WO2022015686A1 - Handle assembly providing unlimited roll - Google Patents
Handle assembly providing unlimited roll Download PDFInfo
- Publication number
- WO2022015686A1 WO2022015686A1 PCT/US2021/041365 US2021041365W WO2022015686A1 WO 2022015686 A1 WO2022015686 A1 WO 2022015686A1 US 2021041365 W US2021041365 W US 2021041365W WO 2022015686 A1 WO2022015686 A1 WO 2022015686A1
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- WO
- WIPO (PCT)
- Prior art keywords
- roll
- handle
- rotation
- assembly
- axis
- Prior art date
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/04—Surgical instruments, devices or methods, e.g. tourniquets for suturing wounds; Holders or packages for needles or suture materials
- A61B17/06—Needles ; Sutures; Needle-suture combinations; Holders or packages for needles or suture materials
- A61B17/062—Needle manipulators
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B17/2909—Handles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00305—Constructional details of the flexible means
- A61B2017/00314—Separate linked members
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00318—Steering mechanisms
- A61B2017/00323—Cables or rods
- A61B2017/00327—Cables or rods with actuating members moving in opposite directions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00407—Ratchet means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/0042—Surgical instruments, devices or methods, e.g. tourniquets with special provisions for gripping
- A61B2017/00424—Surgical instruments, devices or methods, e.g. tourniquets with special provisions for gripping ergonomic, e.g. fitting in fist
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/0042—Surgical instruments, devices or methods, e.g. tourniquets with special provisions for gripping
- A61B2017/00438—Surgical instruments, devices or methods, e.g. tourniquets with special provisions for gripping connectable to a finger
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/0042—Surgical instruments, devices or methods, e.g. tourniquets with special provisions for gripping
- A61B2017/00442—Surgical instruments, devices or methods, e.g. tourniquets with special provisions for gripping connectable to wrist or forearm
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B17/2909—Handles
- A61B2017/291—Handles the position of the handle being adjustable with respect to the shaft
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
- A61B2017/2929—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft with a head rotatable about the longitudinal axis of the shaft
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/067—Measuring instruments not otherwise provided for for measuring angles
Definitions
- This application may also be related to U.S. patent application Ser. No. 15/130,915, titled “ATTACHMENT APPARATUS FOR REMOTE ACCESS TOOLS” filed on Apr. 15, 2016, which claimed priority to U.S. provisional patent application No. 62/147,998, titled “FOREARM ATTACHMENT APPARATUS FOR REMOTE ACCESS TOOLS” filed on Apr. 15, 2015, and U.S. provisional patent application No. 62/236,805, titled “FOREARM ATTACHMENT APPARATUS FOR
- handle assemblies and apparatuses and applications using them.
- handle assemblies with a mechanism that enables unlimited rotation (“unlimited-roll handle assemblies”) and apparatuses for minimally invasive surgical tools and remote access tools using them.
- a number of remote access tools and minimally invasive surgical tools which incorporate handle assemblies with unlimited (or infinite) rotation functionality are known, for example, as described in International Patent Application Publication WO 2007/146894 A2.
- This application describes laparoscopy tools primarily consisting of a proximal handle, a tool frame/tool shaft, and a distal end- effector (EE).
- EE distal end- effector
- the user may have to rotate the handle about the tool shaft axis.
- the handle may fit or conform in the user’s hand, palm, and/or fingers in the nominal condition (i.e., prior to any roll rotation), it may no longer continue to fit/conform with the user’s hand during and after the roll rotation. In fact, during such rotation, the handle may start to collide with areas of the hand that are holding the device, typically limiting the amount of roll rotation and/or requiring repositioning of the handle within the surgeon’s hand to achieve maximum roll rotation at the end- effector. Thus, many of these devices may require more than one hand to operate or may require repositioning of the device during operation within a user’s hand in order to continue to roll in a single direction beyond a limited amount of roll.
- a device that is repositioned to continue roll rotation is usually not ergonomic and more difficult to operate due to loss of access to the input joint/mechanism between the tool frame/tool shaft Attempts have been made to address the challenge of limited rotation and reduced ergonomics by providing a rotational joint in the handle assembly between the stationary portion of the handle that is held generally by a user’ s hand and palm (and possibly by finger(s) and/or thumb) in the nominal condition and the roll portion (e.g.
- a dial, handle dial, rotation dial or the like that is rotated with respect to the stationary portion about its center axis generally by the user’s finger(s) and/or thumb; these attempts have met this challenge with only limited success, in part because rolling the device in this manner may result in winding of internal transmission members when rolling the roll portion (e.g., dial, handle dial, rotation dial or the like) relative to the stationary portion.
- the stationary portion of the handle is defined stationary as far as roll rotation motion is concerned. Generally, this stationary portion is “stationary” with respect to the user’s palm. This stationary portion may move along with the user’s hand to provide other degrees of freedom (e.g., pitch and yaw rotations in articulating laparoscopic devices).
- These devices that incorporate the stationary portion and roll portion in the handle assembly may be articulating or non-articulating.
- the handle assembly and tool shaft can be rigidly connected and rotation of the entire handle assembly may drive rotation of the tool shaft and end-effector.
- the handle assembly and tool shaft can be rigidly connected and the handle may be equipped with a dial, wherein the dial is connected to the end- effector and drives the rotation of the end-effector via a roll transmission member routed through the tool shaft.
- laparoscopic devices are becoming more complex and catering to challenging laparoscopic procedures.
- Laparoscopic tools may now include articulating end-effectors that can be actuated by an input articulation joint between the tool shaft and the handle assembly.
- Articulating end- effectors enable the surgeon to alter the axis of roll rotation of the end-effector by articulating the handle assembly about an input articulation joint (also referred to as the input joint or the articulation input joint here) with respect to the tool shaft.
- the handle assembly in such device is not rigidly connected to the tool shaft but is instead connected via an input joint that generally allows two articulation degrees of freedom (e.g., yaw rotation and pitch rotation) and constrains, and therefore transmits, roll rotation.
- rotation of the end-effector may be driven by the rotation of the dial portion of the handle assembly, which further transmits roll to the end-effector via rotation of tool shaft.
- the tool shaft is connected to the handle assembly via an input articulation joint providing yaw and pitch degrees of freedom but transmitting roll rotation from the handle assembly to the tool shaft.
- the roll rotation of the tool shaft is transmitted to the end-effector via an output articulation joint.
- An example of such device configuration is an articulating device by NovareTM (International Patent Application Publication W02007/146894 A2).
- articulation transmission and roll transmission are decoupled such that roll is directly transmitted from the rotation of the dial portion of handle assembly to the end-effector via a separate roll transmission member and not via the roll degree of constraint (DoC) with respect to the input articulation joint, tool shaft, and output articulation joint (also referred to as output joint or the articulation output joint here).
- This roll transmission member should be adequately stiff in torsion to transmit roll rotation.
- This roll transmission member may or may not be routed through the input articulation joint or the tool frame/tool shaft.
- An example of such device configuration is an articulation device sold by CovidienTM (U.S. Pat. No. 8,603,135).
- the enhanced dexterity that these articulating tools offer comes with the tradeoff of increased resistance to roll rotation of the roll portion of the handle assembly.
- This resistance to roll rotation is further increased when the end-effector is articulated.
- This resistance may increase further when a handle input (e.g., lever within the handle assembly) is engaged, which leads to the end-effector actuation (e. g. , opening and closing of a moving portion of the end-effector relative to a reference portion of the end-effector).
- the resistance to roll can be considerable while simultaneously performing end- effector articulation and end-effector actuation.
- a handle input e.g., handle input lever
- actuate the opening/closing of an end-effector having a jaw at the end of the tool shaft typically results in high loads generated between the stationary portion of the handle assembly held by the user and the rotatable portion of the handle assembly (e.g., dial) that interface with each other to allow rotation.
- the result of the high load between these independent bodies is typically an increase in frictional resistance to roll rotation which limits the surgeon’s ability to use fine rotation input at the handle assembly to precisely control the end-effector roll rotation.
- the high jaw (open/close) actuation loads are typically transmitted from the handle input by a transmission member such as a steel cable, steel wire, a monofilament steel, a Nitinol rod, or a tungsten cable, etc.
- a transmission member such as a steel cable, steel wire, a monofilament steel, a Nitinol rod, or a tungsten cable, etc.
- These types of transmission members function well to transfer loads from an input location to an output or remote portion of an instrument. Due to the complexity in simultaneously transmitting and providing roll, articulation, and actuation functionality to the end-effector in such devices, as well as the limitation of working within a tight volume to incorporate features to meet these functionalities, it is challenging to incorporate assemblies, mechanisms, joints, and bodies that meet the structural and interface requirements to be able to provide the aforementioned functionalities.
- apparatuses e.g., mechanisms, devices, tools, machines, systems, etc.
- handle assemblies with an unlimited-roll mechanism which may address these problems.
