuated (e.g., opened and closed) by an input control on the handle assembly that causes output actuation of the end effector via the end effector jaw actuating member. for example, motion jaws). In some of these devices, the jaw actuation transmission member may be a tension/compression member that can be pulled by an input control within the handle assembly to cause end effector actuation (e.g., jaw closure actuation). . Either the same or different jaw actuation transmission members, tension/compression members can be used to cause end effector actuation (eg, jaw opening actuation) and undo previous actuation. This can be a pull (first actuation)-pull (second actuation) motion, or a pull (first actuation)-push (second actuation) actuation, or a push (second actuation) actuation as part of the end effector actuation. 1 actuation)-pull (second actuation) may result in actuation.

In general, the unlimited roll handle assemblies described herein may also be referred to as unlimited rotation handle assemblies, or unlimited rotation handle devices, or unlimited roll handle devices, or the like. Generally, the stationary portion of the handle assembly may also be referred to as the handle shell, or the ergonomic handle shell, or the handle body, or the first portion of the handle assembly, or the like. In general, the rotating portion of the handle assembly may also be referred to as a rotating portion, or a rotating dial, or a rotating portion, or dial, or a second portion of the handle assembly, or the like. Generally, the input controls within the handle assembly may also be referred to as controls, or input levers, or end effector controls, or input lever controls, or the like.

These unlimited roll handle assemblies use end effector actuation transmission members including cables (steel, tungsten, etc.), steel wire, etc., or monofilament steel or Nitinol rods, etc. to connect the first portion of the handle assembly (e.g., handle An input control to the body) allows actuation of the distal end effector (eg, opening and closing the end effector jaws) and can transmit actuation from the handle assembly without freezing or disruption of end effector actuation. This actuation can occur independently, in parallel, or independently of other movements such as end effector articulation and end effector roll rotation.

For example, if the end effector is a jaw assembly, it may include one or two motion jaws movable relative to the base end effector portion (first end effector portion). These one or more motion jaws refer to a second end effector portion, a third end effector portion, and so on. In some variations, one of the jaws of the jaw assembly may be part of (or rigidly attached to) the base end effector portion. One or more of the motion jaws may be moved by a jaw actuation transmission member connected to the shuttle portion of the handle assembly. This opening and closing movement of the jaws on the end effector assembly may be controlled by an end effector control, which may be a moving body (eg, lever, button, slider, etc.) on the handle assembly. Thus, disclosed herein can be part of a device that includes corresponding rotation of the end effector assembly, but which transmits control input from the handle assembly to actuation of the end effector (e.g., opening and closing motions). It is an unlimited roll handle assembly that can be

The devices described herein are configured for use in any application, including but not limited to medical devices (e.g., surgical devices including minimally invasive devices such as laparoscopes, endoscopes, etc.). be able to. For example, an articulated unlimited roll handle assembly as described is used as part of a remote access tool that requires fine rotation about the tool shaft axis and manipulation or articulation of the tool shaft and/or end effector. can do. Generally, the devices described herein can be useful for a variety of purposes.

As described in more detail herein, any of these devices may be a reference or ground portion (herein palm grip, palm grip portion, handle body, handle) that may be held in a user's hand. shell, etc.) and a rotating portion (herein referred to as a knob, dial, finger dial, rotating dial, etc.) that can be operated by the fingers (including the thumb) of the same hand holding the palm grip. To provide, may include a handle assembly having multiple portions or bodies or components coupled together to provide specific rotational and/or translational degrees of freedom relative to each other. In some variations, the handle assembly may be referred to as a handle, handle mechanism, unlimited roll handle assembly, infinite roll handle, or the like. In some variations, the handle assembly includes four interconnected components (or bodies) and an end component such as a lever, button, dial or other control for actuating (e.g., opening or closing) the end effector. Effector control inputs (also called closure inputs). The four interconnected bodies that are part of the handle assembly include a first handle portion (e.g. palm grip), a second handle portion (e.g. finger dial), a push rod (typically a first the inside of the handle portion), and the shuttle body (typically inside the second handle portion). A push rod is typically a rigid member and may alternatively be referred to as a pull rod. The shuttle body typically connects to (or includes) a portion of an end effector actuation transmission member, such as a transmission cable, to transmit actuation of the end effector control input to the end effector. As used herein to describe degrees of freedom, an axis refers to a particular line in space. A body may rotate about a particular axis relative to another body. A body may translate along a particular direction relative to another body. A direction is not defined by a particular axis, but instead is generally defined by multiple parallel axes. Thus, the X-axis is the particular axis defined and shown in the figures, and the X-direction refers to the direction of this X-axis. Multiple different but parallel X-axes have the same X-direction. A direction has only a direction, not a position in space.

For example, a handle assembly configured as an unlimited roll handle assembly can include a first handle portion that is an outer proximal body configured as a palm grip. Generally, this body is sometimes referred to as the handle body A (“H body A”), also called the “handle shell”. The handle assembly can also include a second handle portion configured as an outer distal body, which can be collectively referred to as handle body B (“H body B”). These two bodies can be considered independent bodies with established junctures where additional features may be present. Within the joint between these two bodies there may be certain geometric features such as ribs, surfaces, edges, washers, bushings, bearings, lubricants, etc., which may be It can act to provide some degree of freedom while being constrained. This junction between the outer bodies may also be traversed internally by a secondary pair of bodies. These secondary bodies can have their portion proximal or distal to the junction between H-body A and H-body B. One of the secondary bodies can be collectively referred to herein as handle body C (“H body C”), e.g. good too. The other secondary body may be collectively referred to herein as handle body D (“H body D”), and may be, for example, a distal shuttle, a portion of which connects to H body B. Similarly, the joints between either the inner secondary bodies relative to each other and the outer two bodies may also require specific geometries such as ribs, surfaces, edges, washers, bushings, bearings, lubricants, etc. Technical features can be included, and these can function to provide some degree of freedom while constraining others. A general description of this four-body structure showing the degrees of constraint and degrees of freedom is shown in FIG. For example, as part of an arthroscopic instrument, a four piece unlimited roll handle assembly as shown generally in FIG. 1 can be incorporated. A user (eg, physician, physician, surgeon, etc.) can hold the handle assembly and apply articulation input (causing pitch/yaw motion) through the distal or proximal joints of the handle assembly. This articulating input joint (pitch/yaw) can connect the handle assembly to the tool frame/tool shaft. This articulation input may be transmitted to an articulation output joint (pitch/yaw) at the distal end of the instrument via one or more articulation transmission members. This articulation output joint can connect the tool shaft/tool frame to the end effector assembly. The transmission member connects to the articulation input joint and the articulation output joint (proximal to the end effector assembly). The surgeon then rotates the second portion or dial body (H Body B) relative to the first portion or proximal outer body (H Body A) of the handle assembly about its central axis (Axis 1). This allows the end effector to rotate about its center/roll axis (axis 2). While holding (grounding) the proximal outer body (H body A, e.g., palm grip) in the palm of the hand, the user rotates the distal outer body (e.g., H body B, e.g. rotary dial) so that the thumb and forefinger Rotation can be driven by a fine rotary motion between The rotational joint between H-body A (first portion) and H-body B (second portion) shown in FIG. 1 reduces friction when the user also chooses to activate the jaw closure. , for example, to transmit translational motion along a first axial direction (e.g., axis 1 in FIG. 2) from H-body C to H-body D to the tension/compression (jaw closing/opening) transmission member of the handle assembly. It can serve to relieve the user of the severe resistance that might arise from generating forces. As will be described and illustrated in more detail below, when the user actuates the end effector input control in the handle assembly, this motion is transmitted in a first axial direction relative to H body A via a transmission mechanism in the handle assembly. is transmitted to the translational motion of the H body C along. The translational motion of H-body C is further transmitted to the translational motion of H-body D, which is transmitted to the end effector via the end effector actuation transmission member. During transmission, the surgeon can rotate the rotary dial on the handle assembly (H body B ) can also be rotated infinitely clockwise or counterclockwise.

In variations where the handle assembly is used with an articulation joint, such as the joint between the handle assembly and the tool shaft, the articulation input joint is a parallel motion mechanism (PK) joint (e.g., US Patent Application Publication No. 2013/0012958 or U.S. Pat. No. 8,668,702), or virtual center (VC) junctions (according to U.S. Pat. No. 5,908,436), or parallel motion mechanism virtual center junctions (e.g., US Pat. No. 8,668,702 ), or a serial motion mechanism (SK) junction (for example, according to US Pat. No. 8,465,475 or US Pat. No. 5,713,505), or a combination of a serial motion mechanism and a parallel motion mechanism junction. may be The unlimited roll handle assemblies described herein can be particularly useful, for example, in articulated devices having an articulating input joint between the handle assembly and the tool frame (eg, tool shaft). Here, a transmission cable (that is compliant to compression, twisting and bending such as ropes, braided cables, etc.) may be an effective end effector actuation transmission member and/or end effector articulation member. These highly compliant transmission members can bend through narrow bend radii to provide effective transmission. A torsionally stiff but bending compliant wire may also be used for either of the two aforementioned transmissions and/or the end effector rotation transmission. The articulation transmission member, roll transmission member, and end effector actuation transmission member may be separate bodies or may be combined in pairs or triplets into one body to effect the intended transmission. The transmission members can link their respective joints through different paths. For example, the articulation transmission member may be routed through the body of the tool frame (eg, tool shaft) or may be routed outside of the body of the tool shaft.

As noted above, any of the devices described herein include an unlimited roll handle assembly and an arm attachment (e.g., forearm attachment) so that the proximal end region of the device can be connected to the user's arm/forearm. be able to. Although these devices can allow improved control of the device when the device is rigidly coupled to the user's arm (eg, there are no degrees of freedom between the device and the user's arm). , the arm attachment allows one or more degrees of freedom between the tool frame and the user's arm, such as one or more of the roll, pitch, and/or yaw degrees of freedom. obtain.

For example, described herein is an apparatus including a medical device, an elongated tool frame having a forearm attachment portion at a proximal end, the elongated tool frame having a tool axis and , an end effector at a distal end of an elongated tool frame, and a handle assembly for providing unlimited roll to the end effector, the first handle portion and a second handle portion coupled to the first handle portion. thereby having one rotational degree of freedom in a first axis relative to the first handle portion, but being translationally constrained relative to the first handle portion along the first axial direction; and a pushrod wholly or partially within and coupled to the first handle portion, thereby providing a a push rod having one translational degree of freedom along the first axis but rotationally constrained about the first axis with respect to the first handle portion; A shuttle body, wholly or partially, having one rotational degree of freedom about a first axis with respect to the pushrod, but translational along the first axis with respect to the pushrod. A shuttle body constrainedly coupled to the push rod and further coupled to the second handle portion so as to have one translational degree of freedom along the first axial direction relative to the second handle portion. and an end effector control input on the first handle portion coupled to the push rod via a mechanism or other transmission system and configured to translate the push rod along the first axial direction; Rotation of the second handle portion about the first axis is transmitted to the end effector such that the end effector rotates about its central axis as a result of rotation of the second handle portion. a handle assembly, a cuff having a passage therethrough configured to hold a user's wrist or forearm, the cuff configured to couple to the forearm attachment portion of the tool frame; a cuff; In some cases, the shuttle body may be completely outside the second handle portion.

The forearm attachment portion and/or cuff can be configured to allow one or more degrees of freedom between the cuff (typically rigidly attached to the user's arm) and the forearm attachment portion. For example, the device can include a joint between the forearm mounting portion of the tool frame and the cuff, wherein the joint provides one or more rotational degrees of freedom between the cuff and the forearm mounting portion of the tool frame. configured to A joint may be a bearing (eg, a mechanical element capable of constraining relative motion to one or more desired movements such as pitch, roll, or yaw to reduce friction between moving parts). For example, the device can include one or more joints between the forearm attachment portion of the tool frame and the cuff, the one or more joints having the following degrees of freedom: roll degrees of freedom with respect to the tool axis, cuff and a forearm mounting portion of the tool frame, or a yaw degree of freedom between the cuff and the forearm mounting portion of the tool frame.

Generally, the cuff may include straps and/or fasteners so that it can be securely attached to the user's arm (e.g., forearm), attaches to the user's forearm, and then snaps onto the forearm attachment portion of the tool frame. It may be removable from the forearm attachment portion of the tool frame so that it may be clipped or otherwise attached.

Generally, unlimited roll between the second handle portion and the first handle portion can be transferred to the end effector. As noted above, the roll between the second handle portion and the first handle portion may be transmitted by a transmission member separate from the tool frame and sent around or through the tool frame. may For example, rotation of the second handle portion may be transmitted to the end effector via a rotation transmission extending between the second handle portion and the end effector. Alternatively, in some variations the tool shaft transfers roll between the second handle portion and the first handle portion. For example, either the second handle portion or the first handle portion is such that roll between the second handle portion and the first handle portion is transmitted by the tool frame to an end effector at the distal end of the device. As such, it may be rigidly connected to the tool shaft. Since, in general, the unlimited roll between the second handle portion and the first handle portion is relative between the two, the transmission member for this roll is either the second handle portion or the first handle portion. , but is primarily shown herein as being coupled to the second handle portion (eg, a knob or dial at the distal region of the handle). For example, rotation of the second handle portion (e.g., knob or dial) is controlled by the elongated tool frame being coupled to the second handle portion such that the elongated tool frame is rotationally constrained relative to the second handle portion. , can be transmitted to the end effector because the end effector is coupled to the elongated tool frame such that the end effector is rotationally constrained relative to the elongated tool frame.

As noted above, any of the devices described herein can include an input joint between the handle assembly and the tool frame. For example, any of these devices may include an input joint that includes a pitch degree of freedom between the handle assembly and the tool about the pitch axis of rotation, and a handle about the yaw axis of rotation. Provides yaw degrees of freedom between the assembly and the tool. The input junction may be a parallel motion mechanism input junction or a serial motion mechanism input junction or a combination of a parallel motion mechanism input junction and a serial motion mechanism input junction. For example, any of these devices may include an input joint between the handle assembly and the tool frame and an output joint (i.e., articulated output joint) between the tool frame and the end effector, wherein the input joint contains a pitch motion path and a yaw motion path, which are independent and coupled in parallel between the handle and the tool frame (forming the parallel motion mechanism input junction), and the pitch The motion path captures pitch motion of the handle assembly relative to the tool frame for transmission to the output joint, but does not capture yaw motion of the handle assembly relative to the tool frame for transmission to the output joint, the yaw motion path comprising: It captures the yaw motion of the handle assembly relative to the tool frame for transmission to the output joint, but does not capture the pitch motion of the handle assembly relative to the tool frame for transmission to the output joint. Alternatively, the pitch motion path and the yaw motion path may be arranged in series (as a serial motion mechanism input junction). However, as described herein, any of the devices that include input joints that have two or more degrees of freedom of rotation (e.g., pitch and yaw, pitch and roll, yaw and roll, etc.) Two or more axes of rotation with a center of rotation (e.g., virtual center of rotation) located behind (proximal to) the handle assembly, including a virtual center of rotation located within the user's wrist when manipulated by the user may be configured to intersect. For example, the pitch and yaw axes of rotation may intersect at a center of rotation proximal to the handle assembly.

In any of the variations involving input joints with multiple degrees of freedom (e.g., pitch and yaw), one or more of the transmission members provide motion (e.g., pitch motion, yaw motion) to the output joint and thus the end effector. may be included to communicate. For example, the device may include a pitch transmission member and a yaw transmission member extending from the input joint to the output joint, the pitch transmission member transmitting the pitch rotation of the input joint and the yaw transmission member transmitting the yaw rotation of the input joint to the output joint. to the corresponding rotation of

As noted above, any suitable end effector can be used. The end effector may or may not have gripping jaws (or simply jaws) that may or may not move. For example, the end effector may have a soft end (eg, a dissector) or a camera or laser pointer for spreading delicate tissue. Accordingly, end effector assemblies are sometimes referred to as end effectors and the like. The end effector may also have one or more motion jaws, one or more fixed jaws (fixed relative to the motion jaws), or other bodies required for end effector actuation. In some examples, the end effector may be configured as a jaw assembly that includes jaws that open and close. The end effector control input on the handle assembly may be actuated by a user's finger or fingers, including, for example, the user's thumb on the same hand holding the handle assembly. For example, any of these devices may include an end effector assembly configured as a jaw assembly such that actuation of an end effector control input opens and closes the jaw assembly. The end effector control input may be manipulated to hold the jaws open or closed (eg, by continuing to actuate the end effector control input). For example, if the end effector control input is a trigger or lever on the handle assembly, holding the trigger or lever down may keep the jaws closed while releasing the trigger or lever. may release/open the jaws.

An end effector may generally be configured as an assembly having multiple parts that are coupled together to allow relative movement between the parts. For example, the end effector can include a second end effector portion movably coupled to the first end effector portion, and the apparatus (e.g., device) is configured such that the second handle portion is connected to the first handle portion. so that actuation of the end effector control input on the handle assembly moves the second end effector portion relative to the first end effector portion when in any rotational position about the first axis relative to Additionally, there may be further included a transmission cable connecting the shuttle body to the second end effector portion. As noted above, the transmission cable may be a rope or braided material that is compliant in compression, torsion and bending.

End effector control inputs are typically located on the first handle portion and include, but are not limited to, triggers, levers, or buttons configured to be actuated by one or more of the user's fingers or thumbs. can be a suitable control of The end effector control input receives input from the end effector control input and push rod (H body C) through an input transmission mechanism that outputs translational movement of the push rod (H body C) along the first axial direction. may be connected to

For example, a medical device having an unlimited roll handle assembly is an elongated tool frame having a forearm attachment portion at a proximal end, an elongated tool frame having a tool axis, and an end effector at a distal end of the elongated tool frame. , a handle assembly for providing unlimited roll to an end effector, comprising: a first handle portion; and a second handle portion coupled to the first handle portion, whereby the first handle portion a second handle portion having a rotational degree of freedom about the first axis relative to but translationally constrained relative to the first handle portion along the first axial direction; a push rod within the handle portion of and coupled to the first handle portion thereby having one translational degree of freedom relative to the first handle portion along the first axial direction, but A push rod rotationally constrained about a first axis with respect to the first handle portion and a shuttle body within the second handle portion, the first axis with respect to the push rod. coupled to the push rod to have one rotational degree of freedom about but translationally constrained relative to the push rod along a first axial direction; coupled to the second handle portion such that it has one translational degree of freedom along the axial direction of the second handle portion but is rotationally constrained relative to the second handle portion about the first axis; Rotation of the handle portion is coupled to the shuttle body, which is transmitted to the end effector such that the end effector rotates with the second handle portion, and the push rod to translate the push rod along the first axial direction. a cuff having a passage therethrough configured to hold a user's wrist or forearm; and a forearm attachment portion of the tool frame. and the cuff, providing one or more of roll, pitch, or yaw degrees of freedom between the cuff and the forearm mounting portion of the tool frame, and the end on the handle assembly. Actuation of the effector control input may include joining to actuate the end effector when the second handle portion is in any rotational position about the first axis with respect to the first handle portion. .

Generally, any of these devices may include an unlimited roll handle assembly in which a shuttle body portion of the handle assembly is keyed to a knob/dial portion (eg, second handle portion) of the handle. Thus, the shuttle body has one translational degree of freedom along the first axis with respect to the second handle portion, but is rotationally constrained with respect to the second handle portion about the first axis. may be coupled to the second handle portion such that As noted above, the shuttle includes structure that couples to a transmission member that transmits end effector control inputs (such as end effector actuation transmissions) to the end effector.

Devices are also described herein that include unlimited roll handle assemblies, with or without arm attachments, wherein the device is configured for articulation, for example, between the handle assembly and the tool shaft. For example, described herein is a medical device that includes an end effector at the distal end of an elongated tool frame and a handle assembly that provides unlimited roll to the end effector. one handle portion and a second handle portion coupled to the first handle portion whereby the second handle body has one rotational freedom in the first axis relative to the first handle portion a second handle portion having a degree of power but translationally constrained relative to the first handle portion along the first axial direction; A coupled push rod thereby having one translational degree of freedom along a first axial direction with respect to the first handle portion, but a first axial degree of freedom with respect to the first handle portion. A push rod and a shuttle body within the second handle portion rotationally constrained about the push rod, the shuttle body having one rotational degree of freedom about the first axis with respect to the push rod, but the push rod coupled to the push rod so as to be translationally constrained along the first axis relative to the second handle portion and having one translational degree of freedom along the first axis relative to a shuttle body coupled to the second handle portion so as to be rotationally constrained relative to the second handle portion about the first axis; an end effector control input on the first handle portion configured to translate along the axial direction of the second handle portion such that the end effector rotates with the second handle portion. An input joint between an end effector control input and a handle assembly and a tool frame that is transmitted to the end effector, the movement of the handle about a pitch rotation axis with respect to said tool frame for transmission to an output joint. and further configured to capture motion of the handle about the yaw axis of rotation with respect to the tool frame for transmission to the output joint, the pitch axis of rotation and the yaw axis of rotation as centers of rotation an input joint that intersects at and the end effector is coupled to the tool frame by an output joint. Typically, actuation of an end effector control input on the handle assembly can actuate the end effector when the second handle portion is in any rotational position relative to the first handle portion.

As noted above, the center of rotation may be behind the handle assembly, eg, a virtual center of rotation located within the user's arm or wrist when the device is held by the user. Any of these devices can include arm (eg, forearm) attachments. For example, these devices all include a forearm attachment portion at the proximal end of the tool frame and a cuff having a passage therethrough configured to hold the user's wrist or forearm, the cuff being the tool frame. may be configured to couple to the forearm attachment portion of the The forearm attachment can include a junction between the forearm attachment portion of the tool frame and the cuff, such that the junction provides one or more rotational degrees of freedom between the cuff and the forearm attachment portion of the tool frame. Configured.

The input joints between the handle assembly and the tool frame/tool shaft may be referred to herein as pitch input joints and yaw input joints, and may include pitch and yaw motion paths as described above. . For example, the pitch and yaw motion paths may be independent or coupled in parallel between the handle assembly and the tool frame, the pitch motion path being coupled to the tool frame for transmission to the output joint. but does not capture the yaw motion of the handle assembly relative to the tool frame for transmission to the output joint, and the yaw motion path captures the handle assembly relative to the tool frame for transmission to the output joint. It captures yaw motion, but does not capture pitch motion of the handle assembly relative to the tool frame for transmission to the output joint.

For example, the medical device is an end effector at the distal end of an elongated tool frame and a handle assembly that provides unlimited roll to the end effector, the handle comprising a first handle portion and a a coupled second handle portion whereby the second handle body has one rotational degree of freedom in the first axis relative to the first handle portion, but along the first axis; a second handle portion translationally constrained to the first handle portion by a push rod within the first handle portion and coupled to the first handle portion, thereby: a push rod having one translational degree of freedom along a first axis with respect to the first handle portion but rotationally constrained about the first axis with respect to the first handle portion; , a shuttle body in the second handle portion having one rotational degree of freedom about a first axis with respect to the push rod but translational along the first axial direction with respect to the push rod; coupled to the push rod in a positively constrained manner and having one translational degree of freedom along the first axial direction with respect to the second handle portion, but a first degree of freedom with respect to the second handle portion; a shuttle body coupled to the second handle portion to be rotationally constrained about an axis of and coupled to the push rod and configured to translate the push rod along the first axial direction; and an end effector control input on the first handle portion, wherein rotation of the second handle portion is transmitted to the end effector such that the end effector rotates with the second handle portion; , an input joint between the handle and the tool frame comprising a pitch motion path and a yaw motion path, and wherein the pitch and yaw motion paths are independent and parallel between the handle assembly and the tool frame; and the pitch motion path captures the pitch motion of the handle relative to the tool frame about the pitch axis of rotation for transmission to the output joint, but the pitch motion of the handle assembly relative to the tool frame for transmission to the output joint. It does not capture yaw motion and the yaw motion path captures the yaw motion of the handle assembly relative to the tool frame about the yaw rotation axis for transmission to the output joint, but the handle assembly relative to the tool frame for transmission to the output joint. an input joint in which the pitch and yaw axes of rotation intersect at a center of rotation proximate the handle and the end effector is coupled to the tool frame by an output joint.

Any of these devices can include an unlimited roll handle assembly and an end effector configured as a jaw assembly, with or without arm (e.g., forearm) attachments, and/or articulation devices (e.g., pitch input junctions such as input junctions and yaw input junctions). For example, described herein is a medical device that includes an end effector at the distal end of an elongated tool frame and a handle assembly that provides unlimited roll to the end effector. one handle portion and a second handle portion coupled to the first handle portion whereby the second handle body has one rotational freedom in the first axis relative to the first handle portion a second handle portion having a degree of power but translationally constrained relative to the first handle portion along the first axial direction; A coupled push rod thereby having one translational degree of freedom along a first axial direction with respect to the first handle portion, but a first axial degree of freedom with respect to the first handle portion. A push rod and a shuttle body within the second handle portion rotationally constrained about the push rod, the shuttle body having one rotational degree of freedom about the first axis with respect to the push rod, but the push rod coupled to the push rod so as to be translationally constrained along the first axis relative to the second handle portion and having one translational degree of freedom along the first axis relative to a shuttle body coupled to the second handle portion so as to be rotationally constrained relative to the second handle portion about the first axis; an end effector control input on the first handle portion configured to translate along the axial direction of the second handle portion such that the end effector rotates with the second handle portion. an end effector control input transmitted to the end effector, the end effector including a second end effector portion movably coupled to the first end effector portion, and a second handle portion to the first handle portion; The shuttle body is moved to the second end effector portion such that actuation of the end effector control input moves the second end effector portion relative to the first end effector portion when in any rotational position relative to the first axis. and a transmission cable that connects to the end effector portion of the. As noted above, the end effector may be a jaw assembly configured such that actuation of the end effector control input opens and closes the jaw assembly. For example, the second end effector portion may comprise a jaw member pivotally hinged to the first end effector portion. The jaw assembly may also include a third end effector portion pivotally hinged to the first end effector portion and coupled to the transmission cable. The second end effector portion is further coupled to the third end effector portion such that actuation of the end effector control input on the handle moves the second and third end effector portions relative to the first end effector portion. be done.

As noted above, each of these devices includes a forearm mount at the proximal end of the tool frame and a cuff having a passageway therethrough configured to hold the user's wrist or forearm, the cuff comprising: The device may also be configured to couple to a forearm attachment of the tool frame and the device may also include a junction between the forearm attachment portion of the tool frame and the cuff, the junction being the cuff and the forearm attachment portion of the tool frame. configured to provide one or more rotational degrees of freedom between

For example, the medical device includes an end effector at a distal end of an elongated tool frame, a handle assembly that provides unlimited roll to the end effector, a first handle portion, and a The second handle portion, whereby the second handle body has one rotational degree of freedom in the first axis relative to the first handle portion, but a first degree of freedom along the first axis. and a push rod within and coupled to the first handle portion, the second handle portion being translationally constrained to the handle portion of the a push rod having one translational degree of freedom along a first axis with respect to the handle portion but rotationally constrained about the first axis with respect to the first handle portion; having one rotational degree of freedom about a first axis with respect to the push rod, but translationally constrained along the first axis with respect to the push rod and has one translational degree of freedom along the first axial direction with respect to the second handle portion, but about the first axis with respect to the second handle portion. a shuttle body coupled to the second handle portion so as to be rotationally constrained about a center; and a first shuttle body coupled to the push rod and configured to translate the push rod along a first axial direction. an end effector control input on the handle portion of the end effector, wherein rotation of the second handle portion is transmitted to the end effector such that the end effector rotates with the second handle portion, and the end effector is connected to the second end effector a jaw assembly including a first end effector portion movably coupled to the portion, the second end effector portion including the jaw member; an end effector control input; Actuation of the end effector control input moves the second end effector portion relative to the first end effector portion to rotate the end effector jaws in any rotational position relative to the handle portion relative to the first axis. a transmission cable connecting the shuttle body to the second end effector portion to open and close the portion assembly.

Certain degrees of freedom and constraints are provided herein between bodies within the handle assembly and/or end effector assembly so that there is efficient transmission of articulation (pitch/yaw), roll, and end effector actuation. Devices (eg, mechanisms, devices, tools, machines, systems, etc.) are described that include handle assemblies that have unlimited roll mechanisms that can be incorporated. These devices can also incorporate specific degrees of freedom and constraints between the bodies in the handle assembly and/or the end effector assembly by utilizing independent transmission members. These transmission members may be end effector articulation transmission members, end effector roll transmission members and/or end effector actuation transmission members. These transmission members may be independent, or two or more independent transmission members to act like a single transmission member if it helps in efficient transmission of the various functions. may be combined.

Various embodiments of handle assemblies are based on the constraint map presented in FIG. 1 of US Pat. No. 9,814,451 (FIG. 24A of this patent application). Some of these embodiments may consist of components: handle body, dial, pushrod, and shuttle. This constraint map represents the structural design of the handle assembly. Constraint maps provide a genus from which several species or embodiments can be generated. The constraint map shown in FIG. 24A is extended to FIG. 24B. A handle assembly mapped to the constraint map from FIG. 24B can include two additional components: a closure input and a roll input. One purpose of describing these additional embodiments is to present an alternative form of handle assembly.

Various embodiments of handle assemblies based on the new constraint map are shown in FIGS. 31A-31B. Constraint maps differ from those in FIG. 1 of US Pat. No. 9,814,451 (similar to those in FIGS. 24A-24B of this application) for handle body, closure input, roll input, and shuttle contains four components/bodies of These embodiments present various interfaces/mechanisms that exist between the closure input and the handle body that provide at least one degree of freedom.

Various embodiments of constraint map based handle assemblies are shown in FIG. The constraint map of FIG. 39 is in addition to the constraint maps of FIGS. 24A and 24B such that there is a three degree of freedom (3DoF) (pitch, yaw and roll) junction between the handle body and the articulation roll input. shows that there is an articulation input joint in the handle assembly.

In one embodiment, a roll handle assembly can include a handle body, a roll body, a closure body, and a shuttle body. The roll body is coupled to the handle body. The roll body has rotational freedom about the roll axis with respect to the handle body. The roll body is translationally constrained relative to the handle body along the roll axis. A closure body is coupled to the handle body. The closure body has one or more degrees of freedom of movement relative to the handle body. A shuttle body is coupled to the roll body and coupled to the closure body. The shuttle body has translational degrees of freedom along the roll axis relative to the roll body. The shuttle body is rotationally constrained with respect to the roll body about the roll axis. The shuttle body has rotational freedom about the roll axis with respect to the closure body.

In one embodiment, a roll handle assembly can include a handle assembly, a frame, and an input joint. The handle assembly can include a handle body, a roll body, and a shuttle body. The roll body is coupled to the handle body. The roll body has rotational freedom about the roll axis relative to the handle body and is translationally constrained relative to the handle body along the roll axis. A shuttle body is coupled to the roll body and has translational degrees of freedom relative to the roll body along the roll axis. The shuttle body is rotationally constrained with respect to the roll body about the roll axis. The input joint provides pitch and yaw rotation between the handle assembly and the frame.

BRIEF DESCRIPTION OF THE DRAWINGS The novel features of the disclosure are set forth in the claims. A better understanding of the features can be obtained by reference to the following detailed description, which sets forth illustrative embodiments in which the principles of the present disclosure are employed, and the accompanying drawings.

FIG. 4 is a constraint map of a four-part unlimited roll handle assembly (handle assembly) showing degrees of freedom and constraints between coupled components; FIG. FIG. 3 is a schematic diagram of a conceptual model of an unlimited roll handle assembly showing the attributes of each interface of the four bodies forming the handle assembly; FIG. 10 illustrates an example of an interface between two bodies of an exemplary unlimited roll handle assembly (eg, H-body A and H-body C) shown as square slot and square key features. FIG. 10 illustrates an example of an interface between two bodies of an exemplary unlimited roll handle assembly (eg, H-body A and H-body C) with minimal keying surfaces between the bodies that cause rotational restrictions. 1 is an example of an interface between two bodies of an exemplary unlimited roll handle assembly (eg, H-body A and H-body C) shown as D-shafts and corresponding slot mechanisms. 1 is an example of a thrust bearing acting as an interface between two bodies of an unlimited roll handle assembly (eg, H-Body A and H-Body B). FIG. 4 shows an example of a portion of an unlimited roll handle assembly including thrust bearings with side washers that act as an interface between H-body A and H-body B. FIG. FIG. 11 illustrates an example washer that acts as an interface between H-body A and H-body B in an example unlimited roll handle assembly; FIG. Fig. 3 shows a bushing acting as an interface between H-body A and H-body B of the unlimited roll handle assembly; FIG. 10 illustrates exemplary H-body A and H-body B under tensile load with thrust bearings acting as an interface between H-body A and H-body B as part of an unlimited roll (eg, roll) handle assembly. Respectively, needle thrust bearings, roller thrust bearings, roller bearings, and angular contact roller bearings are shown, each of which can be used as part of an unlimited roll handle assembly. Respectively, needle thrust bearings, roller thrust bearings, roller bearings, and angular contact roller bearings are shown, each of which can be used as part of an unlimited roll handle assembly. Respectively, needle thrust bearings, roller thrust bearings, roller bearings, and angular contact roller bearings are shown, each of which can be used as part of an unlimited roll handle assembly. Respectively, needle thrust bearings, roller thrust bearings, roller bearings, and angular contact roller bearings are shown, each of which can be used as part of an unlimited roll handle assembly. 1 illustrates an example tapered roller bearing that can be used as part of an unlimited roll handle assembly. Figure 3 shows a radial bearing that can be used as part of an unlimited roll handle assembly; 4 shows exemplary load conditions applied to different bodies of the unlimited roll handle assembly; Figure 2 shows an example of the unlimited ("infinite") handle described herein, which is one implementation of the constraint map shown in Figure 1 as an ergonomic handle. A first handle portion is configured as a palm grip (H body A), a second handle portion is configured as a dial (H body B), a push rod (H body C) is in the palm grip, and a shuttle (H 4B is an exploded view of the unlimited roll handle assembly of FIG. 4A with body D) in the second handle portion; FIG. An end effector control input (eg, handle lever) may be attached to the palm grip to actuate the end effector. 4A-4B illustrate an example of a medical device (eg, a laparoscopic device) incorporating an unlimited roll handle assembly such as those described herein. This medical device is one embodiment of a Beta configuration tool apparatus. FIG. 11 illustrates an example of a cuff that can be coupled with a forearm attachment portion of a tool shaft of a medical device that includes an unlimited roll (roll) handle assembly. The cuff includes a passageway therethrough configured to hold a user's wrist or forearm, and the cuff is configured to couple to the forearm mounting portion of the tool frame. 6 shows another example of a medical device having an unlimited roll handle assembly and a jaw assembly end effector such as that shown in FIG. 5 but in a closed jaw configuration. This medical device is one embodiment of a Beta configuration tool apparatus. FIG. 12 is another view of a medical device having both an unlimited roll handle assembly and a distal end effector configured as a jaw assembly, the distal end effector having closed jaws clamped to a needle-like object; Shown in an articulated position, the unlimited roll handle assembly is similar to that shown in FIGS. 4A-4B. This medical device is an embodiment of the tool apparatus and is in beta configuration. FIG. 12B shows another example of a medical device having both a distal end effector configured as an unlimited roll handle assembly and a jaw assembly, showing an end effector transmission connecting a rotary dial (H body B) to the end effector. This medical device is one embodiment of an alpha configuration tool apparatus. Fig. 10 shows an example of another device including an unlimited roll handle assembly and a distal end effector configured as a jaw assembly, the device being a non-articulated "straight stick" laparoscopic device. FIG. 4B shows an example of another joint medical device that uses an unlimited roll handle assembly such as that shown in FIGS. 4A-4B. FIG. An example of an alternative unlimited roll handle assembly in which the palm grip/handle shell (H Body A) is distal to the rotary dial (H Body B). Fig. 3 illustrates the use of a ratchet mechanism to provide discrete rotational positioning of the associated rotary dials of the unlimited roll handle assembly; Fig. 3 shows another embodiment of the device using the unlimited roll handle assembly; FIG. 11 is another example of an unlimited roll handle assembly coupled to an end effector configured as a jaw assembly; FIG. 1 is a front perspective view of an exemplary surgical device incorporating an unlimited roll handle assembly and an arm (forearm) attachment; FIG. This surgical device is one embodiment of an Alpha configuration tool apparatus. FIG. 14 is a side perspective view of an exemplary surgical device incorporating an unlimited roll handle assembly and an input joint that captures pitch and yaw articulation by a parallel motion mechanism mechanism, the parallel motion mechanism mechanism providing pitch motion and yaw motion; It transmits motion to an output joint (shown configured as a jaw assembly) located between the tool frame and the end effector. This surgical device is one embodiment of a Beta configuration tool apparatus. An unlimited roll handle assembly, an end effector assembly configured as a jaw assembly, a tool shaft, a tool frame, a proximal forearm attachment, and an input joint providing pitch and yaw articulation of the handle assembly relative to the tool frame. 1 shows a front perspective view of a medical device including and wherein pitch and yaw articulations of an input joint are transferred to an output joint that articulates an end effector. An unlimited roll handle assembly, an end effector assembly configured as a jaw assembly, a tool shaft, a tool frame, a proximal forearm attachment, and an input joint providing pitch and yaw articulation of the handle assembly relative to the tool frame. FIG. 10B shows a left perspective view of a medical device including and where the pitch and yaw articulations of the input joint are transferred to the output joint articulating the end effector. An unlimited roll handle assembly, an end effector assembly configured as a jaw assembly, a tool shaft, a tool frame, a proximal forearm attachment, and an input joint providing pitch and yaw articulation of the handle assembly relative to the tool frame. FIG. 10B shows a rear perspective view of a medical device including and wherein the pitch and yaw articulations of the input joint are transferred to the output joint that articulates the end effector; An unlimited roll handle assembly, an end effector assembly configured as a jaw assembly, a tool shaft, a tool frame, a proximal forearm attachment, and an input joint providing pitch and yaw articulation of the handle assembly relative to the tool frame. FIG. 10B shows a right perspective view of a medical device including and wherein the pitch and yaw articulations of the input joint are transferred to the output joint that articulates the end effector. The input joint has a center of rotation located where the pitch and yaw axes intersect, providing a virtual center of rotation located approximately within the user's wrist when the device is attached to the user. This medical device is one embodiment of a Beta configuration tool apparatus. 18A-18D show side views of a portion of a medical device coupled to a user's forearm with an unlimited roll handle assembly held in the user's hand, corresponding to those shown in FIGS. 18A-18D. This medical device is one embodiment of a Beta configuration tool apparatus. Figure 19B shows a slightly enlarged view of the device of Figure 19A. 19A shows the device of FIG. 19A with the user articulating the handle assembly in pitch and yaw relative to the tool frame, with the end effector assembly tracking the orientation of the handle and the tool frame shown in FIGS. 19A and 19B; It shows that it is rotating with respect to the direction. FIG. 18D is a constraint map of the device shown in FIGS. 18A-18D including a non-limiting roll handle assembly, an input joint, an output joint, and an end effector configured as a jaw assembly; FIG. Figure 4 shows an alternative constraint map for another device described herein; Fig. 10 shows the type of end effector assembly used in the tool apparatus of Beta configuration (A); FIG. 11 illustrates the type of end effector assembly used with the tool apparatus in alpha configuration (B); FIG. Figure 2 shows the tool apparatus (A) in alpha configuration; Fig. 2 shows the tooling apparatus (B) in Beta configuration; Fig. 10 illustrates one embodiment of the tool apparatus in Beta configuration; Fig. 3 shows constraint map A for the handle assembly; Fig. 3 shows constraint map B for the handle assembly; FIG. 11 shows a possible configuration map of a tooling device incorporating an unlimited roll handle assembly; FIG. FIG. 11 shows a possible configuration map of a tooling device incorporating an unlimited roll handle assembly; FIG. FIG. 11 shows a possible configuration map of a tooling device incorporating an unlimited roll handle assembly; FIG. A handle assembly consisting of a rack and pinion gear set is shown as the closure input mechanism. Figure 3 shows a handle assembly consisting of a screw mechanism as a closure input mechanism; A handle assembly consisting of a flexible connecting member as a closure input mechanism (A) is shown. An embodiment of a pivot chain (B) is shown. A handle assembly consisting of a pivot chain as closure input mechanism (C) is shown. Figure 3 shows a handle assembly consisting of a bevel gear set as a roll input mechanism; Figure 3 shows a handle assembly consisting of a bevel gear set as a roll input mechanism; (A) is a front view, and (B) is an enlarged view. A handle assembly consisting of a compliant (linear displacement) mechanism is shown (A). A compliant linear bearing interface between the shuttle and dial is shown (B). (C) shows an orthogonal planar bearing interface between the shuttle and the dial. An embodiment of a simple compliant mechanism between two bodies is shown (D). A compliant beam-based prismatic junction between two bodies is shown (E). Constraint map C representing a handle assembly including closure body, handle body, rotational input, shuttle, and interface/mechanism between these bodies is shown (A). An expanded constraint map C representing the closure body, the handle body, the rotational input, the shuttle, the joints/mechanisms between these bodies, and the handle assembly that also includes the closure and roll inputs is shown (B). (A) shows an isometric cross-sectional view showing the handle assembly consisting of the ball and prong interface between the closure body and the shuttle. (B) A cross-sectional view showing the handle assembly consisting of the ball and prong interface between the closure body and the shuttle. Fig. 3 shows a handle assembly consisting of a screw mechanism between the closure body and the shuttle; (A) shows one embodiment of a diaphragm spring. (B) shows an isometric cross-sectional view of a handle assembly consisting of a closure body that is a diaphragm spring. (C) shows a cross-sectional view of a handle assembly consisting of a closure body that is a diaphragm spring. A counter-clockwise ratchet is shown (A). A clockwise ratchet is shown (B). (C) A schematic diagram of the dial shuttle showing the positions of section 1 and section 2. FIG. (A) is a front view of the handle assembly showing the locking lever for discrete dial rotation; (B) isometric view of the handle assembly showing the locking lever for discrete dial rotation; (C) is an isometric view of the handle assembly showing the locking lever for discrete dial rotation, the lever being transparent. FIG. 12 is an isolated cross-sectional view of the locking lever and mating slot mechanism on the handle body; A separate binary or bistable rotation mechanism consisting of a dial and handle body (which may be part of the handle assembly) is shown (A). An exemplary bistable compliant mechanism is shown (B). Schematic diagram including handle body, dial and continuous/discrete dial rotation state switch is shown (A). (B) An example of a device including a handle body, a dial, and a continuous/discrete dial rotation state switch. FIG. 4 shows a constraint map D containing articulation degrees of freedom between art roll input and handle body. Fig. 10 shows an embodiment showing a serial input junction between the "artroll input" and the "handle body" body; FIG. 11 illustrates an embodiment showing ball-based art roll input with encoders accepting joint input; FIG. Fig. 11 shows an embodiment showing a transducer-based articulating input interface between an art roll input and a handle body;

DETAILED DESCRIPTION Described herein are devices that include an unlimited roll handle assembly. Although the unlimited roll handle assemblies described herein may be incorporated into any apparatus (e.g., device, tool, system, machine, etc.), the apparatus described herein are particularly useful for remote control of tool frames. A device that includes an unlimited roll handle assembly in the proximal region of an elongated tool frame (eg, or including a tool shaft) having an end effector at the proximal end. The device may include a forearm mount at the proximal end that provides one or more degrees of freedom between the user's forearm and the tool frame while the user's hand grasps the unlimited roll handle assembly. can be made possible. The device may be articulated, for example, the tool frame may include an input joint between the unlimited roll handle assembly and the tool frame, the input joint providing an output joint between the tool frame and the end effector. Motion (e.g., pitch and yaw motion) between the handle assembly and the tool frame can be captured for transmission to the joint, thereby moving the end effector as the handle assembly is moved. . Although any suitable end effector may be used, in some variations the end effector is a jaw assembly that includes at least a pair of jaws (end effector portions) that are mounted on the handle assembly of the device. The jaws move to open and close when actuated by an effector control input.

In general, the unlimited roll handle assemblies described herein are four (4) interacting with each other to provide unlimited rotation of a knob or dial portion of the handle assembly about a central axis relative to the palm grip portion of the handle assembly. (possibly only three) or more, but still allow actuation of the end effector control input to actuate the end effector from any rotational position of the dial portion relative to the palm grip. . Rotation of the knob or dial portion of the device causes rotation of the end effector and, in some cases, also of the tool frame.

A constraint map for an unlimited roll handle assembly or handle assembly is shown in FIG. 1, showing a conceptual model of the relative degrees of freedom (DoF) and degrees of constraint (DoC) between the various bodies. In general, the degree of freedom (DoF) between two bodies means that a certain relative motion in a certain direction between the two bodies is allowed. Degree of Constraint (DoC) between two bodies means that a certain motion in a certain direction between these two bodies is constrained and therefore transmitted. The handle assembly typically comprises rigid bodies collectively referred to as H-body A101, H-body B102, H-body C103, and H-body D104. H-body A101 may be referred to as a reference ground in that the motion of all other bodies may be described with respect to H-body A101. For example, the H body A101 may be a palm grip. In general, any other of these bodies can be used as a ground reference for describing the motion of the remaining bodies. At a high level, the function of the handle assembly is independent of which body is assumed to be the reference ground.

Using H-body A101 as a ground reference, H-body C103 has a single translational degree of freedom (DoF) 105′ relative to H-body A101 along a first axis (e.g., Axis 1); It has a rotation constraint (DoC) 105'' about axis 1 with respect to H body A101. This means that relative translation along the axis 1 direction is allowed between H-body C103 and H-body A101. However, relative rotation about axis 1 is not allowed between the two and is therefore transmitted from one to the other and vice versa. H-body B 102 has a rotation DoF 106' about axis 1 with respect to H-body A 101 and a translation constraint (DoC) 106'' along axis 1 with respect to H-body A 101 . H-body D 104 has a single translational DoF 107' along axis 1 with respect to H-body B 102 and a rotational DoC constraint 107'' about axis 1 with respect to H-body B 102. H-body D104 has a rotation DoF 108' about axis 1 with respect to H-body C103 and a translation constraint (DoC) 108'' along axis 1 with respect to H-body C103.

FIG. 2 shows an example of an unlimited roll handle assembly that conforms to the constraint map shown in FIG. Although FIG. 2 shows that the H-body A 101 and H-body B 102 are cylindrical in shape, the schematic diagram of FIG. 2 does not show the actual geometrical features of each body and these The bodies can be of any general shape as long as they meet the joining requirements/constraints between the various bodies as described above.

The constraint map of FIG. 1 provides the following functionality of the handle assembly. That is, using H-body A101 as a reference (ie, assuming it is stationary), this mechanism allows independent rotation of H-body B102 about axis 1 111 relative to H-body A101. While this is happening, H-body D 104 rotates with H-body B 102 about axis 1 111, and since the rotation of H-body C 103 is coupled with the rotation of H-body A 101, H-body C 103 does not rotate. . At the same time, even when H-body B 102 and H-body D 104 rotate about axis 1 111, any axial translation of non-rotating H-body C 103 along the direction of axis 1 111 with respect to stationary H-body A 101 will cause H-body D 104 is transmitted to

The joints between the bodies in the unlimited roll handle assembly typically include interface features that allow or prevent rotation with respect to each other. These junctions also typically include interface features that allow or prevent translation with respect to each other. For joints that allow rotation of one body with respect to another, the joint may include one or more cylindrical surfaces, which may be bearings, bushings, or lubricating surfaces to minimize frictional resistance. can be enabled by appropriate surface treatments. These surfaces can also include linear bearings or smooth surface treatments for translating joints. As an overall mechanism, the reduction in frictional resistance for both translation and rotation is all relative to H body A101, with only H body C103 translating and only H body B102 rotating, while the simultaneous motion of H body D104 can occur in both rotation and translation. Therefore, another way to describe the function of this constraint map is that the rotation of H-body B102 and the translation of H-body C103 are transferred to H-body D104. Conversely, H-body D 104 has two DoFs relative to H-body A 101 : translation along the axis 1 111 direction and rotation about axis 1 111 . Any combination of these two motions can be separated into translation by H-body C103 alone and rotation by H-body B102 alone.

Any junction described herein can be captured for transmission to an output (eg, an output junction). Communication may be mechanical, electrical, or otherwise. For example, sensors may be placed on these two bodies, eg, a linear displacement sensor on H body C103 and a rotation sensor on H body B102 for any of the rotation and translation applied to H body D104. Discrete/discrete values may be provided for the combination. These electrical signals can then be transmitted to mechatronic, robotic, electronic, or computer control systems via wired or wireless means. These sensors can use various types of encoding techniques (eg, electrical, optical, etc.). Alternatively, instead of sensors, actuators can be placed at these positions, for example, linear translational actuators between H-body A101 and H-body C103, and rotary actuators between H-body A101 and H-body B102. . Any discrete/individual motion input in these two bodies adds to the combined motion in H-body D104 relative to H-body A101.

In general, Degree of Freedom (DoF) means that a certain relative motion between two bodies in a certain direction is allowed, and Degree of Constraint (DoC) means a certain relative motion between two bodies in a certain direction. It means that motion is constrained and therefore transmitted. All motion in FIG. 1 is defined with respect to axis 1 111 (not shown), which is the axis of rotation of the handle dial (corresponding to H-body B 102) relative to the handle shell (corresponding to H-body A 101). Any direction of motion not explicitly mentioned may be DoF or DoC.

As used herein to describe degrees of freedom, an axis refers to a particular line in space. A body may rotate about a particular axis relative to another body. A body may translate along a particular direction relative to another body. A direction is not defined by a particular axis, but instead is generally defined by multiple parallel axes. Thus, the X-axis is the particular axis defined and shown in the figures, and the X-direction refers to the direction of this X-axis. Multiple different but parallel X-axes can have the same X-direction. A direction has only a direction, not a position in space.

In FIG. 1, H-body C103 is shown having a single translation DoF 105' along the direction of axis 1 111 (not shown) relative to H-body A101 and vice versa. H-body C 103 also has a rotation constraint (DoC) 105 ″ about axis 1 111 with respect to H-body A 101 and vice versa. This type of bonding between H-body A101 and H-body C103 can be achieved by various embodiments. In one embodiment, the interface bodies have key features between them that limit relative rotation about axis 1 111 while allowing relative translation along the axis 1 111 direction. FIG. 3A schematically illustrates a bond that may exist between H-body A101 and H-body C103. Referring to FIG. 3A, an outer body with square longitudinal slots can correspond to H body A101,301 and an inner square key can correspond to H body C103,303. Considering that H-body A 101, 301 is fixed to the reference ground, H-body C 103, 303 cannot rotate about axis 1 111, 311 due to the interference caused by the square cross-section joint, It can translate along the axis 1 111, 311 direction. This junction can also be thought of as having a rectangular cross-section that can provide the same uniaxial (axis 1 111, 311) rotational constraint and uniaxial (axis 1 111, 311) translational DoF.