- Described herein are apparatuses (including mechanisms, instruments, devices, tools, systems, etc.) that may include handle assemblies that provide unlimited (e.g., “infinite”) roll of a portion of the handle assembly relative to another portion of the handle assembly, and may transmit this roll to an end-effector in an advantageous manner.
- the unlimited-roll mechanisms described herein may be part of an apparatus that includes the handle assembly, a tool frame (which may be a tool shaft or may include a tool shaft), and an end-effector assembly.
- the apparatus may include an end-effector assembly (or simply, end-effector) that can be articulated with respect to the tool frame via an end-effector articulation joint at the distal end of the device; articulation of the end-effector may be controlled by an input articulation joint (input joint) at the proximal end of the device, including between the handle assembly and the tool frame.
- the tool frame may be interfaced with a user’s arm (e.g., wrist, forearm, etc.) via an arm attachment (e.g., forearm attachment), while the user’s hand (palm, fingers, thumb, etc.) is interfaced with the handle assembly.
- the arm attachment may be connected to the tool frame by a joint (e.g., a bearing) that allows one or more degrees of freedom (e.g., pitch, yaw, roll) between the user’s arm and the tool frame.
- the end- effector may have at least one moving portion (e.g., a moving jaw) that can be actuated (e.g., opened/closed) by an input control on the handle assembly that causes an output actuation of the end- effector via an end-effector jaw actuation member.
- the jaw actuation transmission member may be a tension/compression member which may be pulled by the input control in the handle assembly to cause end-effector actuation (say, jaw closure actuation).
- end-effector actuation say, jaw closure actuation
- either tension/compression member may be used to cause the end-effector actuation (say, jaw opening actuation), undoing the previous actuation. This may lead to a pull (first actuation)-pull (second actuation) operation as part of end-effector actuation or a pull (first actuation)-push (second actuation) operation or a push (first actuation)-pull (second actuation) operation.
- the unlimited-roll handle assemblies described herein may also be referred to as unlimited rotation handle assemblies, or as unlimited rotation handle apparatuses, or as unlimited-roll handle apparatuses, or the like.
- the stationary portion of the handle assembly may also be referred to as a handle shell, or as an ergonomic handle shell or as a handle body or as a first portion of the handle assembly or the like.
- the rotational portion of the handle assembly may also be referred to as a rotation portion, or as a rotation dial, or as a rotating portion, or as a dial or as a second portion of the handle assembly or the like.
- the input control in the handle assembly may also be referred to as a control, or as an input lever, or as an end-effector control, or as an input lever control or the like.
- These unlimited-roll handle assemblies may allow actuation of a distal end-effector (e.g., open and close of end-effector jaws) by an input control on a first portion of the handle assembly (e.g., a handle body) using an end-effector actuation transmission member comprising a cable (steel, tungsten, etc.), steel wire, etc. or a monofilament steel or Nitinol rod, etc. to transmit actuation from the handle assembly without binding up or disruption of the end-effector actuation.
- This actuation may happen independently, or in parallel, or regardless of the other motions such as end-effector articulation and end- effector roll rotation.
- end-effector when end-effector is a jaw assembly, it may include one or two moving jaws that are movable with respect to a base end-effector portion (a first end-effector portion). These one or more moving jaws refer to the second, third, and so on end-effector portions.
- one of the jaws of the jaw assembly may be part of (or rigidly attached to) the base end-effector portion.
- the one or more movable jaws may be moved by a jaw actuation transmission member that is connected to the shuttle portion of the handle assembly.
- This open/close action of the jaws in the end-effector assembly may be controlled by an end-effector control that may be a moving body (such as a lever, button, slider, etc.) in the handle assembly.
- the apparatuses described herein may be 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.) and the like.
- medical devices e.g., surgical devices including minimally invasive devices such as laparoscopes, endoscopes, etc.
- an articulated unlimited-roll handle assembly as described may be used as part of a remote access tool that require finesse rotation about a tool-shaft axis and manipulation or articulation of a tool shaft and/or end-effector.
- the apparatuses described herein may be useful for a variety of purposes.
- any of these apparatuses may include a handle assembly having multiple portions or bodies or components that are coupled together to provide specific rotational and/or translational degrees of freedom relative to each other to provide a reference or ground portion (also referred to herein as a palm grip, palm grip portion, handle body, handle shell, or the like) that may be held within a user’s hand and to provide a rotating portion (referred to herein as a knob, dial, finger dial, rotation dial etc.) that may be operated by the fingers (including the thumb) of the same hand holding the palm grip
- the handle assembly may be referred to as a handle, a handle mechanism, an unlimited-roll handle assembly, an infinite roll handle, or the like.
- the handle assembly includes four interconnected components (or bodies) and an end-effector control input (also sometimes referred to as closure input), such as a lever, button, dial or other control, to actuate (e.g., open/close) the end-effector.
- the four interconnected bodies that are part of the handle assembly may include a first handle portion (e.g., palm grip), a second handle portion (e.g., finger dial), a push rod (typically internal to the first handle portion), and a shuttle body (typically internal to the second handle portion).
- the 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, for transmitting actuation of the end-effector control input to the end-effector.
- axis refers to a specific line in space.
- a body may rotate with respect to (w.r.t.) another body about a certain axis.
- a body may translate w.r.t another body along a certain direction.
- a direction is not defined by a particular axis and is instead commonly defined by multiple parallel axes.
- X axis is a specific axis defined and shown in a figure, while X direction refers to the direction of this X axis. Multiple different but parallel X axes have the same X direction.
- Direction only has an orientation and not a location in space.
- a handle assembly configured as an unlimited-roll handle assembly may include a first handle portion that is an outer proximal body configured as a palm grip. Generically, this body may be referred to as handle body A (“H.Body A”), also referred to as “handle shell”.
- the handle assembly may also include a second handle portion configured as an outer distal body, which may be generically referred to as handle body B (“H.Body B”).
- H.Body A handle body
- handle body B handle body B
- These two bodies may be considered independent bodies with an established joint where additional features may exist. Within the joint between these two bodies, there may exist specific geometric features such as ribs, surfaces, edges, washers, bushings, bearings, lubricants, etc. which may function to offer some degrees of freedom while constraining others.
- This joint between the outer bodies may also be internally traversed by a secondary pair of bodies.
- These secondary bodies may have a portion of them proximal or distal to the joint between H.Body A and H.Body B.
- One of the secondary bodies may be generically referred to herein as handle body C (“H.Body C”) and may be, e g., a proximal push rod having a portion of it connecting to H.Body A.
- the other secondary body may be generically referred to herein as handle body D (“H.Body D”) and may be, e.g., a distal shuttle having a portion of it connecting to H.Body B.
- joints between either of the inner secondary bodies with respect to each other and with respect to the outer two bodies may also comprise specific geometric features such as ribs, surfaces, edges, washers, bushings, bearings, lubricants, etc. which may function to offer some degrees of freedom while constraining others.
- a generic description of this four-body structure showing the degrees of constraint and degrees of freedom is illustrated in FIG. 1.
- a four-body unlimited-roll handle assembly such as the one shown generically in FIG. 1 may be incorporated as part of an articulating laparoscopic instrument, for example.
- a user such as a physician, doctor, surgeon, etc.
- This articulation input joint may 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 may connect the tool shaft/tool frame to the end-effector assembly.
- This transmission member(s) connects to the articulation input joint and an articulation output joint (proximal to the end-effector assembly).
- the surgeon may then rotate the end-effector about its center/roll axis (Axis 2) by rotation of the second portion or dial body (H.Body B) relative to first portion of the handle assembly or proximal outer body (H.Body A) about its center axis (Axis 1).
- the user may rotate the distal outer body (e.g., H.Body B, e.g., a rotation dial) to drive rotation with a finesse twirling motion between the thumb and forefinger.
- H.Body A first portion
- H.Body B second portion
- first axis direction e.g., Axis 1 in FIG. 2
- H.Body C H.Body D
- a force in the tension/compression (jaw close/open) transmission member of the handle assembly As will be described and illustrated in greater detail below, when the user activates the end-effector input control at the handle assembly, this motion is transmitted to the translation of H.Body C along a first axis direction with respect to H.Body A via a transmission mechanism in the handle assembly.
- H.Body C is further transmitted to the translation of H.Body D, which is transmitted to an end-effector via an end- effector actuation transmission member. While the transmission happens, the surgeon can also infinitely rotate the rotation dial (H Body B) on the handle assembly clockwise or counterclockwise without twisting the end-effector actuation transmission member due to keying or constrained joints between H.Body B and H.Body D.
- the articulation input joint may be a parallel kinematic (P-K) joint (e.g., per U.S. Patent Application Publication 2013/0012958 or U.S. Pat. No. 8,668,702), or a virtual center (VC) joint (e.g., per U.S. Pat No. 5,908,436), or a parallel kinematic virtual center joint (e.g., per U.S. Pat. No. 8,668,702), or a serial kinematic (S-K) joint (e.g., per U.S. Pat. No. 8,465,475 or
- Articulation transmission members, roll transmission members, and end-effector actuation transmission members may be distinct bodies, or they may be combined into one body in a pair or triplet to perform intended transmission.
- the transmission members may route through different paths to link their respective joints.
- an articulation transmission member may be routed through the body of the tool frame (e.g., tool shaft), or it may be routed externally to the body of the tool shaft.
- any of the apparatuses described herein may include an unlimited-roll handle assembly and an arm attachment (e.g., forearm attachment) so that a proximal end region of the apparatus may be connected to the user’s arm/forearm.
- arm attachment e.g., forearm attachment
- These apparatuses may permit improved control of the apparatus when the apparatus is rigidly coupled to the user’s arm (e.g., having no degrees of freedom between the apparatus and the user’s arm), but may be particularly helpful where the arm attachment permits one or more degrees of freedom between the tool frame and the user’s arm, such as one or more of roll, pitch, and/or yaw degrees of freedom.
- apparatuses including medical devices, comprising: an elongate tool frame having a forearm attachment portion at a proximal end, the elongate frame having a tool axis; an end-effector at a distal end of the elongate tool frame; a handle assembly that provides unlimited roll to the end-effector, wherein the handle assembly includes: a first handle portion; a second handle portion coupled to the first handle portion so that the second handle portion has one rotational degree of freedom in a first axis relative to the first handle portion but is translationally constrained relative to the first handle portion along the first axis direction; a push rod completely or partially within the first handle portion and coupled to the first handle portion so that it has one translational degree of freedom along the first axis direction relative to the first handle portion but is rotationally constrained about the first axis relative to the first handle portion; a shuttle body completely or partially within the second handle portion, wherein the shuttle body is coupled to the push rod so that it has one
- the forearm attachment portion and/or the cuff may be configured to permit one or more degrees of freedom between the cuff (which is typically rigidly attached to the user’s arm) and the forearm attachment portion.
- the device may include a joint between the forearm attachment portion of the tool frame and the cuff, wherein the joint is configured to provide one or more rotational degrees of freedom between the cuff and the forearm attachment portion of the tool frame.
- the joint may be a bearing (e.g., a machine element that constrains the relative motion to one or more desired motions such as pitch, roll, or yaw, and may reduce friction between the moving parts).
- the device may include one or more joints between the forearm attachment portion of the tool frame and the cuff, wherein the one or more joints are configured to provide one or more of the following degrees of freedom: a roll degree of freedom with respect to the tool axis, a pitch degree of freedom between the cuff and the forearm attachment portion of the tool frame, or a yaw degree of freedom between the cuff and the forearm attachment portion of the tool frame.
- the cuff may include a strap and/or securement so that it may be attached securely to the user’s arm (e.g., forearm), and may be removable from the forearm attachment portion of the tool frame so that it can be attached to the user’s forearm, then snapped or otherwise attached to the forearm attachment portion of the tool frame.
- the user’s arm e.g., forearm
- the cuff may include a strap and/or securement so that it may be attached securely to the user’s arm (e.g., forearm), and may be removable from the forearm attachment portion of the tool frame so that it can be attached to the user’s forearm, then snapped or otherwise attached to the forearm attachment portion of the tool frame.
- the unlimited roll between the second handle portion and the first handle portion may be transmitted to the end-effector.
- the roll between the second handle portion and the first handle portion may be transmitted by a transmission member that is separate from the tool frame and may be routed around or through the tool frame.
- the rotation of the second handle portion may be transmitted to the end-effector through a rotation transmission extending between the second handle portion and the end-effector.
- the tool shaft transmits the roll between the second handle portion and the first handle portion; for example, either the second handle portion or the first handle portion may be rigidly connected to the tool shaft so that roll between the second handle portion and the first handle portion is transmitted by the tool frame to the end-effector at the distal end of the apparatus.
- the transmission member for this roll may be connected to either the second handle portion or the first handle portion, although it is illustrated herein primarily as coupled to the second handle portion (e.g., the knob or dial at a distal region of the handle).
- the rotation of the second handle portion e.g., the knob or dial
- the end-effector may be transmitted to the end-effector because the elongate tool frame is coupled to the second handle portion so that the elongate tool frame is rotationally constrained relative to the second handle portion and the end-effector is coupled to the elongate tool frame so that the end-effector is rotationally constrained relative to the elongate tool frame.
- any of the apparatuses described herein may include an input joint between the handle assembly and the tool frame.
- any of these apparatuses may include an input joint wherein the input joint provides a pitch degree of freedom between the handle assembly and the tool about a pitch axis of rotation and a yaw degree of freedom between the handle assembly and the tool about a yaw axis of rotation.
- This input joint may be a parallel kinematic input joint or a serial kinematic input joint or a combination of parallel and serial kinematic input joint.
- any of these devices may include an input joint between the handle assembly and the tool frame and an output joint (i.e., the articulation output joint) between the tool frame and the end-effector, wherein the input joint comprises a pitch motion path and a yaw motion path, further wherein the pitch motion path and the yaw motion path are independent and coupled in parallel (forming a parallel kinematic input joint) between the handle and the tool frame, wherein the pitch 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, and wherein the yaw motion path captures yaw motion of the handle assembly relative to the tool frame for transmission to the output joint but does not capture pitch motion of the handle assembly relative to the tool frame for transmission to the output joint
- the pitch motion path and the yaw motion path may be arranged in series
- any of the devices including an input joint having more than one degree of freedom axis of rotation may be configured so that the two or more axes of rotation intersect at a center of rotation (e.g., a virtual center of rotation) that is positioned behind (proximal to) the handle assembly, including at a virtual center of rotation that would be located within the user’s wrist when the device is operated by the user.
- a center of rotation e.g., a virtual center of rotation
- the pitch axis of rotation and the yaw axis of rotation may intersect in a center of rotation that is proximal to the handle assembly.
- one or more transmission members may be included to transmit the motion (e.g., pitch motion, yaw motion) to the output joint and therefore the end-effector.
- a device may include a pitch transmission member and a yaw transmission member extending from the input joint to the output joint, wherein the pitch transmission member transmits pitch rotations and the yaw transmission member transmits yaw rotations of the input joint to corresponding rotations of the output joint.
- any appropriate end-effector may be used.
- the end-effector may or may not have grasping jaws (or simply jaws) that may or may not move.
- the end-effector may have a soft end to spread delicate tissues (e.g., dissector) or a camera or a laser pointer. Therefore, an end- effector assembly may also be referred to as an end-effector or the like.
- the end-effector may also have one or more moving jaws, one or more stationary jaws (stationary with respect to moving jaws), or other bodies required for end-effector actuation.
- an end-effector may be configured as a jaw assembly that include jaws that open and close.
- the end-effector control input on the handle assembly may be actuated, e.g., by a user’s finger or fingers, including the user’s thumb, of the same hand holding the handle assembly.
- any of these devices may include an end-effector assembly that is configured as a jaw assembly so that the actuation of the end-effector control input opens or closes the jaw assembly.
- the end-effector control input may be operated to hold the jaws open or closed (e.g., by continuing to actuate the end-effector control input).
- the end-effector control input is a trigger or lever on the handle assembly, holding the trigger or lever down may hold the jaws closed, whereas releasing the trigger or lever may release/open the jaws.
- the end-effector may generally be configured as an assembly having multiple portions that are coupled together to allow relative motion between the parts.
- the end-effector may include a second end-effector portion that is movably coupled to a first end-effector portion; and the apparatus (e.g., device) may further include a transmission cable connecting the shuttle body to the second end-effector 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 the second handle portion is in any rotational position about the first axis relative to the first handle portion.
- the transmission cable may be a rope or braided material that is compliant in compression, torsion and bending.
- the end-effector control input may be any appropriate control, including but not limited to a trigger, lever, or button, which is typically positioned on the first handle portion and configured for actuation by one or more of a user’s fingers or thumb.
- This end-effector control input may be connected to the push rod (HLBody C) via an input transmission mechanism which takes input from the end-effector control input and outputs a translation of the push rod (H.Body C) along a first axis direction.
- a medical device having an unlimited-roll handle assembly may include: an elongate tool frame having a forearm attachment portion at a proximal end, the elongate frame having a tool axis; an end-effector at a distal end of the elongate tool frame; a handle assembly that provides unlimited roll to the end-effector, wherein the handle assembly includes: a first handle portion, a second handle portion coupled to the first handle portion so that the second handle portion has one rotational degree of freedom about a first axis relative to the first handle portion but is translationally constrained relative to the first handle portion along the first axis direction, a push rod within the first handle portion and coupled to the first handle portion so that it has one translational degree of freedom along the first axis direction relative to the first handle portion but is rotationally constrained about the first axis relative to the first handle portion, a shuttle body within the second handle portion, wherein the shuttle body is coupled to the push rod so that it has one rotational degree of freedom about the
- any of these apparatuses may include an unlimited-roll handle assembly in which the shuttle body portion of the handle assembly is keyed to the knob/dial portion of the handle (e.g., second handle portion).
- the shuttle body may be coupled to the second handle portion so that it has one translational degree of freedom along the first axis direction relative to the second handle portion but is rotationally constrained about the first axis relative to the second handle portion.