The functional aspect of this joint is the low-friction relative sliding motion along axis 1 111,311 between H-body A101,301 and H-body C103,303. To achieve this, surface contact between both bodies (H-body A101, 301 and H-body C103, 303) avoids significant frictional contact between the surfaces of H-body A101, 301 and H-body C103, 303. may need to be minimal for Therefore, one way to achieve the same bond between H-body A101, 301 and H-body C103, 303 with less frictional contact is to minimize the contact surface area between the two bodies. FIG. 3B illustrates one method of reducing surface contact between H-body A101,301 and H-body C103,303 by interfacing spokes of H-body C103,303 with corresponding slots of H-body A101,301. show.

3A and 3B show examples of achieving constraints and DoFs between H-body A101, 301 and H-body C103, 303, but as long as the constraints and DoF are satisfied, they have different geometries. be able to. For example, FIG. 3C shows that this joint essentially pushes key surface 320 through the flat end of D-shaft 303 (H-body C103, 303) engaging a corresponding slot present in H-body A101,301. We show one method that can be achieved by providing a

H-body B 102, 302 and H-body D 104, 304 have a rotation DoC 107'' about axis 1 111, 311 and a single translation DoF 107' along the axis 1 111, 311 direction. This is of the same type as the rotational DoC 105'' and translational DoF 105' that exist between H-body A101, 301 and H-body C103, 303. Therefore, each of the methods for achieving a bond between H-body A 101, 301 and H-body C 103, 303 is different from H-body B 102, 302 and H-body D 104, 304 as long as the constraints and DoF requirements are met. It is also applicable to joining between

The joints between H-body A 101, 301 and H-body C 103, 303 and between H-body B 102, 302 and H-body D 104, 304 all involve or require low-friction surface contact between the bodies. obtain. This, together with a single rotation constraint (DoC) 105'', 107'' about axis 1 111, 311 and a single translation DoF 105', 107' along the axis 1 111, 311 direction, allows these Junctions between bodies can be fully defined. Similarly, the single DoC, single DoF, and functional requirements are the joints between H-body A 101, 301 and H-body B 102, 302, and between H-body C 103, 303 and H-body D 104, 304. Define H-body A 101, 301 and H-body B 102, 302 are subject to a single rotation DoF 106' about axis 1 111, 311 and a single translational constraint (DoC) 106' along axis 1 111, 311 direction relative to each other. '. H-body A 101, 301 and H-body B 102, 302 may also have functional requirements to provide a low friction bond between them while they rotate relative to each other about axis 1 111, 311. . This functional requirement states that either the pair, namely H Body A 101, 301 and H Body B 102, 302, or H Body C 103, 303 and H Body D 104, 304, rotate DoF 106′, 108 about axis 1 111, 311 ' and the fact that it can be under compressive or tensile loading while satisfying the translational constraints (DoC) 106'', 108'' along the Axis 1 111, 311 direction.

For example, if H-body A 101, 301 and H-body B 102, 302 are arranged such that the plane perpendicular to axis 1 111, 311 is compressed, it provides a rotation DoF 106' about axis 1 111, 311 For this reason, it is necessary to overcome the normal forces acting on the faces of each body. Thus, to provide a rotation DoF 106' about axis 1 111, 311 and a translation constraint 106'' along the direction of axis 1 111, 311, the surfaces of H-body A 101, 301 and H-body B 102, 302 are: It may be necessary to provide low friction contact so that the bodies can rotate about axis 1 111 , 311 relative to each other. FIG. 3D illustrates one method of obtaining the desired rotational DoF 106' and translational constraint (DoC) 106'' by providing low-friction surface contact. In this example, a thrust bearing 330 is used to hold the thrust load between H-body A101, 301 and H-body B 102, 302, thereby maintaining low-friction contact between the surfaces of the rotating DoF 106′. I will provide a. Similarly, this functionality can be accomplished in many other ways that satisfy the requirements of rotation DoF 106' and translation constraint 106''. For example, either angular or roller ball bearings, each capable of carrying the required radial and thrust loads, could be used between H-body A101,301 and H-body B102,302. Alternatively, bushings between the two bodies can be used to provide radial support as well as the ability to withstand thrust loads. FIG. 3E shows one way thrust loads can be supported by having a thrust bearing 333 between H-body A101,301 and H-body B102,302 with washers 334,335 on either side of bearing 333. FIG. FIG. 3F uses a single washer 340 made of a low coefficient of friction material such as Teflon (PTFE), nylon, etc. between the H body A 101, 301 and H body B 102, 302. shows another way of supporting the thrust load while providing a rotation DoF 106' about axis 1 111, 311 by . In another alternative embodiment, FIG. 3G shows the H body A 101, 301 so that it can carry a thrust load, thereby providing a translational constraint (DoC) 106'' along the axis 1 111, 311 direction. and H-Body B102, 302 interfacing surfaces.

As shown in FIGS. 3D, 3E, and 3F, it carries a thrust load, provides a rotational DoF 106′ about axis 1 111, 311, and a translational constraint (DoC) along the axis 1 111, 311 direction. The same system of two bodies with an intermediate member providing 106'' also works well when there is a tensile load as opposed to a compressive load between H-body A 101, 301 and H-body B 102, 302. do. An example having an embodiment similar to that shown in FIG. 3D is shown in FIG. is placed between. The thrust bearing 347 between the H-body A101, 301 and the H-body B102, 302 can be of various types, such as thrust needle bearings, thrust roller bearings, roller bearings, tapered roller bearings, angular contact bearings, etc. well, some of which are shown in FIG. 1-FIG. 3I. 4. For example, FIG. 3H shows a thrust roller bearing 347 that acts as a junction between H-body A101,301 and H-body B102,302. Also, H-body C 103, 303 and H-body D 104, 304 can have the same type of joints as H-body A 101, 301 and H-body B 102, 302, for all the aforementioned joint types mentioned in this section. can be compliant.

Figure 3I. 1-FIG. 3I. 4 and FIGS. 3J and 3K, other types of bearings such as tapered roller bearings 349, radial ball bearings 394, etc. may be used in place of or in combination with the thrust bearings 330, 333, 347 described above. can do.

Thus, H-body A 101 , 301 and H-body B 102 , 302 can be subjected to compressive or tensile loads along axis 1 111 , 311 . Similarly, H-body C 103, 303 and H-body D 104, 304 may also be under compressive or tensile load along axis 1 111, 311 direction. This gives two possible combinations (under tensile or compressive load) for the overall system shown schematically in FIG. Either the system of two bodies, H-body A 101, 301 and H-body B 102, 302, or H-body C 103, 303 and H-body D 104, 304, can be under tensile or compressive load. As shown in FIG. 1, the H-body B102, 302 can be in tension or in compression with respect to the H-body A101, 301 when the H-body A101, 301 acts as a reference ground. However, the H-body C103,303 is free to move relative to the H-body A101,301 along the axis 1 111,311 direction and centered about the axis 1 111,311 relative to the H-body A101,301. Has a rotation constraint. The H-body C103,303 can be in compression or tension relative to the H-body D104,304, and the H-body D104,304 is free along the axis 1 111,311 direction relative to the H-body B102,302. It is capable of translation and has a rotational constraint about axis 1 111,311 with respect to H-body B102,302. FIG. 3L shows a configuration in which H bodies B102, 302 receive compressive loads relative to H bodies A101, 301, and H bodies C103, 303 receive tensile loads relative to H bodies D104, 304. FIG. In this example, an angular contact bearing 351 is used between the H body A101,301 and the H body B102,302. This is because the H-body A 101, 301 and H-body B 102 provide the associated translational constraint (DoC) 106'' and rotational DoF 106' requirements mentioned above, along with the functional requirement of providing low friction between surfaces in contact with each other. , 302 are described. Similarly, thrust bearings 330, 333, 347, 349, 394, 351 may be used between H-body C103, 303 and H-body D104, 304. This is the relationship between H-body C 103, 303 and H-body D 104, 304 that provides the associated translational constraint (DoC) 108'' and rotational DoF 108' requirements described above, along with the functional requirement of providing low-friction surface contact. Explain the junction between

In some of these examples the shape of the bodies is shown to be cylindrical, but the constraint map (Fig. 1) is the geometry of these bodies as long as the functions, DoFs and constraints are met. does not imply any limitation to the physical form.

Figures 4A and 4B show an example of an ergonomic handle assembly 400 (unlimited rotation handle assembly) that utilizes the mechanism shown in Figure 3L including both compressive and tensile load conditions. This handle assembly 400 is one embodiment of the constraint map shown in FIG. Through joint 491, rotary dial 402 (H-body B 102, 402) rotates degree of freedom (DoF) 106' about axis 1 111, 411 relative to handle shell 401 (H-body A 101, 401) and axis 1 111, under a translational constraint (DoC) 106'' along the 411 direction. Rotation dial 402 transfers this rotation about axis 1 111 , 411 to H body D 104 , 404 , also called shuttle 404 . This is because shuttle 404 (H-body D 104, 404) is subject to a rotation constraint (DoC) 107'' about axis 1 111, 411 with respect to rotary dial 402 (H-body B 102, 402). This is possible because there is no relative rotation around 1 111,411. Shuttle 404 (H-Body D104, 404) is through joint 455 that allows rotation DoF 108' about axis 1 111, 411 and translational constraint (DoC) 108'' along axis 1 111, 411 direction. It is further interfaced with H-body C103, 403 (referred to as push rod or pull rod, ie push/pull rod 403). Translation of the shuttle 404 (H-body D104, 404) along the axis 1 111, 411 direction is further transmitted to the end effector motion jaws via the end effector transmission 471. If the end effector is configured as a jaw assembly, the latter may alternatively be referred to as jaw closure transmission member 471 or jaw closure actuation transmission member 471 . In some variations it may simply be referred to as a transmission cable (eg, if it is a compliant cable). This jaw closure actuation transmission member 471 may be either a rigid or non-rigid body, or a combination of rigid and non-rigid members. For example, the transmission member may be a shaft of a device (e.g., of a laparoscopic instrument) or a rod passing inside the shaft, a cable under tension that connects to an end effector at the distal end of a laparoscopic instrument, or a non-rigid and rigid body. It can either be a combination (eg cable and rod under tension). Push/pull rod 403 (H-body C103, 403) and shuttle 404 (H-body D104, 404) are under tension load and rotary dial 402 (H-body B102, 402) is under compression load, the latter being the handle shell. It does not translate along the axis 1 111, 411 direction with respect to 401 (H-body A101, 401). The push/pull rod 403 (H body C103, 403) is actuated by the user by actuating the handle lever 413, which pushes/pull rod 403 through a transmission mechanism that can comprise linkages, cams, springs, etc. It is a mechanical extension of (H body C103, 403).

Another variation of the ergonomic handle assembly 400 shown in FIGS. 4A and 4B uses a compliant or flexural joint between the bodies of H-Body A101, H-Body B102, H-Body C103, and H-Body D104. It can be constructed via a flexure-based design, also known as a compliant mechanism, that achieves the constraint map of FIG.

A device incorporating the unlimited roll handle assembly shown in FIGS. 4A and 4B is shown in FIGS. 5, 7 and 8 as part of a medical device (specifically a laparoscopic device). These embodiments show devices in the Beta configuration (defined below). More particularly, FIGS. 5, 7, and 8 show a laparoscopic surgical instrument having an end effector configured as a jaw assembly, with the jaws open in FIG. The jaws are shown closed, in FIG. 8 the jaws are closed on the needle and the end effector assembly is articulated.

5-8, an exemplary apparatus 500 in the Beta configuration (defined below) includes a tool frame 525, the latter having a tool shaft 526 and a forearm attachment portion at a proximal end 528 of the tool frame 525. 527. FIG. 6 shows an example of a wrist cuff 605 (having passageways therethrough) configured to hold a user's wrist 607 or forearm 608 and which may be coupled to the forearm attachment portions 520,527. For example, in some embodiments, the wrist cuff 605 is operably coupled to the forearm mounts 520, 527 of the tool frame 525 via bearings therebetween such that the wrist cuff 605 is aligned with the tool axis 515 (axis 3 515) so that there is a roll rotational degree of freedom between the tool frame 525 and the wrist cuff 605. For example, as shown in FIGS. 4A and 4B, proximal unlimited roll handle assembly 400 may be connected to tool frame 525 by input joint 529, the latter of which is shown in FIGS. Additionally, it may be configured to capture motion between the tool frame 525 and the unlimited roll handle assembly 400 . In this example, input joint 529 is connected between unlimited roll handle assembly 400 and forearm mounting portion 527 by a corresponding associated hinged joint 530 to provide pitch and yaw rotation of unlimited roll handle assembly 400 relative to tool frame 525. It includes a pair of transmission strips 533, 534 that can be connected in parallel to respective pivot joints (not shown) for separate reception. Output joint 583 between end effector 565 and tool shaft 526 (denoted as end effector articulation output joint) receives transmission input (pitch and yaw motion) from input joint 529 to articulate end effector 565 . receive.

In this example, the unlimited roll handle assembly 400 includes an ergonomic palm grip portion 101, 501 (handle shell 501) that connects to a rotating dial 102, 502 that surrounds an internal pushrod and shuttle (not visible), these The four elements are constrained according to the constraint map shown in FIG. Unlimited roll handle assembly 400 also includes end effector control inputs such as handle lever 549 and associated closure actuator 549' (see FIG. 5). This control input (ie, handle lever 549) is as a mechanical extension of the internal pushrod (eg, via a mechanism). In an alternative arrangement, the handle lever 549 is coupled to the pushrod via a transmission mechanism that can include linkages, cams, springs, and the like. A transmission cable 566 connects to the shuttle and acts as a jaw closure actuation transmission member 471 extending from the shuttle through the tool shaft 526 to the end effector 565 . This transmission cable 566 may be surrounded by a protective and/or supportive sheath or cover or conduit for part or all of its length. The end effector 565 itself is a jaw assembly that includes a first end effector portion 569 (the ground) and, in this example, a fixed jaw 569 to which a pivoting second end effector portion (motion jaw 568) is attached. including. Transmission cable 566 may couple to motion jaws 568 at end effector closure output 577 .

In FIG. 5, the user's forearm 608 is attached to the proximal end 528 of the tool frame 525 and the palm grip portion 101, 501 is attached so that the user can rotate the rotary dial 102, 502 between the thumb and fingers. is held in the user's hand 609 , rotation of the dial portion 102 , 502 of the unlimited roll handle assembly 400 rotates the entire tool frame 525 , thus turning the tool frame 525 farther via the end effector output articulation 583 . The end effector 565 attached to the proximal end 578 is rotated. Thus, the handle shells 101, 501 rotate about a first axis 111, 511, called the handle joint roll axis 511 (axis 1), to rotate the tool shaft 526 to a second axis, called the tool shaft roll axis 515 (axis 3). 3 axis 515, which causes the end effector 565 to rotate about a second axis 513, referred to as the end effector joint roll axis 513 (axis 2).

Rotating dials 102, 502 (H body B) rotate about axes 1 111, 511 as shown in FIG. Rotation of H-body B 102, 502 results in rotation of tool frame 525 via transfer strips 533, 534 (as they constrain the rotational DoF between H-body B 102, 502 and tool frame 525), which is , the rotation of tool shaft 526 operably coupled to tool frame 525 (about axis 3 515), and the rotation of end effector 565 operably coupled to tool shaft 526 (about axis 2 513). )cause. When the handle shell 101, 501 is articulated using the input articulation 529, the end effector 565 articulates through the end effector output articulation 583 and the end effector joint roll axis 513 (axis 2) is the tool It is different from the shaft roll axis 515 (axis 3).

The above description is also relevant when describing devices that are not attached to the forearm 608 or attached to the forearm 608 via a roll joint, resulting in rotation of the dial portions 102, 502 of the unlimited roll handle assembly 400. provide roll rotation of the forearm attachment 600 about the wrist 607 via the transmission strips 533, 534 (because they constrain the roll rotation), the tool frame 525, the tool shaft 526, and ultimately the end Causes rotation of effector 565 . FIG. 6 shows the user's wrist 607/forearm 608 securely attached to the user's wrist 607/forearm 608 (e.g., for grasping the handle shell 101, 501, manipulating the rotary dial 102, 502, and activating the end effector control input 549). An example embodiment of a forearm mounting device 600 with a 3-axis gimbal assembly including a wrist cuff 605 that allows free movement of the hand 609 is shown. In this embodiment, the forearm attachment 600 allows for pitch, yaw, and roll degrees of freedom, and the wrist cuff 605 has a first pair of pins 610 that provide rotation about the flexion/extension axis of rotation 516. is pivotally attached to the deflection ring 514 using a . Deviation ring 514 is then pivotally attached to sled 518 with a second pair of pins 611 that provide rotation about deviation axis of rotation 521 , and sled 518 rotates a corresponding roll axis of rotation 531 . It is configured to roll within the raised inner track 519 of the outer guide ring 520 as a center. Forearm attachment device 600 thus provides pitch, yaw, and roll degrees of freedom between wrist cuff 605 and tool frame 525 when coupled to tool frame 525 of device 500 . For example, in one set of embodiments, the outer guide ring may be formed as part of or attached to forearm attachment portion 527 of device 500 . Wrist cuff 605 may be releasably coupled to deflection ring 514 via snap fit coupling 540 or some other type of coupling.

FIG. 8 is another view of the beta configuration (defined below) laparoscopic instrument of FIGS. show. End effector fixed jaw 569 (ground) and end effector motion jaw 568 are configured to allow tool shaft 526/tool frame 525 to rotate while the handle assembly rotates about handle joint roll axis 511 (axis 1). It can rotate about the end effector articulation roll axis 513 (axis 2) as it rotates about axis 515 (axis 3), while the end effector motion jaws 568 can be rotated with the unlimited roll handle assembly 400. The needle is securely retained by pushing toward the end effector fixed jaw (ground) 569 via a jaw closure actuation transmission member 471 connected to the inner H body D104,404. The apparatus 500 shown in FIGS. 5-8 can accommodate a constraint map such as that shown in FIG. 20A.

Another variation of a device incorporating the unlimited roll handle assembly shown in FIGS. 4A and 4B that conforms to the constraint map shown in FIG. 1 is shown in FIG. FIG. 9 shows the tool apparatus in alpha configuration. In this example, rotation of rotary dial 102, 902 (H-Body B) about axis 1 111, 911 causes associated end effector assembly 965 (here motion jaw 968 and fixed (shown as a jaw assembly including jaws 969). Now, when the rotary dial (H Body B) rotates about Axis 1 relative to the handle shell (H Body A), the tool frames 925, including the tool shafts 926, rotate their associated axes (Axis 3 915) to Do not rotate around the center. Tool frame 925 can be connected to wrist cuff 605 attached to user's forearm 608 via forearm attachment 600, which can provide pitch and/or yaw rotation DoF, as described above. The end effector assembly 965 rotates DoF (H body A 101, 901 about axis 1 111, 911 and H body B 102, 902 ) and the end effector rotation transmission member 950 directly connects the H body B 102 , 902 to the end effector assembly 965 via the torsionally stiff end effector rotation transmission member 950 . It may also be a jaw closure actuation transmission member 471 or a flexible jaw closure actuation transmission member 471, for example a torsionally stiff hollow flexible jaw that can transmit rotation from one end to the other. A cable (jaw closure actuation transmission member 471) that houses and therefore routes the shaft (end effector rotation transmission member 950) and is flexible when flexing can be housed therein.

Another example of a device 1000 incorporating the above-described unlimited roll handle assembly 400 of FIGS. 4A and 4B is shown in FIG. This apparatus 1000 is configured as a straight stick device with a non-articulating end effector 1065 . Other straight stick devices, such as those described, for example, in US Pat. No. 4,712,545, US Pat. No. 5,626,608 and US Pat. It may benefit from incorporating an unlimited roll handle device such as the unlimited roll handle assembly 400 shown in 4B. FIG. 10 illustrates a surgical instrument comprising an unlimited roll handle assembly 400 (including palm grip portion 101, 1001 and dial portion 102, 1002), tool shaft 1026, and non-articulating end effector 1065 configured as a jaw assembly. An example is shown, for example, a rotational joint 1067 between a moving jaw 1068 and a fixed jaw 1069 of a non-articulating end effector 1065 . The non-articulating end effector 1065 connects to the rotary dial 102, 1002 (H Body D) via a jaw closure actuation transmission member (not visible in FIG. 10). This device 1000 provides the ability to open and close a non-articulating end effector 1065 by moving a moving jaw 1068 relative to a fixed jaw 1069 . The device 1000 can also provide rotation of the non-articulating end effector 1065 about the handle axis 1011 (axis 1 111), the shaft axis 1015 (axis 3) being the H body B 102, 1002, tool shaft 1026, and remain parallel to the handle axis 1011 (axis 1 111) under rotation of the non-articulating end effector 1065 attached thereto.

11, according to another set of embodiments incorporating unlimited roll handle assembly 400 shown in FIGS. 4A and 4B, articulation at input joint 529 can be either a serial motion mechanism input articulation or a parallel motion mechanism input joint. Captured through any of the kinematic junctions. For example, FIG. 11 shows an arthroscopic device 1100 . Such devices include handle shells 101, 1101, handle levers 1153, handle dials 102, 1102, shuttles 104, 1104, pull/push rods 103, 1103, jaw closure actuation transmission members 1139, tool shafts 1126 and articulating end effectors. 1165 included. Similar to the non-articulating laparoscopic device 1000 described above, the articulating laparoscopic device 1100 also incorporates an end effector rotational joint 1067 (open-close function) operable between the moving jaw 1168 and the fixed jaw 1169 to provide the opening and closing end. In addition to the effector rotational joint 1067, it also includes an output articulation 1143 and a corresponding associated input articulation 1142 for end effector articulation. Input articulation joint 1142 may be implemented as either a serial motion mechanism (SK) input joint or a parallel motion mechanism (PK) input joint. Some joint devices consisting of a serial motion mechanism (SK) input joint (such as that shown in FIG. 11) are described, for example, in US Pat. No. 5,713,505; U.S. Patent No. 5,908,436, U.S. Patent Application No. 11/787,607 and U.S. Patent No. 8,029,531. Examples of joint devices incorporating parallel motion mechanism (PK) input joints can be found, for example, in US Patent Application Publication No. 2013/0012958. In such devices, the end effector may be a jaw assembly and may be shown with open jaws, but the associated articulating instrument may also be an end effector rotational articulation with closed jaws or articulation. Rotation can be performed at the output articulation of .

12 and 13 show another unlimited roll handle assembly variation that follows the constraint map shown in FIG. These handle assembly variations can be used with any of the other device components described herein (including other device architectures and/or constraint maps). For example, in FIG. 12 the rotary dial 102,1202 is proximal to the palm grip handle shell 101,1201. The device can include a shaft 1226 and an end effector 1265, and can include the same axes as described above (first axis 111, 1211, second axis 1213 and third axis 1215). As shown in the constraint map of FIG. It is the same as the bond characteristics between body B 102, 1202 and H body D 104 (not shown in FIG. 12). Also, the bonding characteristics (DoF and DoC) between H bodies A101, 1201 and H bodies B102, 1202 are the same as the bonding characteristics between H bodies C103 and H bodies D. Any of the four bodies can be referred to as ground reference. 12, H body B 102, 1202 is positioned away from tool shaft 1226 and toward the proximal end of hand 609 as mapped to the constraint map of FIG. H-body A101, 1201 is positioned toward the proximal end of tool shaft 1226; H body B 102 , 1202 rotates about axis 1 1211 , 111 relative to H body A 101 , 1201 . Here, the H main body C103 rotates with respect to the H main body D104. Another way to describe this embodiment (shown in FIG. 12) is that the rotary dial of the handle assembly is located at the proximal end of the handle assembly.

Any of the devices described herein can include a rotation lock/ratchet mechanism, as shown in FIG. The handle assembly shown here consists of a junction 1317 between H-body A 101, 1301 and H-body B 102, 1302 that provides a rotation DoF about axis 1 111 according to the constraint map of FIG. This rotation can be made more tactile by applying a ratchet mechanism 1319 between H-body A101,1301 and H-body B102,1302. A ratchet between H-body A 101, 1301 and H-body B 102, 1302 can provide the sensation of discrete rotational steps while rotating about axis 1 . FIG. 13 shows ratchet mechanism 1319 with thrust bearing 1317 (providing rotational DoF 106′ and translational DoC 106″) located between palm grip/handle shell 101, 1301 and rotary dial 102, 1302. Otherwise, shuttles 104, 1304 and push rods 103, 1303 operate according to the constraint diagram of FIG. 1 and handle assembly 400 of FIG.

The unlimited roll handle assemblies described herein can also be used with devices configured to provide pecking motion to the end effector. For example, referring to FIG. 14, another embodiment of the unlimited roll handle assembly 400 of FIG. may result in the opening and closing of the end effector jaws triggered directly by the . For example, the embodiment shown in FIG. 14 comprises handle shell 101, 1401 (H-body A) held in a user's hand 609, with handle shell 101, 1401 (H-body A) centered on axis 1 111, 1411. A rotary dial 102, 1402 (H body B) can be included that can be rotated relative to. Rotary dial 104, 1404 (H-body B) is pressed radially to cause translation of shuttle 104, 1404 (H-body B) along axis 1 111, 1411 relative to rotary dial 104, 1404 (H-body D). Push shuttle 104, 1404 (H body D) along axis 1 111, 1411 direction, depending on DoF. This closes the combined shaft and end effector 1432 that can be rigidly connected to the rotary dial 102, 1402 (H Body B) as shown in FIG. The flexibility of the body representing the combined shaft and end effector 1432 guides movement of shuttle 104, 1404 (H body D) as sleeve 1404' on the combined shaft and end effector 1432. This sleeve 1404'/shuttle 104, 1404 (H-Body D) controls the opening and closing of an associated end effector 1432', the latter of which may have various uses in open surgery, e.g. ophthalmic surgery, or minimally invasive surgery. It functions as a dual-acting jaw that allows A push/pull rod (H body C not seen in FIG. 14) may be keyed inside the handle shell 101, 1401 (H body A) and attached via a spring so that the push/pull rod After (H-body C) moves relative to the handle shell 101, 1401 (H-body A), it retracts back to its original position with the help of a spring. Thus, this is along axis 1 111, 1411 when shuttle 104, 1404 (H body D) is pushed along axis 1 by pushing rotary dial 104, 1404 (H body B) radially. provided motion of the push/pull rod (H Body C) and shuttle 104, 1404 (H Body D) and then moving both shuttle 104, 1404 (H Body D) and push/pull rod (H Body C) to their Retract to original position. Thus, in this embodiment, the combined end effector 1432 can be rotated about axis 1 (111, 1411) and the associated end effector 1432' can be used to rotate shuttles 104, 1404 (H Body D). The outer body can be grasped or clamped by closing the end effector 1432' by poking and then releasing the shuttle 104, 1404 (H body D) to release the outer body and open the end effector 1432'. can be used to

Referring to FIG. 15, according to another embodiment, an apparatus 1500 utilizing a pull-pull configuration for jaw closure transmission includes shuttles 104, 404 (H-body D) keyed to H-body B 102, 402. 4A, including an unlimited roll handle assembly 400 as shown in FIG. The associated jaw closure (open/close) actuation transmission member 1530 is first pulled to close the end effector motion jaws 1567 against the corresponding end effector fixed jaws 1568 and then pulled against the end effector fixed jaws 1568 . is released to open the end effector motion jaws 1567. Jaw closure (open/close) actuation transmission member 1530 is attached to H-body D 104, 404, and H-body D translates relative to H-body B 102, 402 as a result of translation DoF 107' along axis 1 111, 411 direction. but have a translational constraint (DoC) 108'' for the H body C103,403. As the H-body D104,404 moves along the axis 1111,411 direction to pull the jaw closure actuation transmission member 1530 to close the jaws 1567,1568 (i.e., the end effector movement jaw 1567 and the end effector With the fixed jaws 1568 brought together), the second jaw closure (open/close) actuation transmission member 1532 is pulled to open the end effector motion jaws 1567 . The second jaw closure actuation transmission member 1532 may be pulled to open the jaws 1567,1568. In one embodiment, the second jaw closure actuation transmission member 1532 can be tensioned using a tension spring 1513 grounded to a reference frame called "spring reference ground 1512." Depending on how the roll transfer member is routed throughout the assembly, the "spring reference ground 1512" can exist at different locations within the assembly as follows. (1) If the roll transfer is by input articulation 529, tool frame/tool shaft 1526, and output articulation 583, the “spring reference ground 1512” is either H body B 102, 402 or tool frame/tool shaft 1526 , or in the end effector locking jaw 1568 . (2) roll transmission across the input articulation 529, through the tool frame/tool shaft 1526, and through the output articulation 583 (extra If there is a Roll DoF (if there is a routed independent roll transfer member), the “Spring Reference Ground 1512 ” can reside in the H-body B 102 , 402 or the end effector fixed jaw 1568 .

In some variations, the unlimited roll handle assembly is generally configured to include a forearm attachment device 600 . Unlimited roll handle device 1600 may provide H-body D104 with the ability to simultaneously transmit roll and closure motions relative to H-body A101. Such variations, including a forearm attachment 600 that provides an additional degree of freedom (DoF), are described above in FIGS. 5-8, and another example is shown in FIG. FIG. 16 shows an embodiment of the tool apparatus in alpha configuration (defined below). In this example, there is a (one) joint called forearm attachment 1611 between wrist attachment/wrist cuff 1609 and tool frame 1625 . A forearm attachment 1611 (similar to 600 shown in FIG. 6) can be used to couple the wrist attachment/wrist cuff 1609 to the tool frame 1625, and depending on the nature of the forearm attachment 1611, the user's forearm and unbounded can have zero degrees of freedom or more than one. The forearm-mounted device 600 can be used with either articulated or non-articulated devices. For example, one embodiment can include roll DoF by providing a roll roll joint 1611 ′ between wrist attachment/wrist cuff 1609 and tool frame 1625 . This joint can use a "thread 518" that can provide a roll rotation DoF about the roll axis 111, 531 or the arm axis 612, for example as shown in FIG. Another embodiment can provide the pitch DoF by providing a rotational joint that allows rotation about the flexion/extension rotation axis 516 . Another embodiment may provide yaw DoF by providing a rotational joint that allows rotation about the offset axis of rotation 521 . Another embodiment provides for rotation about a flexion/extension axis of rotation 516 and rotation about a deviation axis of rotation 521 by incorporating an intermediate body, for example called a deviation ring 514, as shown in FIG. Both pitch DoF and yaw DoF can be provided by providing one or more rotational joints that each allow for . Another embodiment provides roll (about the arm axis 612), pitch (about the flexion/extension axis of rotation 516), and yaw (about the deviation axis of rotation 521) degrees of freedom (DoF) can provide. Also, as shown in FIG. 16, a joint called the shaft frame joint 1685, which can have a zero DoF joint (i.e., a rigid connection between the tool shaft 1626 and the tool frame 1625), connects the tool frame 1625 and the tool shaft. 1626, which is the default configuration in the embodiments disclosed herein. The device 1600 shown in FIG. 16 includes a handle palm grip 101, 1601 (H body A), a rotary dial 102, 1602 (H body B), an end effector input 1612 (e.g. handle lever 549), a shaft frame joint 1685, a tool shaft It includes an end effector 1668 at the distal end 1627 of 1626 to which an associated handle axis 111 (axis 1), an associated tool shaft axis 1615 (axis 3) and an associated end effector axis 1613 (axis 2) are oriented. Defined.

Some variations of a non-articulating instrument 1600 that attaches to the forearm and incorporates the unlimited roll handle assembly 400 of FIGS. 4A and 4B can include a separate tool frame 1625 and a separate tool shaft 1626. In one example of such a configuration, tool frame 1625 and wrist attachment/wrist cuff 1609 may be rigidly attached (ie, 0 DoF). In this case, when the tool shaft 1626 is rigidly connected to the rotary dial 102, 1602 (H-Body B), the device 1600 ensures that there is at least one roll rotation DoF between the tool shaft 1626 and the tool frame 1625. It may be configured as Additionally, the shaft-frame joint 1685 can have a roll DoF, a pitch DoF, and/or a yaw DoF.

Any of the devices incorporating the unlimited roll handle assembly described herein can include a virtual center (VC) 1721 associated with the input articulation, for example as shown in FIG. This device 1700 can have serial or parallel motion mechanism input joints, with the associated joint axes intersecting at a virtual center (VC) 1721 . This device 1700 is similar to that shown in FIGS. 5, 7 and 8, but explicitly shows the virtual center (VC) 1721. Device 1700 also includes an end effector assembly 1765, which is also configured as a jaw assembly.

EXAMPLE: MEDICAL DEVICE FIGS. 18A-18D illustrate an example medical device 1800 configured as a laparoscopic apparatus, such as the unlimited roll handle assembly 400 (FIG. 19A-19C), for example. 4A, 4B), an elongated tool frame 525, and a forearm attachment 600 (similar to that shown in FIG. 6) having multiple degrees of freedom between the user's arm and the tool frame 525; End effector assembly 1765, configured as a jaw assembly, captures pitch and yaw rotations of unlimited roll handle assembly 400 for transmission to output joints 583, such as end effector output articulation joint 583', resulting in end Effector assembly 1765 includes an input joint 1801 that can articulate in the same direction as unlimited roll handle assembly 400 . A schematic constraint diagram of the medical device 1800 shown in FIGS. 18A-18D is shown in FIG. 20A, which corresponds to the Beta configuration (defined below). An alternative constraint diagram of the medical device 1800 described herein is shown in FIG. 20B, which corresponds to the alpha configuration (defined below).

18A-18D, the overall medical device 1800 comprises a pulley block 1805 and a tool frame 525 including a tool shaft 526 (tool shaft 526 may be considered part of tool frame 525). , which are all rigidly interconnected with each other. The pulley block 1805 functions as the outer ring 1805 of the forearm mounting joint 1807 which interfaces with the user's distal forearm 608' via the wrist cuff 1803, as described above.

In this example, wrist cuff 1803 and outer ring 1805 are both part of forearm attachment joint 1807 (corresponding to forearm attachment device 600 in FIG. 6). Forearm attachment joint 1807 comprises outer ring 1805, thread 518, deviation ring 514, and wrist cuff 1803 (all connected in series) as shown in FIG. and the outer ring 1805, three rotational degrees of freedom (DoF): roll, pitch, and yaw. Roll is the direction of rotation about the axis of the outer ring 1805, which is the same as the axis of the tool shaft 526. Pitch and yaw are orthogonal rotations about pitch axis 1833 and yaw axis 1831, respectively, as shown in FIG. 18C. These axes can have any orientation and one of these orientations can be aligned with the transmission pulley axis. In this particular orientation, the pitch axis of rotation (1833) is aligned with the axis of rotation of transmission pulley 1813.1 and the yaw axis of rotation is aligned with the axis of rotation of transmission pulley 1813.2. These axes, transmission pulley rotation axis 1833.2 and transmission pulley rotation axis 1831.2, are shown in FIG. 18C. When the medical device 1800 is attached to the forearm 608 (ie, the wrist cuff 1803 is attached to the user's forearm 608/wrist 607), the forearm attachment joint 1807 is between the tool frame 525 and the user/surgeon's forearm 608. It provides the three rotational degrees of freedom mentioned above.

Tool frame 525 extends from outer ring 1805/pulley block 1805 and extends around unlimited roll handle assembly 400 to accommodate user's hand 609 (through its full range of articulation) while supporting unlimited roll handle assembly 400 . is molded into Tool frame 525 rigidly connects to tool shaft 526 which extends further distally (ie, away from forearm mounting joint 1807 and the user). Two DoF articulations (also called output joint 583/end effector articulation 583') are located at the ends of tool shaft 526 (also called outputs of medical device 1800). These two degrees of freedom are pitch rotation and yaw rotation, which are controlled/actuated by articulating input joint 1801 (described below) between unlimited roll handle assembly 400 and pulley block 1805 . Additionally, end effector assembly 1765 includes a pair of jaws 1756 that can be opened and closed in response to handle lever 549 of unlimited roll handle assembly 400 .

The input joint 1801 is positioned between the unlimited roll handle assembly 400 and the pulley block 1805 at the proximal end 528 of the medical device 1800 and has two rotational degrees of freedom (DoF) therebetween (pitch and yaw rotation). I will provide a. The input joint 1801 is a parallel motion mechanism comprising two flexion transfer strips 533, 534 and two transfer pulleys 1813.1, 1813.2 (pitch pulley 1813.1 and yaw pulley 1813.2 shown in FIG. 18C). The axes of pulleys 1813.1, 1813.2 intersect at a virtual center (VC) 1821 in space, extrapolated. For this reason, parallel motion mechanism input joint 1801' of medical device 1800 is also referred to as virtual central mechanism 1801' or virtual central input joint 1801'. When the medical device 1800 is attached to the user's forearm 608 via the forearm attachment joint 1807 and the user's hand 609 holds the handle shells 101, 501 of the unlimited roll handle assembly 400, the overall geometry of the medical device 1800 is The geometry is such that the virtual center (VC) 1821 generated by the parallel motion mechanism input joint 1801 ′ approximately coincides with the center of rotation of the user's wrist joint 607 . This ensures natural, comfortable and unrestricted articulation of the surgeon's wrist 607 while using the medical device 1800 .

Given the above configuration of medical device 1800 , yaw and pitch rotations of user's wrist 607 relative to forearm 608 translate into corresponding rotations of unlimited roll handle assembly 400 relative to pulley block 1805 /tool frame 525 . The parallel kinematic design of virtual center mechanism 1801' is such that the two rotational components (pitch and yaw) of handle shell 101, 501 relative to pulley block 1805 are pitch-only rotation at pitch pulley 1813.1 and yaw pulley 1813.2. yaw-only rotation at and are mechanically separated/filtered. Pitch pulley 1813.1 and yaw pulley 1813.2 are pivoted (and mounted) to pulley block 1805, respectively, about their associated pitch axis of rotation 1833 and yaw axis of rotation 1831, respectively. The pitch and yaw rotations of the unlimited roll handle assembly 400 (and thus of the surgeon's wrist 607) thus captured at the transmission pulleys of pitch 1813.1 and yaw 1813.2 are applied to the transmission pulleys 1813.1, 1813.2. 2 and is transmitted as a corresponding rotation of the end effector articulation 583 via a cable that extends through pulley block 1805 , tool frame 525 and tool shaft 526 to end effector assembly 1765 . These cables may or may not be continuous.

In addition to the yaw and pitch rotational degrees of freedom (DoF) provided by the input joints 1801, the input joints also provide/allow axial translational degrees of freedom along the roll axis 111, 1835, which allows for a range of of the user's hand 609 size is accommodated by the medical device 1800, ensuring free and unrestricted hand 609/wrist 607 articulation.

In addition, the flexion transfer strips 533, 534 are stiff as they twist about the roll axis 111, 1835 such that the input joint 1801 is pushed through the flexion transfer strips 533, 534 distally of the unlimited roll handle assembly 400. It is guaranteed to constrain (and therefore transmit) roll rotation (ie dial) from the end to pulley block 1805 . Note that the pulley block 1805 acts as the outer ring 1805 of the forearm attachment joint 1807 and provides a well defined low resistance rotation about the roll axis 111, 1835 for the wrist cuff 1803 shown in FIG. 18C. This is because when the user holds the handle shell 101, 501 in the palm of their hand, the user can articulate the handle shell 101, 501 in any desired yaw and pitch directions, resulting in corresponding articulation of the end effector assembly 1765. means to bring The user then rotates the dial portion 102, 502 of the unlimited roll handle assembly 400, i.e., the rotary dial 102, 502, with the thumb and finger (typically the index finger) while keeping the articulation of the unlimited roll handle assembly 400 fixed. be able to. Rotation (i.e., roll rotation) of rotary dial 102, 502 is coupled to pulley block 1805/outer ring via parallel motion mechanism input joint 1801' (i.e., via flexion transmission strips 533, 534 of virtual center mechanism 1801'). 1805. The pulley block 1805 then rotates about the roll axis 111 , 1835 relative to the wrist cuff 1803 attached to the user's forearm 608 . This causes the entire tool frame 525 to rotate about the roll axis 111 , 1835 relative to the user's forearm 608 . Since the tool shaft 526 is rigidly connected to the tool frame 525, the tool shaft 526 also rotates about the roll axis 111,1835. The roll rotation of tool shaft 526 is also transmitted to end effector assembly 1765 via output joint 583 (i.e., through end effector articulation joint 583'). Articulation of end effector assembly 1765 (at output joint 583) is controlled by corresponding articulation of unlimited roll handle assembly 400 (around input joint 1801), so that if the latter is held fixed, the former are also held stationary, while roll rotation is transmitted from the rotational motion of the surgeon's finger to the end effector assembly 1765 . This particular mode of operating the medical device 1800 is called joint roll.

In addition to producing the end effector roll by rotation of the surgeon's thumb and fingers (resulting in rotation of rotary dial 102, 502 relative to handle shell 101, 501), another method of producing this roll is to: When the surgeon rotates the entire unlimited roll handle assembly 400 (about the roll axis 111, 1835) by pronating and supinating the hand 609 and forearm 608. This roll motion is also transferred to the tool frame 525 through the flexion transfer strips 533, 534 and the pulley block 1805 of the virtual center mechanism 1801' and then through the tool shaft 526 to the end effector assembly 1765. However, the amount of roll motion that can be achieved in this manner is limited by the range of pronation/supination allowed by the hand 609/forearm 608 of the user (ie, the surgeon).

On the other hand, by having two separate components within the unlimited roll handle assembly 400, the handle shell 101, 501 and the rotary dial 102, 502, this limitation is overcome. The handle shell 101 , 501 remains fixed within the user's hand 609 and is actually limited in its roll angle by the pronation/supination limits of the user's hand 609 /forearm 608 . However, the user can endlessly or infinitely rotate the rotary dial 102, 502 relative to the handle shell 101, 501 via his or her fingers. This infinite roll rotation is then transferred to the end effector assembly 1765 as described above. This infinite roll capability provides the surgeon with an important and unique function in complex surgical procedures such as suturing, knot tying, and the like.

As already mentioned, the unlimited roll handle assembly 400 comprises a rotary dial 102,502 and a handle shell 101,501 with a single rotary DoF between them about the roll axis 111,1835. are connected by a rotational joint of In addition, the unlimited roll handle assembly 400 also houses an end effector actuation mechanism actuated by a handle lever 549 that (with the user's finger, typically the middle, ring, and little finger) rotates against the handle shells 101,501. When depressed, the end effector actuation mechanism converts this motion into a pulling motion of the transmission cable 566 of the end effector transmission 471 . This pulling action is applied via the rotational interface/junction between the handle shell 101,501 and the rotary dial 102,502 to the transmission cable 566 in the flexible conduit between the rotary dial 102,502 and the tool frame 525. to end effector assembly 1765 , then through tool shaft 526 and finally through end effector articulation 583 to end effector jaw 1756 of end effector assembly 1765 . A jaw closure mechanism within the end effector assembly 1765 closes the end effector jaws 1756 in response to the pulling action of the transmission cable 566 as required to operate shears, graspers, needle holders, etc. .

A virtual center (VC) 1721 provided by the input joint 1801 coincides with the center of rotation of the wrist joint 607 of the user operating the medical device 1800 . Furthermore, the three axes of rotation (yaw axis 1831, pitch axis 1833, and roll axis 1835) of the corresponding three degrees of rotation provided by the forearm attachment joint 1807 are at one point called the center of rotation of the forearm attachment joint 1807. can all be intersected by This center of rotation of forearm attachment joint 1807 may coincide with the center of rotation of input joint 1801 (ie, the virtual center (VC) of rotation 1721 of unlimited roll handle assembly 400 relative to pulley block 1805).

Accordingly, the center of rotation of the forearm mounting joint 1807 can also coincide with the center of rotation of the user's wrist joint 607 when the medical device 1800 is attached to the user's forearm 608 .

Specifically, when the user's wrist 607 is not articulated (i.e., in a nominal position), the forearm axis should coincide with the axis of outer ring 1805, which should coincide with the axis of tool shaft 526. , which should coincide with the axis of the end effector assembly 1765 . This is when the unlimited roll handle assembly 400 is not articulated with respect to the pulley block 1805 (ie nominal) and therefore the end effector assembly 1765 is not articulated with respect to the tool shaft 526 .

To facilitate execution of an infinite roll of the medical device 1800, the overall weight of the medical device 1800 may be distributed such that its center of gravity is near the roll axis 111, 1835 of the medical device 1800. ensures that the user is not working with or against gravity when the user rolls the medical device 1800 (as described above). Because the weight of the medical device 1800 is supported by the user's forearm 608 and the trocar on the patient's body, and by placing the center of gravity of the medical device 1800 on the roll axis 111, 1835, gravity no longer affects roll rotation. , the roll rotation can be driven relatively easily.

In addition to all the functions described above, the overall design and construction of medical device 1800 also helps eliminate hand tremor and prevent hand tremor from reaching end effector assembly 1765 . In the medical device 1800, the handle assembly 400, and thus the surgeon's hand 609, is separated from the pulley block 1805/tool frame 525/tool shaft 526 by flexure transfer strips 533, 534, which may be of different materials and/or construction. to prevent hand tremors from reaching tool shaft 526 and end effector assembly 1765. Tool frame 525 is attached to forearm 608 via forearm attachment joint 1807 . The tool shaft 526 connected to the tool frame 525 is thus controlled by the surgeon's forearm 608 . Not only does this help drive the powered motion (which translates the tip of the shaft in three directions), but the forearm 608 trembles much less compared to the hand 609, so the shaft experiences less vibration. Become.

Flexion transfer strips 533, 534 thus transfer the yaw and pitch rotation components of the rotation of handle shells 101, 501 (and handle assembly 400) relative to pulley block 1805 (equivalently the yaw and pitch rotation of hand 609 relative to forearm 608). 1813.1 and yaw 1813.2 transmission pulleys, the latter being attached to pulley block 1805. The flex transfer strips 533, 534 also help transfer roll rotation from the unlimited roll handle assembly 400 to the pulley block 1805, tool frame 525, tool shaft 526 to the end effector assembly 1765, and also reduce hand tremor from the pulley block. It helps to eliminate or prevent reaching 1805 and thus tool frame 525 and thus tool shaft 526 and ultimately end effector assembly 1765 .

Use of the unlimited roll handle assembly 400 allows the surgeon to transfer natural, ergonomic, and intuitive motion from the surgeon's hand 609/wrist 607/forearm 608 to the end effector assembly 1765, resulting in: Surgical instruments can be better controlled during surgery. The virtual center mechanism 1801′ (i.e., the input articulation) allows pitch and yaw rotations of the surgeon's wrist 607 to intuitively and smoothly map and transfer to the corresponding rotations of the end effector articulation joint 583. . Without the help of the unrestricted roll handle assembly 400 to effect the roll of the end effector assembly 1765, the surgeon would be limited to pronation and supination of the forearm 608, which is naturally biomechanically limited in its range of roll rotation. be done.

However, by adding the unlimited roll handle assembly 400, the surgical instruments described herein allow the end effector assembly 1765 to directly inherit or receive the yaw, pitch, and roll of the medical device 1800 input. It can be provided intuitively and ergonomically. In addition to roll resulting from pronation and supination of the surgeon's forearm 608/wrist 607, roll is also accomplished by rotation of rotary dial 102, 502 by the surgeon's thumb/fingers. Rolls produced from both of these sources are transferred or transmitted to the end effector assembly 1765 . When the surgeon articulates the wrist 607, i.e., when the surgeon's hand 609 is articulated with respect to the forearm 608, the handle shell 101, 501 held by the surgeon's hand is articulated with respect to the tool frame. (such articulation is provided by the input articulation). Articulation of this input joint results in articulation of the output joint. This means that the axis of end effector assembly 1765 (ie, axis 2) is no longer aligned with the axis of tool shaft 526 (ie, axis 3). In such an articulated configuration of the end effector assembly 1765 (eg, shown in FIG. 18B), the surgeon maintains the wrist 607 in a fixed articulated orientation and rotates the rotary dials 102, 502 an unlimited amount with the thumb/fingers. The joint roll can be performed ergonomically by allowing the This allows joint rolls in all possible orientations of the wrist 607 . The roll of the end effector assembly 1765 is no longer constrained by the biomechanical limitations of the surgeon in pronation and supination of the forearm 608/wrist 607. By controlling the roll of the instrument end effector assembly 1765 from the rotation dial 102, 502 with the thumb/finger, the surgeon actuates the handle lever 549 of the end effector actuation mechanism in any articulated orientation of the wrist 607. An infinite amount of roll can be performed while still allowing the opening and closing actuation of the end effector assembly 1765 to be controlled.

Additionally, the unlimited roll handle assembly described herein allows for simultaneous and predictable control of advanced features of all minimal access tools with an ergonomic interface. The handle features powered motion, fine motion, and intuitive control of articulation. These three motions are individually aligned to the optimal regions of the user's hand 609 . Powered motion, such as squeezing the handle body and lever to close the end effector jaw assembly, is provided by the palm and fingers (particularly the middle, ring and little fingers). Delicate movements such as rotating the rotary dial 102, 502 are performed with the thumb and index finger (the middle finger may also contribute to this movement). Separation of force and subtle action on these areas of hand 609 minimizes user fatigue. This also reduces the user's cognitive load and reduces their mental fatigue. Similar to using a computer joystick, articulation is controlled by orienting the handle assembly held in the user's hand 609 to a desired angle by articulating the user's wrist 607 .

Further, the unlimited roll handle assemblies described herein allow simultaneous operation of opening, closing, rolling, and articulating (or any combination). As with my hand 609, the motion is smooth and natural. Rotating the rotary dial 102, 502 in a continuous direction to perform a "running stitch" without intermediate steps such as deployment, unlocking, etc. is novel compared to other suturing instruments. This is made possible by weight balancing the instrument about a tool shaft axis (eg, axis 3) and simplifying the mechanics of instrument rotation, as described herein. When the rotation dials 102, 502 on the unlimited roll handle assembly 400 are rotated, the entire instrument rotates or revolves around the user's wrist 607 in the same direction. The frame also rotates during this process, but the virtual center associated with the input joint remains centered on the user's wrist 607 . As a result, performance is consistent and predictable, even during complex movements such as joint roll rotation.