- the shuttle includes the structure ⁇ ) that couple(s) to the transmission member transmitting the end-effector control input (such as an end-effector actuation transmission) to the end-effector.
- apparatuses including an unlimited-roll handle assembly in which the apparatus is configured to articulate, e.g., between the handle assembly and the tool shaft, with or without an arm attachment.
- medical devices comprising: an end- effector at a distal end of an elongate tool frame; a handle assembly that provides unlimited roll to an end-effector, wherein the handle assembly includes: a first handle portion, a second handle portion coupled to the first handle portion so that the second handle body has one rotational degree of freedom in a first axis relative to the first handle portion but is translationally constrained relative to the first handle portion along the first axis direction, a push rod within the first handle portion and coupled to the first handle portion so that it has one translational degree of freedom along the first axis direction relative to the first handle portion but is rotationally constrained about the first axis relative to the first handle portion, a shuttle body within the second handle portion, wherein the shuttle body is coupled to the push rod so that it has one rotational degree of
- the center of rotation may be posterior to the handle assembly, and may be, for example, a virtual center of rotation that would be located within a user’s arm or wrist when the apparatus is held by a user.
- Any of these apparatuses may also include an arm (e.g., forearm) attachment
- any of these apparatuses may include a forearm attachment portion at a proximal end of the tool frame and a cuff having a passage therethrough that is configured to hold a wrist or forearm of a user, wherein the cuff is configured to couple to the forearm attachment portion of the tool frame.
- the forearm attachment may include a joint between the forearm attachment portion of the tool frame and the cuff, wherein the joint is configured to provide one or more rotational degrees of freedom between the cuff and the forearm attachment portion of the tool frame.
- the input joint between the handle assembly and the tool frame / tool shaft may be referred to herein as a pitch and yaw input joint, and may comprise a pitch motion path and a yaw motion path, as described above.
- the pitch motion path and the yaw motion path may be independent and coupled in parallel between the handle assembly and the tool frame, wherein the pitch 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, and wherein the yaw motion path captures yaw motion of the handle assembly relative to the tool frame for transmission to the output joint but does not capture pitch motion of the handle assembly relative to the tool frame for transmission to the output joint.
- a medical device may include: an end-effector at a distal end of an elongate tool frame; a handle assembly that provides unlimited roll to an end-effector, wherein the handle includes: a first handle portion, a second handle portion coupled to the first handle portion so that the second handle body has one rotational degree of freedom in a first axis relative to the first handle portion but is translationally constrained relative to the first handle portion along the first axis direction, a push rod within the first handle portion and coupled to the first handle portion so that it has one translational degree of freedom along the first axis direction relative to the first handle portion but is rotationally constrained about the first axis relative to the first handle portion, a shuttle body within the second handle portion, wherein the shuttle body is coupled to the push rod so that it has one rotational degree of freedom about the first axis relative to the push rod but is translationally constrained along the first axis direction relative to the push rod, further wherein the shuttle body is coupled to the second handle portion so that it has one
- any of these apparatuses may include an unlimited-roll handle assembly and an end-effector configured as a jaw assembly, either with or without an arm (e.g., forearm) attachment, and/or be configured as an articulating device (e.g., including an input joint such as a pitch and yaw input joint).
- an arm e.g., forearm
- an articulating device e.g., including an input joint such as a pitch and yaw input joint
- medical devices including: an end-effector at a distal end of an elongate tool frame; a handle assembly that provides unlimited roll to an end-effector, wherein the handle assembly includes: a first handle portion, a second handle portion coupled to the first handle portion so that the second handle body has one rotational degree of freedom in a first axis relative to the first handle portion but is translationally constrained relative to the first handle portion along the first axis direction, a push rod within the first handle portion and coupled to the first handle portion so that it has one translational degree of freedom along the first axis direction relative to the first handle portion but is rotationally constrained about the first axis relative to the first handle portion, a shuttle body within the second handle portion, wherein the shuttle body is coupled to the push rod so that it has one rotational degree of freedom about the first axis relative to the push rod but is translationally constrained along the first axis direction relative to the push rod, further wherein the shuttle body is coupled to the second handle portion so that it has one translational
- the end-effector may be a jaw assembly configured so that actuation of the end-effector control input opens or closes the jaw assembly.
- the second end-effector portion may comprise a jaw member that is pivotally hinged to the first end-effector portion.
- the jaw assembly may also include a third end-effector portion that is pivotally hinged to the first end-effector portion and coupled to the transmission cable.
- the second end-effector portion is further coupled to a 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.
- any of these apparatuses may include a forearm attachment portion at a proximal end of the tool frame and a cuff having a passage therethrough that is configured to hold a wrist or forearm of a user, wherein the cuff is configured to couple to the forearm attachment portion of the tool frame; the apparatus may also include a joint between the forearm attachment portion of the tool frame and the cuff, wherein the joint is configured to provide one or more rotational degrees of freedom between the cuff and the forearm attachment portion of the tool frame.
- a medical device may include: an end-effector at a distal end of an elongate tool frame; a handle assembly that provides unlimited roll to an end-effector, wherein the handle assembly includes: a first handle portion, a second handle portion coupled to the first handle portion so that the second handle body has one rotational degree of freedom in a first axis relative to the first handle portion but is translationally constrained relative to the first handle portion along the first axis direction, a push rod within the first handle portion and coupled to the first handle portion so that it has one translational degree of freedom along the first axis direction relative to the first handle portion but is rotationally constrained about the first axis relative to the first handle portion, a shuttle body within the second handle portion, wherein the shuttle body is coupled to the push rod so that it has one rotational degree of freedom about the first axis relative to the push rod but is translationally constrained along the first axis direction relative to the push rod, further wherein the shuttle body is coupled to the second handle portion so that it has
- apparatuses e.g., mechanisms, devices, tools, machines, systems, etc.
- handle assemblies with an unlimited-roll mechanism which may incorporate certain degrees of freedoms and degrees of constraints between bodies in the handle assembly and/or in the end-effector assembly, such that there is an efficient transmission of articulation (pitch/yaw), roll, as well as end- effector actuation.
- These apparatuses may also incorporate certain degrees of freedoms and degrees of constraints between bodies in the handle assembly and/or in 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 may be combined to act like a single transmission member if it helps with efficient transmission of various functionalities.
- Handle assemblies mapped to the constraint map from FIG. 24B may contain two additional components, namely, a closure input and a roll input.
- a closure input namely, a closure input
- a roll input namely, a closure input and a roll input.
- One objective of describing these additional embodiments is to present alternate forms of handle assemblies.
- FIG. 31A-B The constraint maps are different from that of FIG. 1 of U.S. Pat. No. 9,814,451 (as well as those of FIG. 24A-B of this application), and includes four components/bodies namely, a handle body, a closure input, a roll input, and a shuttle. These embodiments present various joints/mechanisms present between the closure input and handle body that provide at least one degree of freedom.
- the constraint map of FIG. 39 shows the presence of an articulation input joint within the handle assembly such that there exists a three degree of freedom
- a roll handle assembly may 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 a rotational degree of freedom about a roll axis relative to the handle body.
- the roll body is translationally constrained along the roll axis relative to the handle body.
- the closure body is coupled to the handle body.
- the closure body has one or more degrees of freedom of motion relative to the handle body.
- the shuttle body is coupled to the roll body and is coupled to the closure body.
- the shuttle body has a translational degree of freedom along the roll axis relative to the roll body.
- the shuttle body is rotationally constrained about the roll axis relative to the roll body.
- the shuttle body has a rotational degree of freedom about the roll axis relative to the closure body.
- a roll handle assembly may include a handle assembly, a frame, and an input joint.
- the handle assembly may include a handle body, a roll body, and a shuttle body.
- the roll body is coupled to the handle body.
- the roll body has a rotational degree of freedom about a roll axis relative to the handle body and is translationally constrained along the roll axis relative to the handle body.
- the shuttle body is coupled to the roll body and has a translational degree of freedom along the roll axis relative to the roll body.
- the shuttle body is rotationally constrained about the roll axis relative to the roll body.
- the input joint provides a pitch rotation and a yaw rotation between the handle assembly and the frame.
- FIG. 1 is a constraint map of an unlimited-roll handle assembly (handle assembly) having four parts, illustrating the degrees of freedom and degrees of constraint between the coupled components.
- FIG. 2 is a schematic of a conceptual model of an unlimited-roll handle assembly, illustrating the attributes of each interface of four bodies forming the handle assembly.
- FIG. 3A shows an example of an interface between two bodies of an exemplary unlimited- roll handle assembly (e g., H.Body A and H.Body C) shown as a square slot and square key feature.
- FIG. 3B shows an example of an interface between two bodies of an exemplary unlimited- roll handle assembly (e.g., H.Body A and H.Body C) with minimal keying surface between bodies causing a rotational constraint.
- FIG. 3C is an example of an interface between two bodies of an exemplary unlimited-roll handle assembly (e.g., H.Body A and H.Body C) shown as a D-Shaft and corresponding slot feature.