As perceived by the user, the unlimited roll handle assembly devices described herein enable fine rolling of the associated unlimited roll handle assembly while engaging the end effector closure mechanism and the end effector joint. First, the unlimited roll handle assembly as described above includes optimized bearings between various bodies within the mechanism. Due to the bearings between the various bodies of the handle assembly, the surgeon will find minimal or very little difference in resistance to rotation when the jaw closure lever is engaged or disengaged. Infinite rotation of the unlimited roll handle assembly is enabled by a swivel joint and several keying features within the handle assembly that prevent the jaw closure cable from twisting on itself during rotation.

In use, these unlimited roll handle-based assemblies allow the surgeon to comfortably hold the handle shells 101, 501 and handle lever 549 while articulating his or her wrist 607 to rotate the end effector assembly 1765 of the entire medical device 1800. joint movement can be performed. Articulation of the unlimited roll handle assemblies utilizes the distal ends of rotary dials 102, 502 to rotate their associated transmission pulleys whose axes are centered on the surgeon's wrist 607 according to what is also referred to as a virtual center mechanism 1801'. 1813.1, 1813.2 to drive (ie, rotate) the bending transfer strips 533, 534; Rotation of the two transmission pulleys 1813.1, 1813.2 drives associated articulation cables in the frame to control corresponding articulation of the end effector assembly 1765 about the end effector output articulation 583'. . Once articulated position is established, the surgeon may choose to close the jaws by actuating handle lever 549 on handle assembly 400 . The process of suturing with a needle requires the surgeon to roll the end effector assembly 1765 about its joint axis, thereby driving the needle about its curved axis through various tissue planes. These unlimited-roll handle-based assemblies center the surgeon's wrist 607 and the associated flexion transfer strips 533, 534 and the associated flexion transfer strips 533, 534 as enabled by the associated triaxial wrist gimbal (i.e., forearm mounting joint 1807). The surgeon can be provided with easy access to the rotation dials 102, 502 that rotate both transfer pulleys 1813.1, 1813.2. The three-axis wrist gimbal ensures that rotation of rotation dials 102, 502 and virtual center mechanism 1801′ results in predictable concentric rotation of pulley block 1805, tool frame 525, tool shaft 526, and end effector assembly 1765 about surgeon's wrist 607. constrains and centers the medical device 1800 around the surgeon's wrist 607 to drive .

These devices are relatively small to rotate both within the unlimited roll handle assembly (addressed via bearings) and in the wrist gimbal (addressed via minimized contact surfaces and low-friction plastic materials). Provides fine rotational control with low resistance, overall balance of the device (addressed by establishing a center of gravity on the axis of rotation and redistributing weight throughout the device), roll axis 111, 1835 provides the use of flex transfer strips 533, 534 with little compliance to torsion/twists about .

Additionally, basic definitions are now provided for certain terms used herein.
Mechanism and Junction--There is some equivalence between the terms "mechanism" and "junction." A "joint" may alternatively be called a "connector" or a "constraint." All of these can be viewed as allowing a specific motion(s) along a specific degree of freedom (DoF) between the two bodies and constraining the remaining motion. Mechanisms generally include multiple joints and rigid bodies. Typically, joints are simpler structures, but mechanisms are more complex as they can involve multiple joints. But what is simple and what is complex depends on the context. The mechanism under consideration may appear simple or diminutive in the context of a much larger mechanism or machine, in which case the particular mechanism under consideration may be referred to as a junction. Therefore, what was viewed as a mechanism may also be viewed as a junction. Also note that "joint" here refers to a mechanical connection that allows movement, as opposed to a fixed joint (eg, welded, bolted, screwed, glued, etc.). In the latter case, the two bodies are fused together and are considered one and the same in a kinematic sense (because relative motion is not allowed or there are no degrees of freedom). The term "fixed joint" is used herein to refer to this type of joint between two bodies. When the term "joint" is referred to, it means a connection that permits a particular movement such as, for example, pin joints, pivot joints, universal joints, ball and socket joints. Thus, the joints referred to herein interface one body with another in a kinematic sense.

Axes and Directions—Axis refers to a particular line in space. A body may rotate about a particular axis relative to another body. A body may translate in a particular direction relative to another body. A direction is not defined by a particular axis, but instead is generally defined by multiple parallel axes. Thus, the X-axis is the particular axis defined and shown in the figures, and the X-direction refers to the direction of this X-axis. Multiple different but parallel X-axes can have the same X-direction. A direction has only a direction, not a position in space. In this sense, "axis" is more precise and "direction" is more general. If you specify an axis, the direction is defined because the axis has a direction. If you specify a direction, you don't need to define an axis. Axis 1 and Direction 1 are further defined here and are used to define the motions and constraints of the described system.

Degree of Freedom (DoF) - As already mentioned, a joint or mechanism allows a certain movement between two bodies and constrains the rest. A "degree of freedom" is the technical term for capturing or conveying these "movements." Overall, if there is no joint between the two rigid bodies, there are six independent degrees of freedom possible between the two rigid bodies: three translations and three rotations. Junctions allow anywhere from 0 DoF to 6 DoF between the two bodies. If the joint allows for 0 DoF, it effectively becomes a "fixed joint" as described above, where the two bodies are rigidly fused or connected to each other. From a kinematic sense, the two bodies are exactly the same. If the junction allows 6DoF, this effectively means that there is no junction, or that the junction is between two bodies, such as if the two bodies are connected via springs or members that fit in all directions. means not actually restricting the movement of Any practical joint allows 1 DoF, or 2 DoF, or 3 DoF, or 4 DoF, or 5 DoF between two rigid bodies. When enabling 1 DoF, the remaining five possible motions are constrained by junctions. When enabling 2DoF, the remaining four possible motions are constrained by junctions and the like.

Degree of Constraint (DoC)—The degree of constraint refers to the direction in which relative motion is constrained between two bodies. Since the relative motion is constrained, these are the directions of motion that can be transferred from one body to the other. Since the joint does not allow relative motion between the two bodies in the DoC direction, when one body moves in the DoC direction, it also drives the other rigid body along that direction. In other words, loads (eg, forces or torques) and motion are transferred in the DoC direction from one rigid body to another.

Local Ground - In the context of assembly of bodies (or multi-body systems, or mechanisms) comprising multiple bodies and joints, one or more bodies may be referred to as a "reference" or "ground" or "local ground" or Sometimes called a "reference ground". The body referred to as the local ground need not necessarily be the absolute ground (ie attached or bolted to the actual ground). Rather, the body chosen as the local ground simply serves as the mechanical reference against which the motion of all other bodies is described or studied. Also, selecting a body within the assembly/multi-body system/mechanism as the local ground does not limit the functionality of the assembly/multi-body system/mechanism. For example, for the handle assemblies described herein, the handle body can be selected as the local ground, and the motion of other bodies can be defined relative to the handle body (i.e., the handle body is stationary). (assuming that the However, this does not mean that the handle assembly functions only when the handle body is held stationary. Rather, at a high level, the function of the handle assembly is independent of which body is assumed to be the local ground.

Body - A body is a discrete component that is part of an assembly, possibly interconnected by joints or mechanisms. This separate component is rigid thereby facilitating rigid motion transmission. This means that there is no loss of transmission as the force travels through the body along the DoC. In certain scenarios, the body may be compliant (not rigid). In such cases, exceptions to the baseline definition are specifically mentioned herein. In certain scenarios, the term body may be used for assembly of bodies. Certain features of the body that are relevant to the discussion are identified while describing the body. Body is also used as a general term to describe a discrete component that is part of an assembly or mechanism. As will be further explained, the structural components used to form the assembly or subassembly are termed "body." The terms "body" and "component" may be used interchangeably throughout the description and have the same meaning.

Transmission Member - A transmission member is a rigid/compliant body that transmits motion from one body to another. The transmission member may be a compliant wire/cable/cable assembly, flexible shaft, or the like.

User Interface—A user interface serves as an input interface with which a user interacts to produce a specific output at the other end of a machine or instrument or mechanism. A user interface is generally an ergonomic feature on the body that is part of the instrument that is triggered by the user. For example, a user can turn a knob on the dashboard of a car to increase or decrease speaker volume. In this example, the knob, specifically the knurled circumference (feature) of the knob, is the user interface.

Handling of Assembly Terminology—Components named in US Pat. No. 9,814,451 (FIG. 1 herein) have been given alternative equivalent names in this application for clarity. "H main body A" is defined as "handle main body", "H main body B" is defined as "dial", "H main body C" is defined as "push rod", and "H main body D" is defined as "shuttle".

Axis 1 - Axis 1 refers to the axis about which the dial rotates relative to the handle body. This axis is also defined as the axis along which the pushrod has a rotation DoF with respect to the shuttle.

Direction 1 - This is the direction along which the shuttle travels relative to the dial. This is also the direction along which the push rod translates relative to the handle body.

Handle Body—Handle body refers to the body within the handle assembly that is considered the local ground when describing the handle assembly and associated mechanisms. The handle body is held by the user when other bodies in the handle assembly are moved relative to the handle body. The handle bodies described herein may also be referred to as "palm grips," "palm grip portions," or "handle shells."

Closure Body—Closure body refers to a body within a handle assembly that has at least one degree of freedom of motion relative to the handle body and, in certain embodiments, is rotationally constrained relative to the handle body about axis 1 (DoC ). A closure body can also interface with another body called a closure input. When a closure input is actuated relative to the handle body, this can result in translation of the closure body along direction 1 relative to the handle body. A closure body is called a pushrod if it has a translational degree of freedom along axis 1 with respect to the handle body. A push rod is also described in Patent No. 9,814,451.

Shuttle—Shuttle refers to the body in the handle assembly that rotates about axis 1 relative to the pushrod and translates along direction 1 relative to the dial. The shuttle is also rotationally constrained to the dial about axis 1 .

Roll Body—Roll body refers to the body in the handle assembly that has a rotation DoF with respect to the handle body. In certain handle assembly embodiments, the roll body may be a visible (user-accessible external component) component of the handle assembly. Aside from the dial function and structure described in Patent No. 9,814,451, the roll body can also interface with another body called a roll input. A roll input rotating relative to the handle body about its roll axis can result in rotation of the roll body about axis 1 relative to the handle body. The terms "dial" or "knob" are used interchangeably with the term "roll body".

Tool Frame - A tool frame refers to a structure that is part of the tool equipment. In certain tool devices, this can be connected to the handle assembly and/or the elongated tool shaft. The terms "tool frame" and "frame" may be used interchangeably throughout this document.

EE (End Effector) Assembly—Referring generally to FIGS. 21A and 21B, the EE assembly 2010 or end effector assembly or jaw assembly resides at the distal end of the elongated tool shaft 2011. As shown in FIG. An EE assembly can include one or more jaws (or EE jaws). EE assemblies 2010 are of two types. A first type of EE assembly 2010 consists of two EE jaws, a “motion jaw” 2012 and a “fixed jaw” 2014 . There is also an “EE frame” 2016 that serves as a local ground reference for the motion jaws 2012 and any other moving objects within the EE assembly 2010 . In this assembly, motion jaws 2012 move relative to EE frame 2016 by rotating about pivot pin 2018 shown in FIG. 21A. This movement of the motion jaws 2012 relative to the EE frame 2016 is referred to as the "jaw closure movement." Jaw closure movement and "jaw opening and closing movement" may be used interchangeably throughout this specification. In FIG. 21A, fixed jaw 2014 is also coupled to EE frame 2016 such that it is a rigid extension of EE frame 2016 . When describing this EE assembly 2010 shown in FIG. 21A, the fixed jaw 2014 is treated as a local reference, similar to the EE frame 2016 . This is because fixed jaw 2014 is a rigid extension of EE frame 2016 in this EE assembly 2010 . In other EE assemblies, fixed jaw 2014 can have one or more DoF joints to EE frame 2016 . EE frame 2016 is further coupled to tool shaft 2011 via output articulation 2020 when EE assembly 2010 is part of a tool device that provides articulation functions.

“EE roll motion” is the second output motion in EE assembly 2010 . EE roll motion can refer to two separate rotations of the EE assembly 2010 about different axes. Rotation about axis 2 refers to rotation of the EE assembly 2010 about the roll axis of the EE assembly. Rotation about axis 3 refers to rotation of EE assembly 2010 about the roll axis of tool shaft 2011 . For the EE assembly 2010 shown in FIG. 21A, when the entire tool apparatus, including the handle assembly 2022 and tool shaft 2011, rotates about axis 3, the EE assembly 2010 also rotates about axis 3. As shown in FIG. On the other hand, roll motion about axis 1 relative to handle body 2026 caused by rotating dial 2024 results in rotation of tool shaft 2011 about axis 3 and rotation of EE assembly 2010 about axis 2. . This is further explained while presenting various tool device configurations in the description.

A second type of EE assembly 2010 consists of two EE jaws, a “motion jaw” 2012 and a “fixed jaw” 2014 . The assembly also includes an EE frame 2016. In this assembly, motion jaws 2012 move relative to EE frame 2016 by rotating about pivot pin 2018 shown in FIG. 21B. Fixed jaw 2014 is also coupled to EE frame 2016 such that it is a rigid extension of EE frame 2016 . When describing this EE assembly 2010 shown in FIG. 21B, the fixed jaw 2014 is treated as a local reference, similar to the EE frame 2016 . This is because fixed jaw 2014 is a rigid extension of EE frame 2016 in this EE assembly 2010 . The assembly also consists of a body/component proximal to the EE assembly called the “EE base” 2028. EE base 2028 has a 1 DoF rotational joint to EE frame 2016 . This rotational joint provides a roll DoF centered on axis 2 . This joint can be formed by thrust bearings, roll bearings, slide bearings, or the like. FIG. 21B shows thrust bearing 2030 between EE frame 2016 and EE base 2028 . EE base 2028 is coupled to tool shaft 2011 via articulated output joint 2020 . For the second type of EE assembly 2010, rotation of the fixed jaw 2014/EE frame 2016 with respect to the EE base 2028 does not result in rotation of the output articulation 2020, thereby rotating the tool shaft 2011 about axis 3. does not result in rotation. On the other hand, in the first type of EE assembly 2010, rotation of the fixed jaw 2014/EE frame 2016 is accompanied by rotation of the output articulation joint 2020. FIG. In the first type of EE assembly 2010, the output articulation 2020 provides a roll rotational DoC between the fixed jaw 2014/EE frame 2016 and Axis 2 of the tool shaft 2011 to transfer roll motion.

For the EE assembly 2010 shown in FIG. 21B, as the entire tool apparatus, including the handle assembly 2022 and tool shaft 2011, rotates about axis 3, the EE assembly 2010 also rotates about axis 3. As shown in FIG. On the other hand, rotation about axis 1 relative to handle body 2026 caused by rotating dial 2024 results in rotation of EE frame 2016/fixed jaw 2014 and moving jaw 2012 about axis 2. This does not result in rotation of the tool shaft 2011 about axis 3. This corresponds to the alpha configuration and will be explained further in the description while presenting various tool device configurations.

Also, the entire EE assembly 2010 can rotate relative to the EE base 2028 about its roll axis, referred to as the "EE roll axis" or "axis 2." The EE assembly 2010 may be interchangeably referred to herein as a "jaw assembly" or an "end effector assembly."

Roll Input—“Roll Input” or “Rotation Input” refers to the body that is part of the Handle Assembly 2022 that is rotated or actuated to produce rotation of the EE Assembly 2010 about Axis 2 (the EE Roll Axis). Point. Here both the handle assembly 2022 and the EE assembly 2010 are part of the tool apparatus with the handle assembly 2022 proximal to the user and the EE assembly 2010 distal to the user. The roll input, in its simplest form, is a dial 2024 that is part of handle assembly 2022 . The roll input may, in another scenario, be an assembly that may consist of an external roll input body that is visible or externally accessible by the user. In this scenario the role input acts as the user interface. This assembly may also consist of a dial 2024 that mates with the shuttle such that the shuttle has a rotational DoC about axis 1 relative to dial 2024 and a translational DoF along direction 1 relative to dial 2024 . Dial 2024 also has a rotational DoF relative to handle body 2026 about axis 1 . If the roll input is an assembly, rotation of the external roll input may be transmitted to dial 2024 via a roll transmission mechanism. The mechanism may include mechanical transmission components including, but not limited to, links, pulleys, compliant mechanisms/members, cables, threaded screws, pneumatics and/or gears. The mechanism can be an electromechanical transmission mechanism that can include sensors (rotation/position/force), actuators (rotational motors, linear motors, solenoids), and/or transducers.

Closure Input—This refers to the body that is part of the handle assembly 2022 that is triggered or actuated to actuate a member of the EE assembly 2010. The closure input, in its simplest form, is a pushrod that is part of handle assembly 2022 . This is the first scenario where the closure input is the pushrod itself. In a second scenario, the closure input may be an assembly that includes external closure inputs that are visible or externally accessible by the user. In this scenario, the closure input acts as the user interface. This assembly may also consist of a push rod that mates with the shuttle such that the shuttle has a rotation DoC with respect to the push rod about axis 1 and a translation DoF along direction 1 with respect to the push rod. Therefore, translation of the pushrod results in translation of the shuttle. If the closure input is an assembly, the 1 DoF motion of the external closure input to handle body 2026 is transmitted to the pushrod via the closure transmission mechanism. The mechanism may be a mechanical transmission mechanism that may use linkages, pulleys, compliant mechanisms/members, cables, threaded screws, pneumatic pressure and/or gears. The mechanism can be an electromechanical transmission mechanism that can include sensors (rotation/position/force), actuators (rotational motors, linear motors, solenoids), and/or transducers. This second scenario is illustrated by various embodiments according to the constraint map shown in FIG. 31B.

In a third scenario, the closure input may be an external closure input component. In this scenario, the closure input has at least 1 DoF with respect to the handle body 2026 and interfaces with the shuttle such that it has a translational DoF with respect to the dial along direction 1 and a rotational DoC with respect to the dial about axis 1. . Motion of the external closure input may be transferred to the shuttle through the closure mechanism. The mechanism may be a mechanical transmission mechanism that may use linkages, pulleys, compliant mechanisms/members, cables, threaded screws, pneumatic pressure and/or gears. The mechanism can be an electromechanical transmission mechanism that can include sensors (rotation/position/force), actuators (rotational motors, linear motors, solenoids), and/or transducers. This third scenario is illustrated through various embodiments according to the constraint map shown in FIG.

Jaw Closure Transmission Member™—This transmission member/body serves to transmit translation of the shuttle relative to dial 2024 along direction 1 to jaw closure movement within EE assembly 2010 . The transmission member may be a mechanical component, such as a solid wire (sometimes called piano wire) or a flexible braided cable. The member may be torsionally stiff along its central axis. For example, a nitinol wire that is stiff for torsional loads but flexible for bending loads. A braided steel cable made of individual steel filaments, on the other hand, is flexible in bending, not torsionally stiff, and can wrap around itself when rotated about its central axis. "Jaw closure transmission member" and "jaw closure actuation transmission member" may be used interchangeably herein.

Roll Transmission Member™—This transmission member serves to transmit rotational input to the handle body 2026 or rotation of the dial 2024 to produce EE roll motion.

Articulation Transfer Member—This transfer member transfers articulation motion ( pitch and yaw motion). Typically, these joint transmission members may comprise cables, crimps, pulleys, and the like.

Jaw Closure Transmission Assembly—Jaw closure transmission assembly refers to bodies, joints, mechanisms, and/or jaw closure transmission members that reside between the handle assembly 2022 and the EE assembly 2010 and facilitate jaw closure movement. . Specifically, the body (eg, shuttle) within handle assembly 2022 that produces the output motion is coupled to the proximal body that is part of the jaw closure transmission assembly. Similarly, the motion jaws in the EE assembly 2010 are coupled to the distal-most body that is part of the jaw closure transmission assembly. The terms "jaw closure transmission assembly" and "jaw actuation transmission assembly" may be used interchangeably throughout the description.

EE roll transmission assembly—EE roll transmission assembly refers to bodies, joints, mechanisms, and/or roll transmission members that reside between handle assembly 2022 and EE assembly 2010 and facilitate EE roll motion.

Joint Transmission Assembly—A joint transmission assembly is a body, joint, mechanism and/or body that helps transmit user-generated input motion (pitch and yaw rotation) through the input joint joint to the output joint joint 2020. Refers to a joint transmission member. Specifically, the body that mates with the body in the tool device that receives input from the user is the proximal body of the joint transmission assembly. Similarly, the body that mates with either the EE frame 2016 or the EE base 2028 depending on the type of EE assembly 2010 under consideration is the distal-most body within the joint transmission assembly.

Tool device, its function and its configuration (FIGS. 22A and 22B)
The handle assembly 2022 described herein includes a handle assembly 2022, a tool frame 2032, an elongated tool shaft 2011 that is a rigid extension of the tool frame 2032, and an EE assembly 2010 located at the distal end of the tool shaft 2011. and may be part of a tool device that may include A tool device may provide various functions corresponding to the following output operations. i) jaw closure motion in the EE assembly 2010, ii) articulation (pitch and yaw rotation) of the EE assembly 2010, iii) rigid motion of the tool shaft 2011 and EE assembly 2010, iv) EE assembly 2010 (or part thereof). ) joint roll motion.

This device can have different configurations. Two configurations used herein to describe the function of the tool device are shown in Figures 22A-22B. In both of these configurations, handle assembly 2022 consists of at least closure input 2048 , handle body 2026 and dial 2024 . Between dial 2024 and frame 2032 is closure actuation transmission interface 2036 . This closure actuation transmission interface 2036 is a flexible jaw closure transmission member conduit 2039 (e.g., also shown in FIG. 23) between the jaw closure transmission member 2038 and the frame that guides the dial and jaw closure transmission member 2038. sheath or conduit). Jaw closure transmission member conduit 2039 may be coupled (eg, rigidly connected to or seated on) frame 2032 at its distal end and coupled to handle body 2026 at its proximal end. (eg, rigidly connected to or seated on). Alternatively, jaw closure transmission member conduit 2039 at its proximal end axially seats the proximal end of the conduit against dial 2024, but through an interface that allows relative roll rotation between the two. may be coupled to the dial 2024 via the Jaw closure transmission member 2038 facilitates transmission of relative motion of closure input 2048 to handle body 2026 to EE assembly 2010 . This relative movement leads to movement of the moving jaws 2012 relative to the fixed jaws 2014 about the pivot pin 2018 (having axis 4) to produce jaw closure movement. For certain tool device configurations, translational movement of the jaw closure transmission member 2038 at the distal end of the tool device should be translated into rotation of the moving jaws 2012 relative to the fixed jaws 2014 about axis 4 . Thus, a body, such as a rack and pinion transmission assembly, pulleys, gears, linkages, cams, pins, etc., for converting translational motion of the jaw closure transmission member 2038 into rotational motion of the motion jaw 2012 relative to the fixed jaw 2014. may exist.

The articulation function of the tool device is the function by which pitch and yaw rotations (ie, output motion) are generated at the EE assembly 2010 at the distal end of the tool device. These output motions are produced by the pitch and yaw input motions of handle assembly 2022 . There is a 2DoF output articulation 2020 that exists between the shaft 2011 (also called tool shaft) and the EE assembly 2010 . There is also a 2DoF input articulation 2040 that exists between the handle assembly 2022 and the frame 2032 . Articulation of handle assembly 2022 relative to frame 2032 is transferred to articulation of EE assembly 2010 relative to tool shaft 2011 through various intermediate joints, mechanisms, and/or transmission members (ie, articulation transmission members). There may be two different configurations for the tool apparatus shown in Figures 22A-22B.

FIG. 22A shows a tool device configuration and embodiment in which an input articulation 2040 exists between the handle body 2026 and the frame 2032. FIG. Also, the EE assembly 2010 is similar to that shown in FIG. 21B. The EE assembly 2010 consists in this case of a body, namely an EE base 2028 , a motion jaw 2012 and a fixed jaw 2014 . 21A-21B and 22A-22B, fixed jaw 2014 is shown as a rigid extension of EE frame 2016. FIG. In other examples, fixed jaw 204 can be a separate body coupled to EE frame 2016 . There is an output articulation 2020 between the proximal portion of EE assembly 2010 (EE base 2028 in this embodiment) and the distal end of shaft 2011 . The EE base 2028 and the need for a 1 DoF roll rotational joint between the EE base 2028 and the EE frame 2016 are discussed in the following paragraphs while describing EE roll motion. This configuration is called the "alpha configuration". Also shown in the embodiment shown in FIG. 22A are two transmission interfaces, a roll transmission interface 2037 and a closure actuation transmission interface 2036 . Associated with these two transmission interfaces are two respective transmission members, a roll transmission member 2042 and a jaw closure transmission member 2038 . Although shown as two separate transmission interfaces and thus two separate transmission members, in some scenarios a single transmission interface and a single associated transmission member may be used. In such a scenario, the single transmission member has adequate axial and torsional stiffness to transmit both roll rotation and jaw closure actuation from the handle assembly to the end effector assembly.