- H.Body A and H.Body C shown as a D-Shaft and corresponding slot feature.
- FIG. 3D is an example of a thrust bearing acting as interface between two bodies of an unlimited-roll handle assembly (e.g., H.Body A and H.Body B).
- FIG. 3E shows an example of a portion of an unlimited-roll handle assembly including a thrust bearing with side washers acting as interface between H.Body A and H.Body B.
- FIG. 3F shows an example of a washer acting as interface between H.Body A and H.Body B in one example of an unlimited-roll handle assembly.
- FIG. 3G shows a bushing acting as interface between an H.Body A and H.Body B of an unlimited-roll handle assembly.
- FIG. 3H illustrates an exemplary H.Body A and H.Body B under tensile load with thrust bearing acting as interface between them as part of an unlimited-roll (e.g., roll) handle assembly.
- FIGS. 31.1 through 31.4 respectively illustrate a needle thrust bearing, a roller thrust bearing, a roller bearing, and an angular contact roller bearing, each of which may be used as part of an unlimited- roll handle assembly.
- FIG. 3J illustrates an example of a tapered roller bearing that may be used as part of an unlimited-roll handle assembly.
- FIG. 3K shows a radial bearing that may be used as part of an unlimited-roll handle assembly.
- FIG. 3L illustrates exemplary loading conditions applied on different bodies of an unlimited- roll handle assembly.
- FIG. 4A shows an example of an unlimited (“infinity”) handle as described herein, which is one realization of the constraint map shown in FIG. 1 as an ergonomic handle.
- FIG. 4B is an exploded view of the unlimited-roll handle assembly of FIG. 4A, in which 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 within the palm grip, and a shuttle (H.Body D) is within the second handle portion.
- An end-effector control input e.g., handle lever
- handle lever may be attached to the palm grip to actuate the end-effector.
- FIG. 5 illustrates one example of a medical device (e.g., a laparoscopic device) incorporating an unlimited-roll handle assembly such as the one shown in FIGS. 4A-4B and described herein.
- This medical device is an embodiment of a tool apparatus in the beta configuration.
- FIG. 6 shows an example of a cuff that can couple with a forearm attachment portion of a tool shaft of a medical device including an unlimited-roll (roll) handle assembly.
- the cuff includes a passage therethrough that is configured to hold a wrist or forearm of a user, wherein the cuff is configured to couple to the forearm attachment portion of the tool frame.
- FIG. 7 shows another example of a medical device having an unlimited-roll handle assembly and a jaw assembly end-effector, such as the one shown in FIG. 5 but in a closed-jaw configuration.
- This medical device is an embodiment of a tool apparatus in the beta configuration.
- FIG. 8 is another view of a medical device having both an unlimited-roll handle assembly and a distal end-effector configured as a jaw assembly, wherein the distal end-effector is shown in an articulated position with closed jaws clamping on a needle-like object, and the unlimited-roll handle assembly is similar to that shown in FIGS. 4A-4B.
- This medical device is an embodiment of a tool apparatus is the beta configuration.
- FIG. 9 shows another example of a medical device having both an unlimited-roll handle assembly and a distal end-effector configured as a jaw assembly, illustrating an end-effector transmission connecting the rotation dial (H.Body B) to the end-effector.
- This medical device is an embodiment of a tool apparatus in the alpha configuration.
- FIG. 10 shows an example of another apparatus including an unlimited-roll handle assembly and a distal end-effector configured as a jaw assembly, wherein the apparatus is a non-articulating “straight stick” laparoscopic device.
- FIG. 11 shows an example of another articulating medical device using an unlimited-roll handle assembly such as the one shown in FIGS. 4A-4B.
- FIG. 12 is an example of an alternative unlimited-roll handle assembly in which the palm grip/handle shell (H.Body A) is distal to the rotation dial (H.Body B).
- FIG. 13 illustrates the use of a ratchet mechanism for providing discrete rotational positioning of the associated rotation dial of an unlimited-roll handle assembly.
- FIG. 14 illustrates another embodiment of an apparatus using an unlimited-roll handle assembly.
- FIG. 15 is another example of an unlimited-roll handle assembly coupled to an end-effector configured as a jaw assembly.
- FIG. 16 is a front perspective view of an exemplary surgical device incorporating an unlimited-roll handle assembly and an arm (forearm) attachment.
- This surgical device is an embodiment of a tool apparatus in the alpha configuration.
- FIG. 17 is a side perspective view of an exemplary surgical device incorporating an unlimited- roll handle assembly and an input joint capturing pitch and yaw articulation by a parallel kinematic mechanism, which transmits pitch and yaw motions to an output joint located between the tool frame and the end-effector (shown configured as a jaw assembly).
- This surgical device is an embodiment of a tool apparatus in the beta configuration.
- FIGS. 18A-18D show front perspective, left side perspective, back perspective, and right side perspective views, respectively, of a medical device including 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 with respect to the tool frame, is the pitch and yaw articulation of the input joint are transmitted to an output joint articulating the end-effector.
- the input joint has a center of rotation — located where the pitch and yaw axes intersect — that provides for a virtual center of rotation located approximately within a user’ s wrist when the apparatus is attached to the user.
- This medical device is an embodiment of a tool apparatus in the beta configuration.
- FIG. 19A shows a side view of a portion of a medical device corresponding to that shown in FIGS. 18A-18D, coupled to a user’s forearm with the unlimited-roll handle assembly held in the user’s hand.
- This medical device is an embodiment of a tool apparatus in the beta configuration.
- FIG. 19B shows a slightly enlarged view of the device of FIG. 19 A.
- FIG. 19C shows the device of FIG. 19 A, in which the user is articulating the handle assembly in pitch and yaw relative to the tool frame, illustrating that the end-effector assembly track the handle orientation, with the tool frame rotated relative to the orientation shown in FIGS. 19A and 19B.
- FIG. 20 A is a constraint map of the apparatus shown in FIGS. 18A-18D that includes an unlimited-roll handle assembly, an input joint, an output joint, and an end-effector configured as a jaw assembly.
- FIG. 20B shows an alternative constraint map for another apparatus described herein.
- FIGS. 21A-B depict types of end-effector assemblies used in tool apparatuses in beta configuration (A) and used in tool apparatuses in alpha configuration (B).
- FIGS. 22A-B depict (A) tool apparatus in alpha configuration and (B) tool apparatus in beta configuration.
- FIG. 23 depicts an embodiment of a tool apparatus in beta configuration.
- FIGS. 24A-B depict constraint map A and constraint map B for a handle assembly.
- FIGS. 25A-C depict possible configuration maps for the tool apparatuses that incorporate an unlimited-roll handle assembly.
- FIG. 26 depicts a handle assembly consisting of a rack and pinion gearset as a closure input mechanism.
- FIG. 27 depicts a handle assembly consisting of a screw mechanism as a closure input mechanism.
- FIGS. 29A-B depict a handle assembly consisting of a bevel gearset as a roll input mechanism: (A) is a front view and (B) is an enlarged view.
- FIGS. 30A-E depict a handle assembly consisting of compliant (linear displacement) mechanisms (A); a compliant linear bearing interface between a shuttle and a dial (B); an ortho-planar bearing interface between a shuttle and a dial (C); an embodiment of a simple compliant mechanism between two bodies (D); and a compliant beams-based prismatic joint between two bodies (E).
- FIGS. 31A-B depict a constraint map C representing a handle assembly including a closure body, a handle body, a rotation input, a shuttle and joints/mechanisms between these bodies (A); and an extended constraint map C also including a closure input and a roll input (B).
- FIGS. 32A-B depict a handle assembly consisting of a ball and prong interface between a closure body and a shuttle — isometric sectional view (A); and a handle assembly consisting of a ball and prong interface between a closure body and a shuttle — sectional view (B).
- FIG. 33 depicts a handle assembly consisting of a screw mechanism between a closure body and a shuttle.
- FIGS. 34A-C depict an embodiment of a diaphragm spring (A); a handle assembly consisting of a closure body which is a diaphragm spring — isometric sectional view (B); and a handle assembly consisting of a closure body which is a diaphragm spring — sectional view (C).
- FIGS. 35A-C depict a counter-clockwise ratchet (A); a clockwise ratchet (B); and a dial- shuttle schematic diagram showing section 1 and section 2 locations (C).
- FIGS. 36A-D depict a handle assembly showing a locking lever for discrete dial rotation — front view (A); a handle assembly showing a locking lever for discrete dial rotation — isometric view (B); a handle assembly showing the locking lever for discrete dial rotation — isometric view with transparent lever (C); and an isolated cross-section of a locking lever and mating slot features on a handle body.
- FIGS. 37A-B depict a discrete binary or bistable rotation mechanism (that may be part of a handle assembly) consisting of a dial and a handle body (A); and an illustrative bistable compliant mechanism (B).
- FIGS. 38A-B show a schematic diagram including a handle body, a dial, and a continuous/discrete dial rotation state switch (A); an example of an apparatus including a handle body, a dial, and a continuous/discrete dial rotation state switch (B).