FIG. 22B shows an alternative tool device configuration and embodiment in which the input articulation 2040 exists between the dial 2024 and the frame 2032. FIG. Also, the EE assembly 2010 is similar to that shown in FIG. 21A. In this configuration, the EE assembly 2010 consists of a body, moving jaw 2012 and fixed jaw 2014 . Again, the fixed jaws 2014 shown here are rigid extensions of the EE frame 2016, but in other examples the two may be separate bodies coupled together. . There is an output articulation 2020 between the proximal portion of EE assembly 2010 and the distal portion of shaft 2011 . In this embodiment, the proximal portion of EE assembly 2010 is EE frame 2016 . This configuration is called a "beta configuration".

Each of the 2DoF input and output articulations 2040 and 2020 can be either a parallel motion mechanism input joint or a serial motion mechanism input joint. Examples of tool devices with parallel motion mechanism input joints are shown in US Pat. No. 8,668,702, US Patent Application Publication No. 2013/0012958 and US Pat. Examples of tool devices with serial motion mechanism input joints are US Pat. No. 6,994,716 and US patent application Ser. No. 11/787,607. The center of rotation of input articulation joint 2040 can be proximal or distal to handle assembly 2022 . Here, "distal" refers to the direction in which the end effector assembly lies relative to the tool shaft/tool frame, and "proximal" refers to the direction in which the handle assembly lies relative to the tool shaft/tool frame.

In both the illustrated configurations and embodiments, movement of frame 2032 relative to an external reference ground, such as the patient's bed or body, is transferred to tool shaft 2011 and EE assembly 2010 . Thus, shaft 2011 has three translational DoFs (along the X, Y, Z axis directions) and three rotational DoFs (pitch, yaw, and roll rotations) with respect to the reference ground. The interface between instrument shaft 2011 and the patient's body (eg, via a trocar or cannula) eliminates some of these six DoFs. When the EE assembly 2010 is not articulated, roll rotation of the EE assembly 2010 and tool shaft 2011 is about axis 3 . In this scenario, axis 1, axis 2, and axis 3 are all collinear. In another scenario where the EE assembly 2010 is articulated, the roll rotation of the EE assembly 2010 is about axis 2, the roll rotation of shaft 2011 is about axis 3, and the roll rotation of dial 2024 is about axis 1. centered on. In this articulated state or scenario of the tool apparatus, Axis 1, Axis 2 and Axis 3 are no longer collinear. This roll rotation capability of the end effector as it articulates is called "articulation roll."

In both tool apparatus configurations shown in FIGS. 22A and 22B, the legend at the bottom right of the figure indicates that any body or component designated “cross-hatch patterned” will be Any body or component shown without a “cross-hatch pattern” indicates that it does not rotate with the dial 2024, whereas it rotates on its respective axis (Axis 1, Axis 2, or Axis 3). ing. For the alpha configuration, roll rotation of handle body 2026 about axis 1 with respect to the external reference ground causes rigid roll motion of frame 2032 and tool shaft 2011 about axis 3, and EE assembly 2010 about axis 2. leads to In this configuration, input articulation 2040 and output articulation 2020 are both transfer rolls. In other words, roll rotation is a degree of constraint (DoC) for both of these joints. Separately, roll rotation of dial 2024 about axis 1 relative to handle body 2026 results in rotation of only EE frame 2016 (and its extended fixed jaw 2014) about axis 2 relative to EE base 2028, Frame 2032 and the remainder of shaft 2011 do not rotate relative to handle body 2026 . The rotation of this EE frame 2016 (and thus the fixed jaw 2014) with respect to the EE base 2028 is between the EE frame 2016 and the EE base 2028 about axis 2 (the rest of the proximal portion of the EE assembly 2010). This is possible because there is a one-roll DoF joint that provides roll motion of the EE frame 2016 (with the EE frame 2016). This rotation of dial 2024 resulting in rotation of EE frame 2016 is transmitted through roll transmission interface 2037 comprising roll transmission member 2042 . Axis 2 is collinear with axis 3 when the EE assembly 2010 is not articulated. Thus, when the handle body 2026 articulates relative to the frame 2032 and the consequent articulation of the EE assembly 2010 relative to the shaft 20111, axis 2 is no longer collinear with axis 3. In this articulated state, when dial 2024 rotates relative to handle body 2026 about axis 1, this relative to EE base 2028 results in rotation of EE frame 2016 about axis 2, axis 2 is no longer co-axial with axis 3. not on a straight line. This movement is called a "joint roll".

Thus, for the alpha configuration, there are two roll transmission assemblies. To generate rotation of frame 2032, tool shaft 2011, and EE base 2028, the entire handle assembly 2022 (including handle body 2026) is rotated about axis 1 with respect to an external reference ground. This roll rotation is transferred to the rigid bodies (ie, frame 2032 and tool shaft 2011 ) via input articulation 2040 and to EE base 2028 via output articulation 2020 . Input articulation 2040 and output articulation 2020 provide DoC in the roll rotational direction to transfer roll motion to EE assembly 2010 . These input and output articulations, as well as the tool frame and shaft rigid bodies are all part of the first roll transmission assembly. Here, the EE assembly 2010 rotates about the tool shaft roll axis or axis 3 rather than about its own roll axis (axis 2), regardless of whether it articulates with respect to the tool shaft 2011. .

In the alpha configuration, the dial 2024 can be rotated about axis 1 with respect to the handle body 2026 to create relative roll motion of the EE frame 2016 about axis 2 with respect to the EE base 2028 . This is accomplished via a second roll transmission assembly consisting of a proximal body (eg, shown in FIG. 25C) that mates with dial 2024 (or roll body) that is part of handle assembly 2022 . This proximal body is integral with or coupled to the proximal end of a roll transmission member 2042 that can be guided through a roll transmission member conduit 2035 that is part of the roll transmission interface 2037 (see FIG. 22A). If a roll transmission member conduit is used, roll transmission member conduit 2035 may be coupled at its distal end to frame 2032 and at its proximal end to handle body 2026 . Alternatively, at its proximal end, roll closure transmission member conduit 2035 may be coupled to dial 2024 via an interface that allows relative roll rotation between the two. In some examples, no roll transfer member conduits may be used at all. The roll transmission member 2042 can also pass through a portion of the tool frame 2032, the tool shaft 2011, the output articulation 2020, and the EE base 2028. A distal portion of this roll transfer member 2042 terminates in the EE frame 2016 and is coupled to the EE frame. When dial 2024 is rotated about axis 1 relative to handle body 26 (relative to frame 2032 in any articulated orientation of handle assembly 2022), this roll rotation of dial causes EE frame EE frame 2016 to rotate axis 2. Rotation about the EE base 2028 as a center is transmitted to the end effector assembly 2010 via the second roll transmission assembly. Therefore, there are two different roll transmission assemblies in the alpha configuration. There may be a version of the alpha configuration in which there is only one roll transfer assembly, for example a second roll transfer assembly. In this version of the alpha configuration, either the input articulation 2040 provides no DoC around roll rotation, or the output articulation 2020 does not provide DoC around roll rotation, or neither provides DoC around roll rotation. Do not provide. As a result, transmission of roll rotation via the first roll transmission assembly is no longer possible and the only functional roll transmission assembly is the second roll transmission assembly mentioned above.

For the Beta configuration (FIG. 22B), rotation of dial 2024 about axis 1 relative to handle body 2026 results in rigid roll rotation of frame 2032, tool shaft 2011, and EE frame 2016 as a whole. The EE frame 2016 rotates about axis 2 at all times. Axis 2 is collinear with axis 3 when EE assembly 2010 is not articulated with respect to shaft 2011 . When the EE assembly 2010 is in the articulated position, axis 2 is at an articulated angle to axis 3 . This roll rotation is transmitted from dial 2024 through input articulation 2040 , the rigid body (ie frame 2032 and tool shaft 2011 ), and output articulation 2020 . In this case, input articulation 2040 and output articulation 2020 each provide a DoC in the roll rotational direction to transfer roll motion from dial 2024 to EE frame 2016 . When the handle assembly 2022 articulates with respect to the frame 2032 and the EE assembly 2010 articulates with respect to the shaft 2011, the roll rotation of the dial 2024 about axis 1 with respect to the handle body 2026 is EE A roll rotation of the frame 2016 is provided. A roll rotation of the EE frame 2016 results in a roll rotation of the entire EE assembly 2010 (including moving jaws 2012 and fixed jaws 2014) about axis 2 . In this articulated configuration, axes 2 and 3 are no longer collinear.

In the Beta configuration, EE roll motion is transmitted through a single roll transmission assembly consisting of rigid roll rotation of the frame and shaft, and roll motion transmission through input and output articulations. On the other hand, in the Alpha configuration, EE roll motion transmission can occur via two roll transmission assemblies, as described above.

FIG. 23 shows an embodiment of a tool device that includes a parallel motion mechanism input articulation with a center of rotation (virtual center) proximal to the handle assembly 2022. FIG. This tool device embodiment is based on the Beta configuration described above. Along with the frame 2032, tool shaft 2011, and EE assembly 2010, there is a handle assembly 2022 within this tool apparatus. The handle assembly 2022, which is part of this tool apparatus, is described in detail in the sections below.

Handle Constraint Maps A and B
FIG. 24A is a constraint map called “Constraint Map A” used to describe the relationship between the various bodies that make up the handle assembly 2022. FIG. Handle assembly 2022 may be composed of four bodies: handle body 2026 , dial 2024 , push rod 2044 and shuttle 2046 . In the embodiment of the handle assembly that maps to the constraint map shown in Figure 24A, the handle body 2026 can be considered the local ground.

Closure body (ie, push rod) 2044 has a 1 DoF translational joint along direction 1 with respect to handle body 2026 . Push rod 2044 also has a DoC of rotation about axis 1 with respect to handle body 2026 . In other words, push rod 2044 is rotationally constrained (e.g., keyed) with respect to handle body 2026 such that when handle body 2026 rotates about axis 1, it causes push rod 2044 to rotate with itself. . Roll body (ie, dial) 2024 has a 1 DoF rotational joint to handle body 2026 . Dial 2024 rotates about axis 1 with respect to handle body 2026 . Dial 2024 also has one translational DoC along direction 1 with respect to handle body 2026 . Thus, translating handle body 2026 along direction 1 also translates dial 2024 . Shuttle 2046 has a 1 DoF rotational joint to push rod 2044 , ie shuttle 2046 can rotate about axis 1 with respect to push rod 2044 . Shuttle 2046 also has a translation DoC along direction 1 with respect to push rod 2044 . Thus, translation of push rod 2044 along direction 1 is transmitted to shuttle 2046 . Shuttle 2046 has a 1 DoF translational articulation along direction 1 to dial 2024 . Shuttle 2046 also has a one rotation DoC about axis 1 with respect to dial 2024 . Thus, rotation of dial 2024 about axis 1 relative to handle body 2026 results in rotation of shuttle 2046 about axis 1 since there is a rotational DoC between shuttle 2046 and dial 2024 .

As seen in FIG. 24B, which shows “Constraint Map B,” handle assembly 2022 may also include additional bodies such as closure input 2048 and roll input 2050 . Closure input 2048 pushes through a direct structural connection or through a closure input mechanism that transfers input motion of closure input 2048 relative to handle body 2026 to translation along direction 1 of push rod 2044 relative to handle body 2026. It may be connected to rod 2044 . In the former scenario, where closure input 2048 is directly structurally connected to pushrod 2044 , pushrod 2044 itself acts as closure input 2048 . Here, closure input 2048 is integral with pushrod 2044 or is an extension thereof. However, in other scenarios, closure input 2048 may be coupled to pushrod 2044 via a closure input mechanism (shown through various embodiments in the next section). Actuation of closure input 2048 may be performed manually by a user or by using an electromechanical actuator, or pneumatic actuator, or hydraulic actuator, or another actuator. Additional mechanical transmission components (eg, gears, pulleys, levers, tension cables, etc.) may be used between the actuator and closure input 2048. Such mechanical transmission components may also be included in the closure input mechanism.

The roll input 2050 is connected to the dial via a direct structural connection or via a roll input mechanism that transfers input motion of the roll input 2050 relative to the handle body 2026 to rotation of the dial 2024 about axis 1 relative to the handle body 2026. 2024. In the former exclusive case, roll input 2050 is directly structurally connected to dial 2024 , and dial 2024 itself functions as roll input 2050 . Roll input 2050 is integral with or an extension of dial 2024 . However, in the more general case, roll input 2050 is coupled to dial 2024 via a roll input mechanism (described in detail below). Actuation of the roll input 2050 may be performed manually by the user, or by using an electromechanical actuator, or a pneumatic actuator, or a hydraulic actuator, or another actuator. Mechanical transmission components and systems (ie gears, pulleys, levers, tension cables, etc.) can be used between such actuators and the roll input 2050 and/or within the roll input mechanism.

Input received at closure input 2048 results in translation of shuttle 2046 along direction 1 relative to handle body 2026 . Input received at roll input 2050 results in rotation of shuttle 2046 about axis 1 relative to handle body 2026 . These inputs can be received simultaneously by the handle system shown in FIGS. 24A-24B for combined or simultaneous translation and rotation of shuttle 2046 .

Tool Device Configuration Map When the handle assembly of FIG. 24B is used in a tool device, the inputs received at closure input 2048 and roll input 2050 result in jaw closure motion and EE roll motion in EE assembly 2010, respectively. Based on the input provided to handle assembly 2022 by the user at closure input 2048 , the output motion of handle assembly 2022 is translation of shuttle 2046 along direction 1 relative to dial 2024 and handle body 2026 . Based on the input provided to handle assembly 2022 by the user at roll input 2050 , the output motion of handle assembly 2022 is rotation of shuttle 2046 about axis 1 relative to handle body 2026 . Thus, handle assembly 2022 is such that two separate and independent inputs provide combined translational and rotational output motion in a single body, shuttle 2046 . A major advantage of providing independent inputs to the handle assembly 2022 is the ability to independently optimize the bodies, joints, mechanisms, and transmission members that are part of the roll transmission assembly and jaw closure transmission assembly.

The Beta configuration tool apparatus shown in FIG. 23 includes a handle assembly 2022 that follows the constraint map shown in FIG. including. Translation of dial 2024 (e.g., shown as rotary dials 102, 402 in FIGS. 4A and 4B) along direction 1 of shuttle 2046 (e.g., shown as shuttles 104, 404 in FIGS. 4A and 4B) is controlled by the fixed jaws. Provides opening and closing actuation of motion jaws 2012 relative to 2014 (eg, shown in FIG. 21A). As part of the jaw closure transmission assembly, a jaw closure transmission member 2038 (routed through jaw closure transmission member conduit 2039 ) that transmits translation of shuttle 2046 to produce jaw closure motion in end effector assembly 2010 . ) exists. The jaw closure transmission member 2038 must have adequate stiffness along direction 1 at the location where it joins the shuttle, and more generally along its entire length, to capture and transmit the translation of the shuttle 2046. must. The jaw closure transmission member 2038 is a flexible (bendable) solid wire (e.g., piano wire, nitinol wire) that may or may not be torsionally stiff when rotated about its center of gravity axis. may be a solid rod that may not be flexible in bending and/or torsion, it may be a braided cable assembly that is flexible in bending and/or torsion, Or it may be a member with a combination of these attributes. All of these transmission members provide relatively high axial stiffness along their respective lengths.

Also, rotation of dial 2024 about axis 1 relative to handle body 2026 results in rotation of shuttle 2046 about axis 1 . In this case (similar to the beta configuration of FIG. 22B), the roll transfer assembly consists of rigid bodies (frame 2032, tool shaft 2011) and input and output articulations 2040,2020.

In this case, the jaw closure and roll transfer assembly are independent and can therefore be analyzed, designed and optimized independently. For example, the bodies, joints, and mechanisms belonging to the jaw closure transmission assembly can be independently optimized for mechanical advantage, force, materials used, efficiency, etc. without affecting roll rotation transmission. Similarly, the bodies, joints and mechanisms belonging to the roll transmission assembly can be independently optimized to efficiently transmit roll without affecting jaw closure transmission.

As part of the handle assembly mapping to constraint maps A and B, shuttle 2046 is pushed by push rod (or closure body) 2044 toward the proximal end of handle assembly 2022 (also shown as 400 in FIGS. 4A and 4B). be pulled. Closure input 2048 may be a rigid extension of push rod 2044 , in which case closure input 2048 may translate along direction 1 relative to handle body 2026 . In other examples, closure input 2048 may be coupled to push rod 2044 via a closure input mechanism. In these examples, movement of closure input 2048 relative to handle body 2026 results in translation of push rod 2044 along direction 1 relative to handle body 2026 . This causes the moving jaws 2012 to act against the fixed jaws 2014 within the EE assembly 2010 .

For some tool devices, actuating the moving jaws 2012 relative to the fixed jaws 2014 may be difficult due to high clamping load requirements between the two jaws or the body in the jaw closure transmission assembly. Large amounts of force may be required due to high losses and/or resistance between. This means that pushrod 2044 must pull shuttle 2046 along direction 1 with a high force. Rotating shuttle 2046 relative to push rod 2044 at the same time while the interface between push rod 2044 and shuttle 2046 is under high load (for various reasons described above) may cause the shuttle 2046 and push rod 2044 to Without a well-defined and intentional load-bearing interface between , it can prove difficult and inefficient to implement due to high resistance.

For a handle assembly 2022 that follows the constraint map shown in FIGS. 24A-24B, there is a well defined profile between shuttle 2046 and push rod 2044 that allows relative rotation of the two bodies in the presence of high axial loads. A bearing interface exists. This well-defined load bearing interface provides a high axis for rotation of shuttle 2046 relative to pushrod 2044 and ultimately roll rotation of EE assembly 2010 when moving jaw 2012 is actuated relative to fixed jaw 2014. It can consist of thrust bearings, roller bearings, or lubricating slide bearings (eg, FIGS. 3D, 3E, 3F) that help mitigate the effects of directional loads. Therefore, the existence of a well-defined bearing interface within the handle assembly 2022 that makes roll transmission efficient without affecting jaw closure transmission is a functional need for an efficient instrument/device.

FIG. 25A shows a tooling configuration map (ie, schematic) incorporating handle assembly 2022 based on constraint map B of FIG. 24B. This tooling configuration map correlates with the Beta configuration of the tooling device presented in FIG. 22B. In this configuration, there are two independent transmission assemblies, a jaw closure transmission assembly and a roll transmission assembly. Actuation of closure input 2048 on handle body 2026 results in translation along direction 1 of closure body or push rod 2044 . Since the shuttle 2046 has a translation DoC along direction 1 with respect to the push rod 2044, translation of the push rod relative to the handle body results in translation of the shuttle 2046 along direction 1 directly relative to the handle. The bottom right legends of FIGS. 25A-25C indicate the following. A single line represents a joint or mechanism that provides at least 1 DoF (eg, input articulation, output articulation, etc.) between bodies, components, or subassemblies. Double lines represent transmission members (eg, cables) that transmit motion from one body/component/subassembly to another body/component/subassembly. A triple line represents an interface that can be either a rigid/direct bond between two bodies/components/subassemblies or a bond/mechanism that provides at least 1 DoF between two bodies/components/subassemblies; A dash-dotted line represents a subassembly.

Referring to FIG. 25A, the proximal body, which is part of the jaw closure transmission assembly, is coupled to the shuttle 2046 and thus translates with the shuttle, thereby attaching or coupling the jaws to the proximal body. It transmits motion to the closure transmission member 2038 . At the distal end is a jaw closure transmission member 2038 . The jaw closure transmission member is coupled at its distal end to the distal body, which directs or directs translation of the distal body about the pivot axis 4 relative to the EE frame 2016 (and fixed jaw 2014). is coupled to the kinetic jaws 2012 of the end effector assembly 2010 via a mechanism that translates into rotation of the kinetic jaws 2012 to produce jaw closure motion. The proximal body, jaw closure transmission member, and various intermediates (eg, intermediate 1 and intermediate 2) are all part of the jaw closure transmission assembly. The proximal body may be coupled to the shuttle via a rigid/direct bond or via a bond/mechanism as represented by the triple line. Similarly, the distal body may be coupled to the motion jaws via a direct/rigid connection or via a joint/mechanism. FIG. 25A shows "Intermediate 1" and "Intermediate 2" and the joints/mechanisms therebetween, showing the various types of components that may be present in the jaw closure transmission assembly. There may be more than two intermediates, joints/mechanisms, and transmission members within the transmission assembly.

25A, rotation of the roll input 2050 relative to the handle body 2026 produces EE roll motion. This configuration map correlates with the Beta configuration of the tooling equipment presented in FIG. 22B. The transfer of EE roll motion from handle assembly 2022 to EE assembly 2010 for this beta configuration is described above. At the input end, shuttle 2046 has a roll DoC centered on axis 1 relative to dial 2024 . Thus, when the user rotates dial 2024, shuttle 2046 also rotates. There is also a roll DoF about axis 1 between the pushrod 2044 and the shuttle 2046 so that the shuttle 2046 is also affected by the jaw closure transmission (at the closure input 2048) occurring within the handle assembly 2022. It can rotate relatively freely without being subject to The presence of a separate body shuttle 2046 within the handle assembly 2022 maintains independence between the jaw closure transmission assembly and the roll transmission assembly.

In the prior art, tool devices exist that follow another tool device configuration map shown in FIG. 25B without the shuttle 2046 in the handle assembly 2022. This configuration map does not incorporate the handle assembly based on the constraint maps of Figures 24A or 24B. With the exception of the shuttle, all other bodies and associated joints within handle assembly 2022 shown in FIG. 25B correspond to the handle assembly constraint map shown in FIG. 24B. Jaw closure motion is transmitted from the proximal end of the tool apparatus to the EE assembly 2010 by actuation of closure input 2048 , resulting in translation of push rod 2044 along direction 1 relative to handle body 2026 . Closure body or push rod 2044 is further connected to jaw closure transmission member 2038 with a proximal body. This proximal body or proximal end of the transmission member has a translation DoC along direction 1 with respect to push rod 2044 . Accordingly, translation of push rod 2044 is transmitted to the proximal body and/or proximal end of the transmission member, both of which reside within the jaw closure transmission assembly. The proximal body is rigidly connected or coupled to the proximal end of jaw closure transmission member 2038 . Alternatively, the proximal body may be the relatively rigid end proximal end of the jaw closure transmission member 2038 . Within the jaw closure transmission assembly is a distal body, either rigidly coupled to the distal end of jaw closure transmission member 2038 or itself being the distal end of jaw closure transmission member 2038. There may be Further, as in FIG. 25A, this distal body either directly or translates translation of the jaw closure transmission member 2038 (and thus the distal body) into rotation of the motion jaws 2012 relative to the EE frame/fixed jaws. may be coupled to the motion jaws 2012 of the EE assembly 2010 via a mechanism that The mechanism may include linkages, rack and pinion assemblies, pulleys, cams, pins, and the like.

In the particular scenario of FIG. 25B, the distal body or distal end of jaw closure transmission member 2038 is such that rotation of motion jaws 2012 about axis 2 causes the distal body or distal end of jaw closure transmission member 2038 to move. It may have a roll DoC (eg, via a key feature or pin) about axis 2 relative to the motion jaws 2012 to provide end rotation. EE roll motion is produced by rotation of the roll input 2050 (or directly of the dial 2024) relative to the handle body 2026. This configuration map (FIG. 25B) also matches the Beta configuration of the tooling device presented in FIG. 22B. EE roll rotation of roll input 2050 (dial 2024) relative to handle body 2016 (all parts of handle assembly 2022) is transmitted to tool frame 2032 and shaft 2011 through input articulation 2040 and through output articulation 2020. is communicated to the EE assembly 2010 as described above for this beta configuration. Ultimately, the roll rotation of the EE assembly 2010 also causes the EE frame 2016 , fixed jaw 2014 and moving jaw 2012 to roll about axis 2 .

As noted above, rotation of motion jaws 2012 about axis 2 also results in rotation of the distal end of distal body or jaw closure transmission member 2038 due to the presence of roll DoC about axis 2. obtain. Jaw closure transmission member 2038 does not transmit roll rotation in this configuration, but nevertheless rotates due to EE roll motion about its center of gravity axis. Rotation of the jaw closure transmission member 2038 initiated at the distal end of the instrument should ideally have a corresponding matching rotation at the proximal end where it contacts the proximal body. If the distal end rotation does not have matching rotation at the proximal end, it leads to unnecessary storage and waste of energy, as well as other functionality issues such as torsional stoppage of the jaw closure transmission member 2038. lead, which can affect EE roll motion and jaw closure motion. This highlights the importance of individual shuttle components that are present in the configuration map of Figure 25A but not in Figure 25B.

For the tool apparatus configuration map of FIG. 25B, the jaw closure transmission member 2038 (more generally the jaw closure transmission assembly) must have certain design characteristics. It must be axially stiff and torsionally stiff about its center of gravity axis, even if it does not transmit roll rotation. It should also have a low friction or frictionless interface along its entire length along the shaft before contacting the closure body or pushrod 2044 . It should also have a roll DoF at its proximal end about axis 1 relative to rod 2044 . This roll DoF joint helps make the rotation of the proximal body (or the proximal end of jaw closure transmission member 2038) the same as the rotation of the distal body (or the distal end of jaw closure transmission member 2038). .