- FIG. 39 depicts a constraint map D that includes articulation degrees of freedom between an art-roll input and a handle body.
- FIG. 40 depicts an embodiment showing a serial input joint between bodies “art-roll input” and a “handle body.”
- FIG. 41 depicts an embodiment showing a ball-based art-roll input along with encoders receiving articulation input
- FIG. 42 depicts an embodiment showing a transducer-based articulation input joint between an art-roll input and a handle body.
- Described herein are apparatuses including an unlimited-roll handle assembly.
- the unlimited-roll handle assemblies described herein may be incorporated into any apparatus (e.g., device, tool, system, machine, etc.), described herein in particular are apparatuses including unlimited-roll handles assemblies at a proximal region of an elongate tool frame (e.g., a tool shaft or including a tool shaft) having an end-effector at the distal end of the tool frame.
- the apparatus may include a forearm attachment at the proximal end; the forearm attachment may allow one or more degrees of freedom between the user’s forearm and the tool frame while the user’s hand grips the unlimited-roll handle assembly.
- the apparatus may be articulating; for example, the tool frame may include an input joint between the unlimited-roll handle assembly and the tool frame that may capture movement (e.g., pitch and yaw movements) between the handle assembly and the tool frame for transmission to an output joint between the tool frame and an end-effector, so that the end-effector may be moved as the handle assembly is moved.
- movement e.g., pitch and yaw movements
- the end-effector is a jaw assembly that includes at least a pair of jaws (end-effector portions), which move to open and/or close the jaws when actuated by an end-effector control input on the handle assembly of the device.
- the unlimited-roll handle assemblies described herein may be configured to have four (though in some cases only three) or more parts that interact together to provide unlimited rotation of a knob or dial portion of the handle assembly about a central axis relative to a palm grip portion of the handle assembly, while still permitting the actuation of an 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 apparatus causes rotation of the end-effector, and in some cases, also causes rotation of the tool frame.
- FIG. 1 A constraint map of an unlimited-roll handle assembly or handle assembly is shown in FIG. 1, illustrating a conceptual model of the relative degrees of freedom (DoF) and degrees of constraint (DoC) between various bodies.
- DoF degrees of freedom
- DoC degrees of constraint
- the handle assembly typically comprises rigid bodies that are genetically referred to as: H.Body A 101, H.Body B 102, H.Body C 103, and H.Body D 104.
- H.Body A 101 may be referred to as the reference ground, in that the motion of all other bodies may be described with respect to H.Body A 101.
- H.Body A 101 may be a palm grip.
- any other of these bodies may be used as the ground reference for describing the motion of the remaining bodies.
- the functionality of the handle assembly is independent of which body is assumed to reference ground.
- H.Body C 103 has a single translational degree of freedom (DoF) 105’ with respect to H.Body A 101 along a first axis direction (e g., Axis 1) and has rotational constraint (DoC) 105” with respect to H.Body A 101 about Axis 1.
- DoF translational degree of freedom
- DoC rotational constraint
- H.Body B 102 has a rotational DoF 106’ with respect to H.Body A 101 about Axis 1 and has translational constraint (DoC) 106” with respect to H.Body A 101 along Axis 1 direction.
- H.Body D 104 has a single translational DoF 107’ with respect to H.Body B 102 along Axis 1 direction and rotational DoC constraint 107” with respect to H.Body B 102 about Axis 1.
- H.Body D 104 has a rotational DoF 108’ with respect to H.Body C 103 about Axis 1 and translational constraint (DoC) 108” with respect to H.Body C 103 along Axis 1 direction.
- FIG. 2 illustrates one example of an unlimited-roll handle assembly fitting the constraint map shown in FIG. 1. Even though FIG. 2 shows H.Body A 101 and H.Body B 102 to be cylindrical in shape, the schematic diagram of FIG. 2 does not depict the actual geometric features of each bodies, and these bodies can be of any general shapes as long as they satisfy the joint conditions/constraints between the various bodies as mentioned above.
- the constraint map of FIG. 1 results in the following functionality of the handle assembly: using H.Body A 101 as a reference (i.e., assuming it to be stationary), this mechanism allows for the independent rotation of H.Body B 102 with respect to H.Body A 101 about Axis 1 111. While this happens, H.Body D 104 rotates along with H.Body B 102, also about Axis 1 111, and since rotation of H.Body C 103 is coupled to rotation of H.Body A 101, H.Body C 103 does not rotate.
- any axial translation of the non-rotating H.Body C 103 with respect to the stationary H.Body A 101 along Axis 1 111 direction is transmitted to H.Body D 104, even as H.Body B 102 and H.Body D 104 rotate about Axis 1 111.
- the joints between the bodies within the unlimited-roll handle assembly typically comprise interfacing geometries which allow or prevent rotation with respect to one another. Also, these joints typically comprise interfacing geometries which allow or prevent translation with respect to one another. For those joints which enable rotation of one body with respect to another, this joint may comprise one or more cylindrical surfaces, and these surfaces can be enabled by a bearing, bushing, or lubricious surface treatment which minimizes frictional resistances. For translating joints, these surfaces may also comprise a linear bearing or lubricious surface treatment.
- H.Body D 104 has two DoFs with respect to H.Body A 101 , translation along Axis 1 111 direction and rotation about Axis 1 111. Any arbitrary combination of these two motions can be separated into translation only at H.Body C 103 and rotation only at H.Body B 102.
- any of the joints described herein may be captured for transmission to an output (e.g., output joint).
- the transmission may be done mechanically, electrically, or otherwise.
- sensors may be positioned at these two bodies, e.g., a linear displacement sensor on H.Body C 103 and a rotary sensor on H.Body B 102 may give discrete/individual values for arbitrary combination of rotation and translation applied at H.Body D 104.
- These electrical signals could then be transmitted via wired or wireless means to a mechatronic, robotic, electronic, or computer-controlled system.
- These sensors may use various types of encoding techniques (e.g. electrical, optical, etc.).
- actuators at these locations, e.g., a linear translational actuator between H.Body A 101 and H.Body C 103 and a rotary actuator between H.Body A 101 and H.Body B 102. Any arbitrary discrete/individual motion inputs at these two bodies get added into a combined motion at H.Body D 104 with respect to H.Body A 101.
- a degree of freedom implies that a particular relative motion between two bodies in a specific direction is allowed
- DoC degree of constraint implies that a particular relative motion between two bodies in a specific direction is constrained and therefore transmitted. All motions in FIG.
- Axis 1 111 (not shown), which is the axis of rotation of a handle dial (corresponding to H.Body B 102) with respect to a handle shell (corresponding to H.Body A 101). Any motion direction not explicitly mentioned could be a DoF or DoC.
- axis refers to a specific line in space.
- a body may rotate with respect to (w.r.t.) another body about a certain axis.
- a body may translate w.r.t. another body along a certain direction.
- a direction is not defined by a particular axis and is instead commonly defined by multiple parallel axes.
- X axis is a specific axis defined and shown in a figure, while X direction refers to the direction of this X axis. Multiple different but parallel X axes can have the same X direction.
- Direction only has an orientation and not a location in space.
- H.Body C 103 is shown having a single translational DoF 105’ along Axis 1 111 (not shown) direction with respect to H.Body A 101 and vice versa.
- H.Body C 103 also has a rotational constraint (DoC) 105” aboutAxis 1 111 with respect to H.Body A 101 and vice versa.
- DoC rotational constraint
- This type of joint, between H.Body A 101 and H.Body C 103 can be accomplished through a variety of embodiments.
- the interfacing bodies have a keying feature between them which restricts relative rotation about Axis 1 111 and simultaneously allows for relative translation along Axis 1 111 direction.
- FIG. 3A schematically describes a joint which might exist between H.Body A 101 and H.Body C 103.
- an outer body with a square longitudinal slot may correspond to H.Body A 101, 301 while the inner square key may correspond to H.Body C 103, 303.
- H.Body A 101, 301 is fixed to the reference ground
- H.Body C 103, 303 will be allowed to translate along Axis 1 111, 311 direction while unable to rotate about Axis 1 111, 311 due to the interferences posed by the square cross-sectional joint
- this joint can also have a rectangular cross-section which can provide the same single axis (Axis 1 111, 311) rotational constraint and single axis (Axis 1 111, 311) translational DoF.
- a functional aspect of this joint is a low friction relative sliding motion along Axis 1 111, 311 direction between H.Body A 101, 301 and H.Body C 103, 303.
- the surface contact between both bodies may need to be minimal so as to avoid large frictional contact between surfaces of H.Body A 101, 301 andH.Body C 103, 303. Therefore, one way of achieving the same joint between H.Body A 101, 301 and H.Body C 103, 303 with less friction contact is to minimize the contact surface area between two bodies.
- FIG. 3B shows one way to reduce the surface contact between H.Body A 101, 301 and H.Body C 103, 303 by interfacing the spokes of H.Body C 103, 303 with corresponding slots in H.Body A 101, 301.