Thus, the absence of shuttle 2046 (as in the prior art) provides an efficient roll DoF at room temperature between the proximal body (or the proximal end of jaw closure transmission member 2038) relative to pushrod 2044. Only acceptable if there is a joint and if the jaw closure transmission member 2038 (and jaw closure transmission assembly) is adequately rigid in torsion (i.e. about its center of gravity axis or roll rotation axis) . This is necessary to ensure that the jaw closure transmission member can rotate freely about its center of gravity axis without twisting and without affecting EE roll motion or jaw actuation. The presence of the shuttle 2046 and the roll DoC between the shuttle 2046 and the dial 2024 centered on axis 1 provides an efficient solution and allows the above design characteristics, i.e. high torsional stiffness of the jaw closure transmission member 2038 and Reduces the need for axial stiffness. This means that an axially stiff but not torsionally stiff cable can be used as a jaw closure transmission member in a Beta configuration tool device. An advantage of using such a jaw closure transmission member is that it is also flexible in flexion, which allows a narrow flexion radius and a wide range of articulation at the output articulation 2020 .

In contrast to the tool device configuration map shown in FIG. 25A, there is a tool device based on another configuration map (FIG. 25C) in which handle assembly 2022 does not include shuttle 2046. FIG. In FIG. 25C, with the exception of the shuttle, all other bodies and associated joints within handle assembly 2022 are mapped to the constraint map shown in FIG. 24B. This tool apparatus configuration of FIG. 25C matches the alpha configuration of the tool apparatus shown in FIG. 22A. As mentioned in the alpha configuration description, there may be two transmission interfaces and associated transmission assemblies and transmission members, one for the jaw closure transmission and one for the roll rotation transmission. These two transmission interfaces and associated transmission members may be separate or combined. In other words, the same transmission member can function as a jaw closure transmission member as well as a roll rotation transmission member. This latter case is illustrated in the tooling equipment configuration map of FIG. 25C. Here, the proximal body that is part of the "combined roll rotation and jaw closure transmission assembly" is rigidly connected/coupled to the distal end of the "combined roll rotation and jaw closure transmission" member. ing. Roll rotation of roll input 2050 is transmitted to dial 2024 via a roll input mechanism (described below). Roll rotation is from dial 2024 to roll to the proximal body (or the proximal end of the combined roll rotation and jaw closure transmission member) to roll DoC about axis 1 relative to dial 2024 and along direction 1. It is transmitted through junctions that provide translational DoF. Further, this proximal body (or the proximal end of the combined roll rotation and jaw closure transmission member) is connected to the closure via joints that provide a translational DoC along axis 1 and a rotational DoF about axis 1. It is connected to the body or push rod 2044 . The distal body that is part of the roll rotation and jaw closure transmission assembly (or the distal end of the combined roll rotation and jaw closure transmission member) is attached to the EE assembly 2010 (specifically , EE frame 2016 and motion jaws 2012). This mechanism allows translation of the distal body relative to the EE frame 2016 (i.e., DoF along axis 2), but constrains and thus transfers roll between the two (i.e., via a key mechanism DoC centered on axis 2). This mechanism also couples the distal body (or the distal end of the combined roll rotation and jaw closure transmission member) to the motion jaws 2012 to cause translation of the former to produce jaw closure motion. , into a rotation of the latter (ie the moving jaw 2012) about the pivot axis 4 with respect to the EE frame/fixed jaw. The mechanism may include linkages, rack and pinion assemblies, pulleys, cams, pins, gears, cables, and the like.

This function may require that the combined roll and jaw closure transmission member have certain design characteristics. The proximal body or the proximal end of the transmission member should have a joint to the closure body or push rod 2044 of at least 1 DoF (roll rotation). This joint can be accomplished through a bearing interface between the proximal body (or the proximal end of the transmission member) and the pushrod 2044 using thrust bearings, lubricating slide bearings, or the like. This transmission member must also be torsionally stiff about its center of gravity axis and also axially stiff (under both tension and compression) to transmit both roll rotation and jaw closure actuation respectively. . The torsional stiffness of the pushrod/closure body 2024 and the proximal body (or the proximal body of the transmission member) is believed to not only transfer roll, but also provide a rotational DoF about axis 1 and a translational DoC along axis 1. Any friction at the junction between the two ends must be high, especially so that the transmission member does not twist (i.e. twist and wind up) when a jaw closure actuation force is applied through the transmission member. not. These design characteristics of large axial and torsional stiffness also affect the bending capability of the transmission member, which limits the tool device's ability to provide a wide range of articulation and a narrow bending radius at the output articulation 2020. For example, a small diameter braided cable (which is ideal in terms of flexibility) is not ideal for this transmission member. This is because such a cable is neither torsionally stiff about its centroid axis nor axially stiff under compression. Stiffer transmission members (e.g., solid wire, monofilament, or large diameter thick braided cables) provide desirable high axial stiffness (in tension and compression) and torsional stiffness, and are too stiff in flexion This makes it difficult to achieve large joint motions and small flexion radii in output articulations. This illustrates the limitations of prior art tool devices based on the tool device configuration map of FIG. 25C, which lacks separate shuttle bodies/components. In the absence of the shuttle and its associated well-defined and well-designed respective joints to the roll body and closure body, the combined jaw closure transmission member fulfills the above requirements of high axial and torsional stiffness. There must be. These requirements adversely affect the flexibility of this transmission member, thereby limiting the articulation range and narrow flexion radius of the output articulation.

In this configuration (FIG. 25C), a well-defined bearing interface that provides a roll DoF about axis 1 between the pushrod/closure body 2044 and the proximal body (or the proximal end of the transmission member) is not exist. Such well-defined and well-designed bearing interfaces isolate the effects of high jaw closure transmitted loads (eg, axial tension or force) on the transmission member. However, because there is no shuttle body within the handle assembly 2022 in this configuration, the combined roll and jaw closure transmission member requires the design characteristics described above (e.g., sufficiently high torsional stiffness) to limit articulation performance. do.

Embodiment of Handle Assembly--Mapping to Constraint Maps A and B FIG. . This handle assembly 2022 is an embodiment that follows the constraint map shown in FIGS. 24A-24B. Roll input 2050 is represented in its simplest form as dial 2024 itself. Now, rotation of dial 2024 about axis 1 relative to handle body 2026 results in rotation of shuttle 2046 about axis 1 . Between the dial 2024 and the handle body 2026 is a plain bearing 2052 made of lubricious material (eg Delrin, Teflon, PEEK, PTFE coated aluminum). A thrust bearing 2054 exists between the shuttle 2046 and the push rod 2044 . Between dial 2024 and shuttle 2046 there is a roll DoC bond near direction one. Actuation of closure input 2048 translates pushrod 2044 along direction 1, while closure input 2048 and pushrod 2048 are aligned such that pushrod 2044 has a roll DoC joint about direction 1 with respect to handle body 2026. 2044 there is a closure input mechanism 2056 . Thus, there is a prismatic junction 2058 between push rod 2044 and handle body 2026 . In the absence of this roll DoC joint, roll friction between push rod 2044 and shuttle 2046 causes push rod 2044 to transmit friction roll torque to closure input 2048 . This can result in high force requirements for actuating closure input 2048 in order to introduce reaction loads into the pivot joint between closure input 2048 and handle body 2026 . If the roll friction between pushrod 2044 and shuttle 2046 is low, this roll DoC may not be necessary.

26, the closure input mechanism 2056 is represented by a rack and pinion gearset 2060 transmission assembly. Here, the closure input 2048 is a handle lever integrated with a pinion gear, and the push rod 2044 is integrated with a rack gear. Rotation of the closure input 2048 relative to the handle body 2026 about its pivot axis allows the rack to move back and forth along direction 1 . Additionally, the presence of prismatic joints 2062 provides a translational DoF along direction 1 for handle body 2026 .

FIG. 27 depicts another embodiment of handle assembly 2022 including handle body 2026, dial 2024, pushrod 2044, closure input 2048, and shuttle 2046. As shown in FIG. This handle assembly 2022 is an embodiment that follows the constraint map shown in FIGS. 24A-24B. Roll input 2050 is represented in its simplest form as dial 2024 itself. Now, rotation of dial 2024 about axis 1 relative to handle body 2026 results in rotation of shuttle 2046 about axis 1 . Between the dial 2024 and the handle body 2026 is a slide bearing 2064 made of lubricious material (eg Delrin, Teflon, PEEK, PTFE coated aluminum). A thrust bearing 2066 resides between shuttle 2046 and push rod 2044 . There is a roll DoC joint about axis 1 between dial 2024 and shuttle 2046 since dial 2024 functions as roll input 2050 . Between closure input 2048 and push rod 2044 is such that push rod 2044 has a roll DoC joint about direction 1 with respect to handle body 2026 while push rod 2044 translates along direction 1. , there is a closure input mechanism 2056 . Thus, there is a prismatic junction 2068 between push rod 2044 and handle body 2026 . Closure input mechanism 2056 consists of screw mechanism 2070 that resides between closure input 2048 and push rod 2044 .

In the embodiment shown in FIG. 27, closure input 2048 acts as a screw and push rod 2044 acts as a nut as part of this screw mechanism 2070. In the embodiment shown in FIG. Closure input 2048 has a translational DoC joint along direction 1 with respect to handle body 2026 and a rotational DoF about axis 1 with respect to handle body 2026 . The thread of the screw (here closure input 2048) is mated with the nut (push rod 2044). Push rod 2044 has a translation DoF along direction 1 with respect to handle body 2026 and a rotation DoC about axis 1 with respect to handle body 2026 . Rotation of the screw thus results in translation of the push rod 2044 . This closure input 2048 (screw) can be manipulated by the user by turning the proximal end of the screw or via an actuator (eg, stepper or servomotor). Also, the threads shown may be lead or ball screws, depending on other requirements of the application in which this handle assembly 2022 is incorporated. Although FIG. 27 shows a distal bearing between closure input 2048 and handle body 2026, there are applications where a proximal bearing interface between closure input 2048 and handle body 2026 may be required. can exist. Similarly, although a proximal bearing between shuttle 2046 and pushrod 2044 is shown, there are applications where a distal bearing interface between closure input 2048 and handle body 2026 may be required. can.

FIG. 28A depicts handle assembly 2022 including handle body 2026 , push rod 2044 , closure input 2048 , dial 2024 and shuttle 2046 . This handle assembly 2022 is an embodiment that follows the constraint map shown in FIGS. 24A-24B. Roll input 2050 is represented in its simplest form as dial 2024 itself. Now, rotation of dial 2024 about axis 1' relative to handle body 2026 results in rotation of shuttle 2046 about axis 1'. Between the dial 2024 and the handle body 2026 are sliding bearings (eg bushings) or ball bearings made from a lubricious material (eg Delrin, Teflon, PEEK, PTFE-coated aluminum). A thrust bearing 2072 resides between shuttle 2046 and push rod 2044 . Shuttle 2046 also translates along direction 1 ′ relative to dial 2024 and thus has a prismatic junction 2074 relative to dial 2024 . A roll DoC junction exists between dial 2024 and shuttle 2046 because dial 2024 functions as roll input 2050 . Between the closure input 2048 and the pushrod 2044 is a closure input mechanism 2056 that translates the pushrod 2044 along a path that is not the same as direction 1 . Push rod 2044 also has a roll DoC joint about axis 1 to handle body 2026 .

In the embodiment shown in FIG. 28A, this closure input mechanism 2056 has a flexible member 2076 (e.g., , flexible wire). This axis is defined as axis 1'. This flexible wire thus has a translational DoF along the axis 1′ direction with respect to the handle body 2026, and by guiding features of the handle body 2026 that are all around the wire, this axial constrained to move along The wire's flexibility provides the ability to bend, but the wire needs to be stiff along its center axis to transfer motion from the closure input 2048 to the push rod 2044 . The wire may be a nitinol wire, a rigid member such as spring steel, a polymer composite including an elastomeric resin, and the like.

This closure input mechanism 2056 may comprise a flexible wire that is flexible but rigid along its centroid axis, or as shown in FIG. may be a serial chain of DoF pivot joints of , where axis 1'' is perpendicular to both axis 1 and axis 1'. An embodiment showing a pivot chain 2078 with such pivot joints is shown in FIG. 28B. FIG. 28C illustrates the use of a pivot chain 2078 consisting of a serial chain 2078 of pivot joints guided by slot features present in the handle body 2026 where the closure input mechanism 2056 is. At their ends, a flexible wire or series chain of joints may be rigidly connected to closure input 2048 and push rod 2044, respectively.

29A-29B depict handle assembly 2022 including handle body 2026, push rod 2044, dial 2024, roll input 2050, and shuttle 2046. FIG. Handle assembly 2022 is an embodiment that follows the constraint maps shown in FIGS. 24A-24B. Between dial 2024 and handle body 2026 is a ball bearing 2080 . A thrust bearing 2082 exists between the shuttle 2046 and the push rod 2044 . There is a separate component roll input 2050 that contacts dial 2024 via roll input transmission. Rotation of roll input 2050 about axis 1 ′ perpendicular to axis 1 relative to handle body 2026 is transmitted to dial 2024 via bevel gear assembly 2084 . Roll input 2050 and dial 2024 function as a bevel gear set such that rotation of roll input 2050 about axis 1 ′ is transferred to rotation of dial 2024 about axis 1 relative to handle body 2026 . Here, these gears transmit the rotation of roll input 2050 to dial 2024 at a 90° angle between each axis of roll input 2050 and dial 2024 (axis 1). These gears may be designed to contact at other angles between axis 1 and axis 1'. This rotation of dial 2024 results in rotation of shuttle 2046 about axis 1 . Shuttle 2046 also translates relative to dial 2024 along direction 1'. Closure input 2048 is in the form of pushrod 2044 in its simplest form. There is a translation DoF along direction 1 between the push rod 2044 and the handle body 2026 . 29 shows a distal bearing between the pushrod 2044 and the handle body 2026, there are applications where a distal bearing interface between the closure input 2048 and the handle body 2026 may be required. can.

30A-30B (front and isometric views, respectively) depict handle assembly 2022 including handle body 2026, push rod 2044, dial 2024, and shuttle 2046. FIG. This handle assembly 2022 is an embodiment that follows the constraint map shown in FIG. 24A. Now, rotation of dial 2024 about axis 1' relative to handle body 2026 results in rotation of shuttle 2046 about axis 1'. Roll input 2050 is represented in its simplest form as dial 2024 itself. A roll DoC junction exists between dial 2024 and shuttle 2046 because dial 2024 functions as roll input 2050 . This view does not show closure input 2048 and closure input mechanism 2056 . This embodiment represents a dial-shuttle interface that is a compliant mechanism 2086 that allows translation along direction 1 of shuttle 2046 . Also, the handle body-pushrod interface is a compressor that allows the pushrod 2044 to translate along direction 1, although the pushrod 2044 has a rotational DoC junction about axis 1 with respect to the handle body 2026. client mechanism 2088 . This compliant mechanism (2086, 2088) can consist of two parallel beams that connect radially between the handle body 2026 and the push rod 2044 as well as between the dial-shuttle. There is also a roll DoF about axis 1 and a translation DoC along direction 1 between pushrod 2044 and shuttle 2046 .

30C, 30D and 30E show embodiments of flexure or compliant bearings that provide 1 DoF translation along direction one. Such flexion bearings may be used as an interface between dial 2024 and shuttle 2046 and/or between handle body 2026 and push rod 2044 . FIG. 30C shows a linear 1 DoF linear flexion bearing 2090. FIG. FIG. 30D shows an orthogonal planar spring 2092. FIG. As the inner ring is pushed along axis 1, orthogonal planar springs 2092 assist in linear motion of the inner ring relative to the outer ring. Here, the outer ring can be integral with dial 2024 and the inner ring can be connected to shuttle 2046 . Similarly, the outer ring may be integral with handle body 2026 while the inner ring is structurally connected to push rod 2044 .

Handle assembly constraint map C
FIG. 31A represents a constraint map showing a four-body system including closure body 2044, handle body 2026, roll input 2050, and shuttle 2046. FIG. There is at least a 1 DoF junction or mechanism between closure body 2044 and handle body 2026 . There is a 1 DoF rotational joint between roll input 2050 and handle body 2026 that provides rotation about axis 1 and one translational DoC along direction 1 . There is also one DoF translational joint along direction 1 and one rotational DoC joint that constrains rotation about axis 1 between shuttle 2046 and roll input 2050 . Thus, the output of the 1 DoF interface/mechanism that exists between closure body 2044 and handle body 2026 is transferred to 1 DoF translation of shuttle 2046 to roll input 2050 . This transmission can be through a transmission member or by one or more DoF junctions that can exist between shuttle 2046 and closure body 2044 . This handle assembly 2022 may be part of a device/instrument consisting of an elongated tool shaft 2011 having an EE assembly 2010 at its distal end (as shown in Figure 23). Elongated tool shaft 2011 may be distal to handle assembly 2022 . The EE assembly 2010 may consist of a moving jaw 2012 and a fixed jaw 2014 as previously described. Translation along direction 1 with respect to roll input 2050 of shuttle 2046 can result in relative motion of moving jaw 2012 with respect to fixed jaw 2014 . Also, rotation of roll input 2050 may result in rotation of EE assembly 2010 about its roll axis.

FIG. 31B represents an expanded constraint map showing a six-body system including closure body 2044, handle body 2026, roll body 2024, shuttle 2046, closure input 2048, and roll input 2050. FIG. There is at least a 1 DoF junction or mechanism between closure body 2044 and handle body 2026 . This constraint map C' is an extension of the constraint map C shown in FIG. 31A. A closure input mechanism 2056 resides between closure input 2048 and closure body 2044 such that translational input can be transmitted through closure input 2048 . Similarly, there is a roll input mechanism 2094 between the roll input 2050 and the roll body 2024 so that rotational input can be transmitted through the roll input 2050 . These two mechanisms each help transfer motion by providing a DoC between closure input 2048 and closure body 2044 and between roll input 2050 and roll body 2024 . The embodiments shown in the following sections map to constraint map C. Constraint Map B is an extension of Constraint Map A, and similarly Constraint Map C' is an extension of Constraint Map C.

Handle Assembly Embodiment--Mapping to Constraint Map C FIGS. This embodiment is mapped to the constraint map shown in FIG. Here, roll input 2050 can be referred to as roll input 2050 because it exists in its simplest form. Rotation of roll input 2050 about axis 1 relative to handle body 2026 results in rotation of shuttle 2046 about axis 1 . Shuttle 2046 may also translate along direction 1 relative to roll input 2050 . Shuttle 2046 thus has a prismatic joint 2096 to roll input 2050 . Shuttle 2046 is an elongated member that extends toward the proximal end so as to have a ball/elliptical end that contacts closure body 2044 . Closure body 2044 is shown as a level with a 1 DoF rotational joint to handle body 2026 . The user triggers this input to one end of the pivot resulting in rotation of the other end about the pivot axis. This other end contacts shuttle 2046 . Thus, the ball end of shuttle 2046 contacts closure body 2044 . Closure body 2044 has two prong or wishbone or slot features that allow shuttle 2046 to be pulled by pulling on the ball end of shuttle 2046 . This feature on the closure body 2044 may have features for pulling the proximal end of the shuttle and/or pushing the proximal end of the shuttle 2046 .

As the closure body 2044 rotates about the pivot, its bifurcated ends rotate about the pivot joint axis. This end translates the proximal end of the shuttle along direction one. Translation of the proximal end of shuttle 2046 results in translation of the distal end of shuttle 2046 in contact with roll input 2050 . Thus, the interface between shuttle 2046 and closure body 2044 is such that when closure body 2044 (the lever) rotates about its pivot axis to produce translation along direction 1 for roll input 2050, Such that the proximal end translates relative to the closure body 2044 . 32A and 32B depict the ball/elliptical end of shuttle 2046. FIG. This end may be conical or anchor-like, or any other feature capable of contacting closure body 2044 to produce translational movement of shuttle 2046 along direction 1 . Also, the translation may be towards the proximal end and/or towards the distal end.

FIG. 33 depicts handle assembly 2022 including handle body 2026 , roll input 2050 , closure body 2044 and shuttle 2046 . This embodiment is mapped to the constraint map shown in FIG. Here, roll input 2050 can be referred to as roll input 2050 because it exists in its simplest form. Rotation of roll input 2050 about axis 1 relative to handle body 2026 results in rotation of shuttle 2046 about axis 1 . Shuttle 2046 may also translate along direction 1 relative to roll input 2050 . Shuttle 2046 thus has a prismatic joint 2098 to roll input 2050 . A screw mechanism 3010 resides between the closure body 2044 and the handle body 2026 . Closure body 2044 acts as a screw and handle body 2026 acts like a nut. Handle body 2026 is held stationary by the user while closure body 2044 (screw) is actuated by the user. Thus, closure body 2044 moves relative to handle body 2026 by rotating about axis 1 and translating along direction 1 . Here, the handle body 2026 acts as a local ground. At the distal end of closure body 2044 , there is a ball joint between closure body 2044 and shuttle 2046 such that shuttle 2046 can rotate relative to closure body 2044 about axis 1 . Also, due to the presence of this ball joint, rotation of the distal end of closure body 2044 (screw) relative to handle body 2026 does not transmit rotation to shuttle 2046 . Translation of the distal end of closure body 2044 results in transfer of translation to shuttle 2046 . Shuttle 2046 thus translates along direction 1 relative to roll input 2050 . Here, screw actuation is performed by the user by rotating the proximal end of closure body 2044 either manually, using a mechanical actuator, or via an electromechanical actuator (e.g., a linear motor). be able to.

FIG. 34A represents a diaphragm spring 3012 commonly used in automotive applications as part of a clutch assembly. Diaphragm spring 3012 is pre-bent and biased in one direction. When the spring 3012 is flexed in the opposite direction, it tends to return to its pre-bent configuration.

34B and 34C (different views of the same assembly) depict handle assembly 2022 including handle body 2026 , closure body 2044 , roll body 2024 and shuttle 2046 . This embodiment is mapped to the constraint map shown in FIG. Here, roll body 2024 exists in its simplest form and can be referred to as roll input 2050 . Rotation of roll input 2050 about axis 1 relative to handle body 2026 results in rotation of shuttle 2046 about axis 1 . Shuttle 2046 may also translate along direction 1 relative to roll input 2050 . Shuttle 2046 thus has a prismatic joint 3014 to roll input 3050 . There is a closure body 2044 that contacts diaphragm spring 3012 . This spring 3012 is intended to contact shuttle 2046 to produce translational motion of shuttle 2046 along direction 1 relative to roll input 2050, as shown in FIG. 34A. Therefore, the closure body 2044 produces 1 DoF with respect to the handle body 2026 (as described in Constraint Map C shown in FIG. 31). Spring 3012 is constrained against handle body 2026 and consists of an outer ring having an inner orifice. Between the outer ring and the inner orifice are compliant radial beams that can be deflected to produce displacement of the inner orifice. The closure body 2044 can have an elongated member (closure input 2048 shown in FIGS. 34B-34C) that allows the user to actuate and deflect the radial beams described above.

Shuttle 2046 is an elongated member that extends proximally of the feature that mates with roll input 2050 via prismatic joint 3014 . The proximal end of shuttle 2046 may be a ball end or oval end or similar feature that may be constrained to the inner orifice of diaphragm spring 3012 . When shuttle 2046 is mated with this orifice, the deflection of diaphragm spring 3012 against handle body 2026 causes shuttle 2046 to translate by pulling on the proximal end of shuttle 2046 . This deflection of spring 3012 can occur via a cable pulling around the inner orifice or via an elongated rigid member such as shown in FIGS.

As noted above, deflection of the spring 3012 can be accomplished via cable tension or a rigid extension of the diaphragm spring 3012 . If a cable is used, the cable may be constrained along direction 1 with respect to handle assembly 2022 . The cable referred to here constitutes closure input mechanism 2056 . This closure input mechanism 2056 may also consist of a braided cable or Nitinol wire or linkage or other similar transmission means. As roll input 2050 rotates, the ball end of shuttle 2046 rotates about axis 1 relative to diaphragm spring 3012 . This ball sliding may require the presence of a thrust bearing or ball bearing interface to the closure body 2044 . Alternatively, the ball may be made of a lubricious material (eg, POM/acetal, PEEK, PTFE, etc.) to prevent impact to the roll due to friction in this contact with closure body 2044 .

Embodiment of Handle Assembly - Discrete Dial Rotation (Rotation Resisting Force Member)
35A-35C represent configurations of roll input 2050 and shuttle 2046 that may be part of handle assembly 2022 mapped to any of the constraint maps shown in FIGS. 24A, 24B or 31. FIG. Here, roll input 2050 exists in its simplest form and can be referred to as dial 2024 . Rotation of dial 2024 about axis 1 relative to handle body 2026 results in rotation of shuttle 2046 about axis 1 . Shuttle 2046 can also translate along direction 1 relative to dial 2024 . Shuttle 2046 thus has a prismatic junction to dial 2024 .

In this embodiment, the dial 2024 and shuttle 2046 interfaces form two one-way ratchets. One advantage of the presence of the ratchet is that it provides discrete kinematic feedback while dial 2024 is rotated clockwise (CW) or counterclockwise (CCW) about axis 1. . FIG. 35A shows a configuration in which CCW rotation of dial 2024 about axis 1 produces relative motion between dial 2024 and shuttle 2046 . A compliant clutch mechanism exists between the dial 2024 and the shuttle 2046 such that CCW rotation of the dial 2024 flexes the compliant portion of the dial 2024 acting as a pawl to create an angled clutch residing on the shuttle 2046 . Skip tooth contours. On the other hand, when dial 2024 rotates CW, shuttle 2046 rotates with its own rotation about axis 1 . This embodiment is shown in FIG. 35A and is called a counterclockwise ratchet.