- FIGS. 3A and 3B show examples of achieving the constraint and DoF between H.Body A 101, 301 and H.Body C 103, 303, but they can have different geometric shapes provided that the constraints and DoFs are met.
- FIG. 3C shows one way this joint can be achieved by essentially providing a keying surface 320 via the flat end of the D-Shaft 303 (H.Body C 103, 303) that engages with a corresponding slot present in H.Body A 101, 301.
- H.Body B 102, 302 and H.Body D 104, 304 have a rotational DoC 107” about Axis 1 111, 311 and a single translational DoF 107’ along Axis 1 111, 311 direction. This is the same type of rotational DoC 105” and translational DoF 105’ that is present between H.Body A 101, 301 and H.Body C 103, 303. Therefore, each one of the ways to attain the joint between H.Body A 101, 301 and H.Body C 103, 303 are also applicable to the joint between H.Body B 102, 302 and H.Body D 104, 304; given the constraint and DoF requirements are fulfilled.
- any of the joints between H.Body A 101, 301 and H.Body C 103, 303 as well as between H.Body B 102, 302 and H.Body D 104, 304 may include or require a low friction surface contact between the bodies.
- This, along with a single rotational constraint (DoC) 105”, 107’ about Axis 1 111, 311 and a single translational DoF 105’, 107’ along Axis 1 111, 311 direction, may completely define the joint between these bodies.
- DoC rotational constraint
- H.Body A 101, 301 and H.Body B 102, 302 may have a single rotational DoF 106’ about Axis 1 111, 311 relative to each other and a single translational constraint (DoC) 106” along Axis 1 111, 311 direction.
- DoC translational constraint
- H.Body A 101 , 301 and H.Body B 102, 302 may also have a functional requirement of providing low friction joint between them while they rotate relative to each other about Axis 1 111, 311.
- This functional requirement comes from the fact that either of the duos, 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 compressive or tensile loading while fulfilling the rotational DoF 106’, 108’ about Axis 1 111, 311 and translational constraint (DoC) 106”, 108” along Axis 1 111, 311 direction.
- DoC translational constraint
- H.Body A 101, 301 andH.Body B 102, 302 are placed such that their surfaces normal to Axis 1 111, 311 are under compression, they need to overcome the normal forces acting on each bodies’ surfaces to provide the rotational DoF 106’ about Axis 1 111, 311. Therefore, to provide the rotational DoF 106’ about Axis 1 111, 311 and the translational constraint 106” along Axis 1 111,
- FIG. 3D shows one way of obtaining the desired rotational DoF 106’ and translational constraint (DoC) 106” by providing low friction surface contact
- a thrust bearing 330 is used to provide the rotational DoF 106’ along with maintaining low friction contact between surfaces of H.Body A 101, 301 and H.Body B 102, 302 by holding the thrust load between the two bodies.
- this functionality can be achieved in many other ways that fulfill the rotational DoF 106’ and translational constraint 106” requirement.
- FIG. 3E shows one way in which the thrust load can be supported by having a thrust bearing 333 between H.Body A 101, 301 and H.Body B 102, 302 along with washers 334, 335 on each side of the bearing 333.
- FIG. 3F shows another way of supporting thrust loads while providing the rotational DoF 106’ about Axis 1 111, 311 by using a single washer 340 between H.Body A 101, 301 and H.Body B 102, 302 made of material with low friction coefficient like Teflon (FIFE), nylon, etc.
- FIG. 3G shows a bushing 345 placed between the interfacing surfaces of H.Body A 101, 301 and H.Body B 102, 302, such that it is capable of holding thrust load, thereby providing a translational constraint (DoC) 106” along Axis 1 111, 311 direction.
- DoC translational constraint
- FIGS. 3D, 3E, and 3F show that the same system of two bodies with an intermediate member carrying thrust load and providing a rotational DoF 106’ about Axis 1 111, 311 and providing a translational constraint (DoC) 106” along Axis 1 111, 311 direction, shown in FIGS. 3D, 3E, and 3F also works well when there is a tensile load - as opposed to compressive load - between H.Body A 101, 301 and H.Body B 102, 302.
- An example is illustrated in FIG. 3H with an embodiment similar to that illustrated in FIG. 3D, wherein a thrust bearing 347 is located between H.Body A 101, 301 and H.Body B 102, 302, facing normal to Axis 1 111, 311.
- the thrust bearing 347 between H.Body A 101, 301 and H.BodyB 102, 302 can be of various types, e.g., thrust needle bearing, thrust roller bearing, roller bearing, tapered roller bearing, angular contact bearing, etc., some of which are illustrated in FIGS. 31.1 through 31.4.
- FIG. 3H shows a thrust roller bearing 347 acting as joint between H.Body A 101, 301 and H.Body B 102, 302.
- H.Body C 103, 303 and H.Body D 104, 304 may have the same type of joint as H.Body A 101, 301 and H.Body B 102, 302 and comply with all the aforementioned joint types mentioned in this section.
- H.Body A 101, 301 andH.BodyB 102, 302 can be under compressive or tensile load along Axis 1 111, 311.
- H.Body C 103, 303 and H.Body D 104, 304 can also be under compressive or tensile load along Axis 1 111, 311 direction.
- Either of 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.
- H.Body B 102, 302 can be under tension or under compression with respect to H.Body A 101, 301.
- H.Body C 103, 303 is free to move along Axis 1 111, 311 direction with respect to H.Body A 101, 301 and has rotational constraint about Axis 1 111, 311 with respect to H.Body A 101, 301.
- H.Body C 103, 303 can be under compression or tension with respect to H.Body D 104, 304, and H.Body D 104, 304 is free to translate along Axis 1 111, 311 direction with respect to H.Body B 102, 302 and has rotational constraint about Axis 1 111, 311 with respect to H.Body B 102, 302.
- FIG. 3L illustrates a configuration where H.Body B 102, 302 is under compressive load with respect to H.Body A 101, 301 and H.Body C 103, 303 is under tensile load with respect to H.Body D 104, 304.
- an angular contact bearing 351 is used between H.Body A 101, 301 and H.Body B 102, 302. This accounts for a joint between H.Body A 101, 301 and H.Body B 102, 302 that provides the associated translational constraint (DoC) 106” and rotational DoF 106' requirements mentioned above, along with the functional requirement of providing low friction between surfaces contacting one another.
- a thrust bearing 330, 333, 347, 349, 394, 351 may be used between H.Body C 103, 303 and H.Body D 104, 304.
- FIGS. 4A and 4B show an example of an ergonomic handle assembly 400 (unlimited-rotation handle assembly) that utilizes the mechanism illustrated in FIG. 3L involving both compressive and tensile loading conditions.
- This handle assembly 400 is an embodiment of the constraint map shown in FIG. 1.
- the rotation dial 402 (H.Body B 102, 402) is under a rotational degree of freedom (DoF) 106’ about Axis 1 111, 411 and translational constraint (DoC) 106" along Axis 1 111, 411 direction with respect to Handle Shell 401 (H.Body A 101, 401).
- the rotation dial 402 transmits this rotation about Axis 1 111, 411 to H.Body D 104, 404, which is also referred as shuttle 404.
- shuttle 404 (H.Body D 104, 404) is under rotational constraint (DoC) 107’ about Axis 1 111, 411 with respect to rotation dial 402 (H.Body B 102, 402) and therefore, has no relative rotation about Axis 1 111, 411.
- the shuttle 404 (H.Body D 104, 404) is further interfaced with H.Body C 103, 403 (referred as push rod or pull rod, i.e. push/pull rod 403) via a joint 455 which allows rotational DoF 108’ about Axis 1 111, 411 and translational constraint (DoC) 108” along Axis 1 111, 411 direction.
- the translation of shuttle 404 (H.Body D 104, 404) along Axis 1 111, 411 direction is further transmitted to the moving jaw of an end-effector via an end-effector transmission 471.
- the end-effector When the end-effector is configured as a jaw assembly, the latter may alternatively be referred to as a 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 (when it is a compliant cable, for example).
- This jaw closure actuation transmission member 471 can be either rigid or non-rigid body, or a combination of a rigid and non-rigid members.
- the transmission member can be either the shaft of an apparatus (e.g., of a laparoscopic instrument) or a rod passing internally through the shaft, a cable under tension that connects to the end-effector at the distal end of the laparoscopic instrument, or a combination of a non-rigid body and a rigid body (e.g., a rod along with a cable under tension).
- the push/pull rod 403 (H.Body C 103, 403) and shuttle 404 (H.Body D 104, 404) are under tensile load and the rotation dial 402 (H.Body B
- FIGS. 4A and 4B Another variation of an ergonomic handle assembly 400 shown in FIGS. 4A and 4B can be constructed via a flexure-based design, also known as a compliant mechanism, that realizes the constraint map of FIG. 1 by employing compliant or flexure joints between the bodies H.Body A 101, H.Body B 102, H.Body C 103, and H.Body D 104 to achieve the necessary constraints.