FIG. 35B shows a configuration where CW rotation of dial 2024 about axis 1 produces relative motion between dial 2024 and shuttle 2046 . A compliant clutch mechanism exists between the dial 2024 and the shuttle 2046 such that CW rotation of the dial 2024 flexes the compliant portion of the dial 2024 acting as a pawl to create an angled clutch residing on the shuttle 2046 . Skip tooth contours. On the other hand, when dial 2024 rotates CCW, shuttle 2046 rotates with its own rotation about axis 1 . This embodiment is shown in FIG. 35B and is called a clockwise ratchet.

Figure 35C shows an embodiment showing the clutch mechanism shown in Figures 35A and 35B as part of a single assembly, wherein the shuttle 2046 of Figure 35A is shown using a common shaft and common axis (axis 1). 35B shuttle 2046. Dial 2024 of FIG. 35A is also joined to dial 2024 of FIG. 35B, which are axially spaced along axis 1 and fused together. 35C shows that CCW rotation of dial 2024 about axis 1 produces relative motion between dial 2024 and shuttle 2046 in section 1, and CW rotation of dial 2024 about axis 1 produces relative motion in section 2. Figure 10 shows a dial-shuttle interface configuration that produces relative motion between dial 2024 and shuttle 2046 in . Thus, during CCW rotation of dial 2024 about axis 1, discrete rotational feedback is achieved via the ratchet system present in section 1, and during CW rotation of dial 2024 about axis 1, discrete Rotational feedback is achieved via the ratchet system present in Section 2. In this manner, a user can receive tactile and/or audio and/or visual feedback while rotating dial 2024 . Also, when the dial 2024 rotates at high revolutions per minute (rpm), it will come to a relatively quick stop compared to a dial-shuttle configuration without a ratchet.

36A-36C show handle body 2026 and dial 2024, which may be part of handle assembly 2022, which may be mapped to the constraint map shown in FIGS. 24A-24B or FIG. Here, roll input 2050 exists in its simplest form and can be referred to as dial 2024 . Rotation of dial 2024 relative to handle body 2026 can be controlled such that the angular orientation of dial 2024 can be locked relative to handle body 2026 via lock lever 3016 .

In this embodiment, position lock lever 3016 is a Class I lever pivoted on dial 2024 . These levers 3016 may be singular or multiple (e.g., three locking levers positioned at a one hundred and twenty degree (120°) offset that may be operated by the user's index, middle, and/or thumb). These levers 3016 may also be spring-loaded (eg, via a torsion spring at each locking lever's rotational pivot) so that they are always biased toward the locked state. Each lever 3016 can have a peg that sits in one of many slots in handle body 2026 .

FIG. 36D shows an isolated cross-section of the locking lever 3016 and the features of the handle body 2026 that contact the locking lever. When pushed, these levers rise above the handle body 2026 so that the lock levers can rotate as the dial 2024 rotates about axis 1 . When the user releases these levers, the levers seat in respective slots in handle body 2026 and lock rotation of dial 2024 about axis 1 relative to handle body 2026 . This mechanism provides discrete rotation of the dial 2024 about axis 1 relative to the handle body 2026, the pitch depending on the pitch of the slot in the handle body 2026 that contacts the locking lever.

FIG. 37A illustrates an embodiment of a bistable rotation mechanism showing the interface between the handle body 2026 and the dial 2024 such that the rotation of the dial 2024 about axis 1 with respect to the handle body 2026 is essentially double ( may be part of the handle assembly). These bodies may be part of handle assembly 2202 that may be mapped to the constraint map shown in FIGS. 24A-24B or FIG. The dial 2024 can rotate CW by discrete angles, and the dial 2024 can rotate CCW by discrete angles. This is possible due to the presence of a bi-stable compliant mechanism 3018, shown alone in FIG. 37B, between dial 2024 and handle body 2026. The bi-stable compliant mechanism 3018 comprises multiple instances of parallel beams connected at one end to the handle body and at the other end to the dial, and then parallel beams attached at one end to the dial and at the other end to the handle body. Additional multiple instances of beams are provided. This creates multiple instances of a set of opposing parallel beams between the handle body and the dial.

37A, CCW rotation of dial 2024 from a given configuration (stable state 1 shown in FIG. 37B for bistable compliant mechanism 3018) rotates dial 2024 to some extent. Bistable compliant mechanism 3018 stops rotating dial 2024 when it finds its other inherent stable state. This places each of the bistable compliant mechanisms 3018 in stable state 2, also shown in FIG. 37B. Similarly, rotating dial 2024 CW from a new configuration causes bistable compliant mechanism 3018 to return to its original stable configuration, stable state 1 . There may be one or more such bistable compliant mechanisms 3018 between dial 2024 and handle body 2026 . Also, the amount of rotation on either side of dial 2024 about axis 1 relative to handle body 2026 may depend on the length of the parallel beams that are part of bistable compliant mechanism 3018 .

FIG. 38A shows an embodiment consisting of a handle body 2026 and a dial 2024. FIG. This embodiment may be incorporated into a handle assembly 2202 that maps to the constraint map shown in FIGS. 24A-24B or FIG. In this embodiment there is a detent spring 3020 housed in a frame 3022 . This detent spring 3020 seats in return features on the dial 2024 that are placed at a particular pitch around the dial 2024 . A frame 3022 for the detent spring 3020 may be placed on the rail so that the rail can rotate along direction 1 relative to the handle body 2026 . The frame 3022 can move relative to the handle body 2026 by the user toggling the rotation of the dial 2024 relative to the handle body 2026 between discrete or continuous states.

In the discrete state, dial 2024 is rotatable relative to handle body 2026 so as to rotate discretely based on the pitch of the detent features on dial 2024 . In the continuous state, dial 2024 is free to rotate relative to handle body 2026 . Frame 3022 may also be locked to discrete or continuous handle assembly 2022 using push-push button 3024 . The push-push button 3024 invokes motion of the frame 3022 toward the handle body 2026 along direction 1, pressing the button locks the frame 3022 into continuous dial 2024 rotation. To reset it to discrete rotation, it may be necessary to push one more time along direction 1 towards the handle body 2026 . Instead of push-push button 3024, there may be other mechanisms such as a bistable spring that creates two states, or a push-push button mechanism such as that used in many ballpoint pens.

Figure 38B shows an example of an embodiment similar to that shown in Figure 38A. Here, the computer mouse components can be thought of as a handle body 2026, a dial 2024, and a switch that facilitates toggling between rotational states of the dial 2024, discrete and continuous. A pawl or gear contacts the outer surface of dial 2024 when the button is pressed. The outer surface of dial 2024 has slots or serrations or gear tooth features. In this manner, rotation of dial 2024 about axis 1 relative to handle body 2026 provides tactile feedback at each particular angular rotation (depending on the pitch of the serrations/slots of dial 2024).

Handle assembly constraint map D
FIG. 39 shows a constraint map representing the DoF and DoC between the handle body 2026 and the "3DOF junction". This "art roll input" includes an articulation input articulation, along with the existing functions, i. Roll inputs 2050 and/or dials 2024 in the constraint maps shown in FIGS. 24A-24B or 31 may be replaced to create handle assembly 2022. Here, the "art roll input" can be described as an assembly that includes two components: the "roll input" (described above) and the "articulated dial". The articulated dial has a 2DoF joint to either the roll input 2050 or the handle body 2026 that produces pitch and yaw motion by rotation about the pitch and yaw axes respectively. This 2DoF joint/mechanism is called a joint input mechanism.

This handle assembly 2022 may be part of a device that includes an elongated tool shaft 2011 and an EE assembly 2010 at the distal end of the tool shaft 2011. An articulation output joint 2020 may be present between the tool shaft 2011 and the EE assembly 2010 . The articulation input mechanism receives pitch and yaw rotations as inputs and produces the pitch and yaw output motions of the end effector, respectively, to the output articulation 2020 residing between the tool shaft 2011 and the EE assembly 2010. It may be a serial or parallel motion mechanism capable of transmission.

Handle Assembly Embodiment—Mapping to Constraint Map D FIGS. 40-42 show only the components of the handle assembly 2022, specifically the handle body 2026 and the art roll input. Some of these figures may also include a roll transmission member 3026 that transmits roll motion between roll input 2050 and EE assembly 2010 to generate rotation. Some of these figures may also include articulation transmission members that transmit articulation (pitch and yaw) from the articulation input mechanism to the articulation output mechanism. The "roll input" also exists in its simplest form as a dial 2024 in these embodiments. The terms "roll input", "dial" and "roll dial" may be used interchangeably in the description.

40, there are 2 DoF pitch and yaw rotation joints between the articulation dial 3028 and the handle body 2026. In FIG. There is also a 1 DoF rotational joint 3030 between the roll dial 2024 and the articulated dial 3028 . There are pitch and yaw motion transmission members rigidly attached to articulation dial 3028 to capture pitch and yaw motion respectively. These members are called cables in FIG. These cables may be flexible wires made from Nitinol, Kevlar, braided stainless steel/tungsten assemblies, or flexible polymers, or combinations of these materials. Each cable or pair of cables can transmit pitch motion (or yaw motion) due to respective pitch motion (or yaw motion) of articulation dial 3028 relative to handle body 2026 . Moving the articulation dial 3028 to vocalize a pitch motion creates a pulling force on the pitch cable. Similarly, moving the articulation dial 3028 to produce yaw motion produces a tensile force on the yaw cable. Combining these motions to produce a compound motion consisting of pitch and yaw motion of the articulation dial 3028 creates tension in both the pitch and yaw cables.

There may be an apparatus consisting of a tool frame, an elongated tool shaft rigidly attached to the tool frame, and an EE assembly at the distal end of the tool shaft. There may be a 2DoF output articulation between the tool shaft and the EE assembly. A 2DoF joint output joint is connected to a 2DoF joint input joint via a pitch transmission member and a yaw transmission member. In this configuration, the pitch and yaw cables connect to the output articulation and can be routed through the tool frame and/or tool shaft. Also, the EE assembly can rotate with respect to a reference ground or tool shaft. In this configuration, the roll dial is rigidly attached to the roll transmission member such that rotation of the roll dial can result in rotation of the EE assembly about the tool axis through the roll transmission member. 2DoF spring junctions can be constructed using helical springs, flexible coil springs, or flexible polymer assemblies. A combination of these materials may also be used.

FIG. 41 depicts handle assembly 2022 consisting of handle body 2026 , roll dial 2024 and articulation dial 3028 . Here, the handle body 2026 functions as a reference ground, and the roll dial 2024 has one rotation DoF about axis 1 with respect to the handle body 2026 . A 2 DoF articulation exists between articulation dial 3028 and roll dial 2024 such that the pitch and yaw motions of articulation dial 3028 relative to roll dial 2024 are encoded by pitch encoder 3032 and yaw encoder 3034, respectively. Pitch encoder 3032 and yaw encoder 3034 rotate about the pitch and yaw axes, respectively. Articulation dial 3028 is represented as a spherical ball that ultimately rotates two rollers, a pitch roller and a yaw roller. These rollers are described herein as "encoders." Pitch and yaw rotation data encoded by respective encoders 3032, 3034 may be communicated to the 2DoF output articulation between the tool shaft 2011 and the end effector. Additionally, rotation of roll dial 2024 about axis 1 relative to handle body 2026 may be encoded or mechanically transmitted to effect rotation of the end effector. Mechanical transmission of rotation of roll dial 2024 may be accomplished via a roll transmission member rigidly attached to roll dial 2024 .

FIG. 42 depicts handle assembly 2022 consisting of handle body 2026 , roll dial 2024 and articulation dial 3028 . Here, the handle body 2026 functions as a reference ground, and the roll dial 2024 has one rotation DoF about axis 1 with respect to the handle body 2026 . There is 2 DoF between articulating dial 3028 and roll dial 2024 such that the pitch and yaw motions of articulating dial 3028 relative to roll dial 2024 are captured by capturing strains induced in pitch transducer 3036 and yaw transducer 3038, respectively. Articulation is present. These transducers 3036, 3038 may be piezoelectric strips/plates or smart memory alloys or other strain transducers. This strain captured by transducers 3036 , 3038 is converted into electrical signals that can be transmitted to the 2DoF output articulation between tool shaft 2011 and EE assembly 2010 . Additionally, rotation of roll dial 2024 about axis 1 relative to handle body 2026 may be encoded or mechanically transmitted to effect rotation of the end effector. Mechanical transmission of rotation of roll dial 2024 may be accomplished via a roll transmission member rigidly attached to roll dial 2024 .

When a feature or element is referred to herein as being "over" another feature or element, it may be present in the other feature or element or intervening features, and/or as well. It can reside directly on another element. In contrast, when a feature or element is referred to as being "directly on" another feature or element, there are no intervening features or elements present. When a feature or element is referred to as being "connected," "attached," or "coupled" to another feature or element, it refers to the other feature or element or any intervening features or elements. It will also be appreciated that it may be directly connected, attached, or coupled to other elements that may be obtained. In contrast, when a feature or element is referred to as being “directly connected,” “directly attached,” or “directly coupled” to another feature or element, there are no intervening features or elements present. . Although described or illustrated with respect to one embodiment, features and elements so described or illustrated may also apply to other embodiments. Those skilled in the art will also appreciate that a reference to a structure or feature that is located “next to” another feature can have portions that overlap or underlie the adjacent feature.

The terminology used herein is for the purpose of describing embodiments only and is not intended to be limiting of the invention. For example, as used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprising" and/or "including," as used herein, specify the presence of the recited features, steps, acts, elements and/or components, but one or more It will further be understood that the presence or addition of other features, steps, acts, elements, components, and/or groups thereof is not excluded. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items and may be abbreviated as "/".

Spatially-relative terms such as “below,” “below,” “lower,” “above,” and “upper” are used herein to separate one element or feature from the other, as shown in the figures. may be used to facilitate description to describe the relationship between the elements or features of It will be appreciated that spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation shown in the figures. For example, if the device in the figures were flipped over, an element labeled "below" or "beneath" another element or feature would be oriented "above" the other element or feature. Thus, the exemplary term "below" can encompass both upward and downward orientations. The device may be oriented in other directions (rotated 90 degrees or other orientations) and the spatially relative descriptors used herein interpreted accordingly. Similarly, terms such as “upwardly,” “downwardly,” “vertical,” “horizontal,” and the like are used herein for descriptive purposes only, unless stated otherwise.

The terms "first" and "second" may be used herein to describe various features/elements (including steps), unless the context indicates otherwise. / elements should not be limited by these terms. These terms may be used to distinguish one feature/element from another. Thus, a first feature/element described below could be termed a second feature/element and, similarly, a second feature/element described below could be termed a second feature/element without departing from the teachings of the present invention. , can be referred to as the first feature/element.

Throughout this specification and the claims that follow, unless the context requires otherwise, the word "comprise" and variations such as "comprises" and "comprising" may be used to refer to various It is meant that the components can be used jointly in methods and articles (eg, compositions and devices comprising devices and methods). For example, the term "comprising" is understood to mean the inclusion of any recited element or step, but not the exclusion of any other element or step.

In general, any of the devices and methods described herein should be understood to be inclusive, although all or a subset of the components and/or steps may alternatively be exclusive; It may be expressed as “consisting of” or “consisting essentially of” various components, steps, sub-components or sub-steps.

While various exemplary embodiments have been described above, any of several modifications to the various embodiments may be made without departing from the scope of the invention as set forth in the claims. be able to. For example, the order in which various described method steps are performed may often be changed in alternate embodiments, and in other alternate embodiments, one or more method steps may be skipped entirely. Any feature of various device and system embodiments may be included in some embodiments and not in others. Accordingly, the foregoing description is provided primarily for illustrative purposes and should not be construed as limiting the scope of the invention as set forth in the claims.

As used in the specification and claims, including when used in the examples, unless expressly specified otherwise, all numbers refer to "about" or " It can be read as if it begins with the word "approximately". The words "about" or "approximately" are used to indicate that the stated value and/or position is within a reasonable expected range of values and/or positions. or can be used when describing a location. For example, numerical values are ±0.1% of a stated value (or range of values), ±1% of a stated value (or range of values), ±2 of a stated value (or range of values) %, ±5% of a stated value (or range of values), ±10% of a stated value (or range of values), and the like. Any numerical value given herein should also be understood to include approximately that value unless the context indicates otherwise. For example, if the value "10" is disclosed, "about 10" is also disclosed. Any numerical range recited herein is intended to include all sub-ranges subsumed therein. It is also understood that when a value is disclosed, that value "less than", "greater than" that value, and possible ranges between values are also disclosed, as is properly understood by those of ordinary skill in the art. For example, if the value "X" is disclosed, then "less than or equal to X" and "greater than or equal to X" (eg, where X is a number) are also disclosed. It is also to be understood that throughout the application data are provided in a number of different formats and represent endpoints and starting points and ranges for any combination of the data points. For example, if a particular data point "10" and a particular data point "15" are disclosed, greater than, greater than, less than, less than, and equal to 10 and 15, and between 10 and 15 is considered to be disclosed. It is also understood that each unit between two particular units is also disclosed. For example, if 10 and 15 are disclosed, 11, 12, 13, and 14 are also disclosed.

The examples and illustrations contained herein, by way of illustration and not limitation, illustrate specific embodiments in which the subject matter can be practiced. As noted above, other embodiments may be utilized and derived therefrom such that structural and logical substitutions and changes may be made without departing from the scope of the present disclosure. Such embodiments of the present subject matter are intended merely for convenience and to voluntarily limit the scope of the present application to any single invention or inventive concept, if more than one is in fact disclosed. Unintentionally, references may be made herein individually or collectively to the term "invention." Thus, although specific embodiments have been illustrated and described herein, any configuration calculated to accomplish the same purpose may be substituted for the specific embodiments illustrated. This disclosure is intended to cover any and all adaptations or variations of various embodiments. Combinations of the above embodiments, and other embodiments not specifically described herein, will be apparent to those of skill in the art upon reviewing the above description.

While embodiments of the invention have been illustrated and described, it is not intended that these embodiments illustrate and describe all possible forms of the invention. It is understood that features of various embodiments may be combined to form further embodiments of the invention. The words used in the specification are words of description rather than limitation, and it is understood that various changes may be made without departing from the spirit and scope of the invention.

The examples and illustrations contained herein, by way of illustration and not limitation, illustrate specific embodiments in which the subject matter can be practiced. These embodiments consist of bodies with various types of joints and/or mechanisms, ie prisms, rotators, cylinders, etc., between them. These joints and/or features may be composed of separate elements/bodies/components, or these joints/features may be created by compliant extensions of other bodies and/or assemblies. good.

Claims (28)

A roll handle assembly,
the handle body,
A roll body coupled to the handle body having a degree of freedom of rotation about a roll axis relative to the handle body and translationally constrained relative to the handle body along the roll axis. a roll body;
a closure body coupled to the handle body, the closure body having at least one degree of freedom of movement relative to the handle body;
A shuttle body coupled to the roll body and coupled to the closure body having translational degrees of freedom relative to the roll body along the roll axis and centered about the roll axis relative to the roll body and a shuttle body having rotational freedom about said roll axis relative to said closure body. 4. The movement of said closure body about said at least one degree of freedom of movement relative to said handle body results in movement of said shuttle body about said translational degree of freedom along said roll axis relative to said roll body. 2. The roll handle assembly of claim 1. The at least one degree of freedom of movement of the closure body is a translational degree of freedom relative to the handle body along the roll axis, and the closure body is rotationally constrained relative to the handle body about the roll axis. 2. The roll handle assembly of claim 1, wherein the roll handle assembly is further comprising a closure input and a closure input mechanism, said closure input having at least one degree of freedom of movement relative to said handle body, and movement of said closure input about said at least one degree of freedom of movement relative to said handle body; provides movement of the closure body about the at least one degree of freedom of movement relative to the handle body, the closure input mechanism spanning between the closure body and the closure input, the closure input mechanism relative to the handle body 2. The roll handle assembly of claim 1, wherein movement of said closure input about at least one degree of freedom of movement is transferred to movement of said closure body about said at least one degree of freedom of movement relative to said handle body. . a roll input and a roll input mechanism, wherein movement of the roll input results in movement of the roll body about the rotational degree of freedom about the roll axis relative to the handle body, the roll input mechanism configured to Straddling between a roll body and the roll input, the roll input mechanism transfers motion of the roll input to motion of the roll body about the rotational degree of freedom about the roll axis relative to the handle body. 2. The roll handle assembly of claim 1, wherein: 2. The roll handle assembly of claim 1, further comprising a rotational resistance member interacting with said roll body to retain said roll body in selectable rotational positions about said roll axis relative to said handle body. . 7. The roll handle assembly of Claim 6, wherein the rotational resistance member is at least one of a friction member, ratchet, detent, or bistable member. Further comprising an articulation input joint residing adjacent to the roll body, the articulation input joint having two articulation freedoms relative to the handle body for pitch and yaw movements at the articulation input joint relative to the handle body. 2. The roll handle assembly of claim 1, having a degree. 9. The roll handle assembly of Claim 8, wherein the articulation input joint comprises an articulation dial coupled to the roll body. Further comprising a shaft extending distally from the roll handle assembly and comprising an end effector at a distal end of the shaft whereby rotation of the roll body about the roll axis relative to the handle body causes the 2. The roll handle assembly of claim 1, effecting rotation of the end effector relative to the handle body. 11. The roll of claim 10, wherein the end effector comprises a jaw assembly, opening and closing movement of the jaw assembly provided by movement of the closure body about the at least one degree of freedom of movement relative to the handle body. handle assembly. The end effector includes a jaw assembly coupled to the shuttle body via a jaw closure transmission assembly, wherein opening and closing movement of the jaw assembly is responsive to the roll axis relative to the roll body. 11. The roll handle assembly of claim 10 provided by movement of said shuttle body about a translational degree of freedom. 2. The roll handle assembly of claim 1, wherein the closure body comprises a trigger, lever, button, push rod, or mechanism for coupling a lever to a push rod. A surgical instrument comprising the roll handle assembly of claim 1. A roll handle assembly,
A handle assembly,
the handle body,
A roll body coupled to the handle body having a degree of freedom of rotation about a roll axis relative to the handle body and translationally constrained relative to the handle body along the roll axis. a roll body;
A shuttle body coupled to the roll body having translational degrees of freedom relative to the roll body along the roll axis and rotationally constrained relative to the roll body about the roll axis shuttle body,
a frame;
an input joint providing pitch and yaw rotation between the handle assembly and the frame. The input joint has a pitch motion path and a yaw motion path, the pitch motion path transmitting pitch motion of the handle assembly relative to the frame about a pitch axis of rotation, the yaw motion path having a yaw motion path. 16. Transferring yaw motion of said handle assembly relative to said frame about an axis, said input joint being a parallel motion mechanism input joint wherein said pitch motion path and said yaw motion path are arranged parallel to each other. The roll handle assembly described in . 17. The roll handle assembly of claim 16, wherein the pitch axis of rotation and the yaw axis of rotation are located proximal to the handle assembly. 16. The roll handle assembly of Claim 15, wherein said handle body and said frame are connected to each other via said input joint. The roll body and the frame are connected to each other via the input joint, the input joint constraining rotation between the roll body and the frame about the roll axis of the roll body relative to the handle body. 16. The roll handle assembly of claim 15, wherein rotation to causes rotation of the frame relative to the handle body. The handle assembly further comprises a closure body coupled to the handle body and having at least one degree of freedom of movement relative to the handle body, the shuttle body coupled to the closure body and centered about the roll axis relative to the closure body. 16. The roll handle assembly of claim 15, having a rotational degree of freedom of . Further comprising a shaft extending from said frame and comprising an end effector at a distal end of said shaft whereby rotation of said roll body about said roll axis relative to said handle body effects said end relative to said handle body. 21. The roll handle assembly of claim 20, providing effector rotation. 22. The roll of claim 21, wherein the end effector comprises a jaw assembly, opening and closing movement of the jaw assembly effected by movement of the closure body about the at least one degree of freedom of movement relative to the handle body. handle assembly. The jaw assembly is coupled to the shuttle body via a jaw closure transmission assembly, and opening and closing movement of the jaw assembly is about the translational degree of freedom along the roll axis relative to the roll body. 23. The roll handle assembly of claim 22, wherein the movement is effected by the movement of . An output joint exists between the shaft and the end effector, the pitch motion path transmitting pitch motion of the handle assembly relative to the frame to the output joint, and the yaw motion path relative to the frame. 22. The roll handle assembly of claim 21, wherein yaw motion of said handle assembly is transferred to said output joint. 25. The roll handle assembly of claim 24, wherein said roll body and said frame are connected to each other via said input joint. The input joint constrains rotation between the roll body and the frame, and rotation of the roll body about the roll axis relative to the handle body is constrained to any pitch and yaw rotation of the input joint. 26. The roll handle assembly of claim 25, which effects rotation of the frame, shaft, and end effector relative to the handle body for. 25. The roll handle assembly of Claim 24, wherein said handle body and said frame are connected to each other via said input joint. The input joint constrains rotation between the handle body and the frame, and rotation of the roll body about the roll axis relative to the handle body is limited to any pitch and yaw rotation of the input joint. 28. The roll handle assembly of claim 27, which effects rotation of the end effector about a second roll axis relative to the handle body for rolling.

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