- FIGS. 5, 7, and 8 An apparatus incorporating the unlimited-roll handle assemblies illustrated 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 depict apparatuses in the beta configuration (defined later). More particularly, FIGS. 5, 7, and 8 show a laparoscopic surgical instrument having an end-effector configured as a jaw assembly; wherein in FIG. 5 the jaws are open, in FIG. 7 the jaws are shown closed, and in FIG 8. the jaws are closed on a needle-like object and the end-effector assembly is articulated.
- the exemplary apparatus 500 in beta configuration includes a tool frame 525, the latter of which includes a tool shaft 526 and a forearm attachment portion 527 at the proximal end 528 of the tool frame 525.
- FIG. 6 shows an example of a wrist cuff 605
- the wrist cuff 605 is operatively coupled to the forearm attachment portion 520, 527 of the tool frame 525 via a bearing therebetween that allows the wrist cuff 605 to slide or roll so that there is a roll rotational degree of freedom between the tool frame 525 and the wrist cuff 605 about a tool axis 515 (Axis 3 515).
- a proximal unlimited-roll handle assembly 400 - for example, as shown in FIGS. 4A and 4B - may be connected to the tool frame 525 by an input joint 529, the latter of which may be configured to capture motion between the tool frame 525 and the unlimited-roll handle assembly 400, as shown in FIGS. 5, 7 and 8.
- the input joint 529 includes a pair of transmission strips 533, 534 that are connected between the unlimited-roll handle assembly 400 and the forearm attachment portion 527 by corresponding associated hinged joints 530, and that may be connected in parallel to respective pivoting joints (not shown) in order to provide for separately receiving pitch and yaw rotations of the unlimited- roll handle assembly 400 relative to the tool frame 525.
- An output joint 583 (shown as an end-effector articulation output joint) between an end-effector 565 and the tool shaft 526receives transmission input (pitch and yaw motion) from the input joint 529 to articulate the end-effector 565.
- the unlimited-roll handle assembly 400 includes an ergonomic palm grip portion 101, 501 (handle shell 501) that connects to the rotation dial 102, 502, which enclose an internal push rod and shuttle (not visible), wherein these four elements are constrained per the constraint map shown in FIG. 1.
- the unlimited-roll handle assembly 400 also includes an end-effector control input such as a handle lever 549 and an associated closure actuation 549’ (see FIG. 5).
- This control input i.e., handle lever 549) is as a mechanical extension (e.g., via a mechanism) of the internal push rod.
- the handle lever 549 is coupled to the push rod via a transmission mechanism that may comprise a linkage, cams, springs, etc.
- a transmission cable 566 connects to the shuttle and acts as a jaw closure actuation transmission member 471 extending from the shuttle and through the tool shaft 526 to the end-effector 565.
- This transmission cable 566 may be enclosed by a protective and/or supporting sheath or cover or conduit for some or entire portion of its length.
- the end-effector 565 itself is a jaw assembly including a first end-effector portion 569 (ground), in this example, including a fixed jaw 569 to which a pivoting second end-effector portion (moving jaw 568) is attached.
- the transmission cable 566 may couple to the moving jaw 568 at the end-effector closure output 577.
- the handle shell 101, 501 may rotate about a first axis 111, 511 referred to as handle articulated roll axis 511 (Axis 1), so as to cause the tool shaft 526 to rotate about a third axis 515 referred to as the tool shaft roll axis 515 (Axis 3), which in turn causes the end-effector 565 to roll about a second axis 513, referred to as an end-effector articulated roll axis 513 (Axis 2).
- the rotation dial 102, 502 (H.Body B) as shown in FIG. 5 is rotated about Axis 1 111, 511.
- H.Body B 102, 502 leads to a rotation of the tool frame 525 via the transmission strips
- FIG. 6 illustrates an example of an embodiment of a forearm attachment apparatus 600 comprising a 3-axis gimbal assembly including a wrist cuff 605 that securely attaches to the user’s wrist 607/forearm 608, leaving the user’s hand 609 free to move (e.g., to grasp the handle shell 101, 501 and manipulate the rotation dial 102, 502 and actuate the end-effector control input 549).
- the forearm attachment apparatus 600 allows pitch, yaw, and roll degrees of freedom; the wrist cuff 605 pivotally attaches to a deviation ring 514 with a first pair of pins 610 that provide for rotation about flexion/extension axis of rotation 516.
- the deviation ring 514 is in turn pivotally attached to a sled 518 with a second pair of pins 611 that provide for rotation about a deviation axis of rotation 521, wherein the sled 518 is configured to roll within a raised inner track 519 of an outer guide ring 520 about a corresponding roll axis of rotation 531.
- the forearm attachment apparatus 600 provides for pitch, yaw, and roll degrees of freedom between the wrist cuff 605 and the tool frame 525 when coupled to the tool frame 525 of the apparatus 500.
- the outer guide ring maybe formed as part of the forearm attachment portion 527 of the apparatus 500, or it may be attached thereto.
- the wrist cuff 605 may be releasably coupled into the deviation ring 514 via a snap-fit coupling 540 or some other type of coupling.
- FIG. 8 shows another view of the beta configuration (defined later) laparoscopic instrument of FIGS. 5-7 with the end-effector 565 in an articulated position and holding a needle that may be used to suture tissues.
- the end-effector fixed jaw 569 (ground) and the end-effector moving jaw 568 can be rotated about the end-effector articulated roll axis 513 (Axis 2) such that the tool shaft 526/tool frame 525 rotates about the tool shaft roll axis 515 (Axis 3) while the handle assembly is rotated about the handle articulated roll axis 511 (Axis 1); all while simultaneously holding the needle securely by forcing the end-effector moving jaw 568 towards the end-effector fixed jaw (ground) 569 via a jaw closure actuation transmission member 471 connected to H.Body D 104, 404 within the unlimited-roll handle assembly 400.
- the apparatus 500 shown in FIGS. 5-8 may fit a constraint map such as the one shown in FIG. 20A.
- FIG. 9 illustrates a tool apparatus in the alpha configuration.
- the rotation of a rotation dial 102, 902 (H.Body B) about Axis 1 111, 911 leads to rotation of an associated end-effector assembly
- FIG. 965 (shown here as a jaw assembly including a moving jaw 968 and a fixed jaw 969) about Axis 2913.
- the tool frame 925 including the tool shaft 926 does not rotate about their associated axis (Axis 3
- the tool frame 925 may still be connected to a wrist cuff 605 mounted on a user’s forearm
- the end-effector assembly 965 has a rotational DoF with respect to the distal end 927 of the associated end-effector articulation output joint 928 about Axis 2 913 (similar to that between H.Body A 101, 901 and H.Body B 102, 902 about Axis 1 111, 911) and an end-effector rotation transmission member 950 connects H.Body B 102, 902 directly to the end-effector assembly 965 via the torsionally stiff end-effector rotation transmission member 950.
- This may also be the jaw closure actuation transmission member 471 or may house and therefore route, a flexible jaw closure actuation transmission member 471, for example, a hollow flexible shaft (end-effector rotation transmission member 950) that is torsionally stiff that can transmit rotation from one end to another, housing a cable that is flexible in bending (jaw closure actuation transmission member 471) there within.
- a flexible jaw closure actuation transmission member 471 for example, a hollow flexible shaft (end-effector rotation transmission member 950) that is torsionally stiff that can transmit rotation from one end to another, housing a cable that is flexible in bending (jaw closure actuation transmission member 471) there within.
- FIG. 10 Another example of an apparatus 1000 incorporating the above-described unlimited-roll handle assembly 400 of FIGS. 4A and 4B is shown in FIG. 10.
- This apparatus 1000 is configured as a straight stick device with a non-articulating end-effector 1065.
- Other straight stick apparatuses for example, as described in U.S. Pat. No. 4,712,545, U.S. Pat. No. 5,626,608, and U.S. Pat. No. 5,735,874 - may benefit from incorporation of the unlimited-roll handle apparatuses, for example, the unlimited-roll handle assembly 400 illustrated in FIGS. 4A and 4B.
- FIG. 10 Another straight stick apparatus 1000 incorporating the above-described unlimited-roll handle assembly 400 of FIGS. 4A and 4B is shown in FIG. 10.
- This apparatus 1000 is configured as a straight stick device with a non-articulating end-effector 1065.
- Other straight stick apparatuses for example, as described in U.S. Pat. No. 4,712,545, U.S. Pat.
- FIG. 10 shows an example of a surgical instrument comprising an unlimited-roll handle assembly 400 (including a palm grip portion 101, 1001 and a dial portion 102, 1002), a tool shaft 1026, and the non-articulating end-effector 1065 configured as a jaw assembly, wherein, for example, there is a rotation joint 1067 between the moving jaw 1068 and fixed jaw 1069 of the non-articulating end-effector 1065.
- the non-articulating end-effector 1065 connects to the rotation dial 102, 1002 (H.Body D) via a jaw closure actuation transmission member (not visible in FIG. 10).
- This apparatus 1000 provides the functionality of closing and opening the non-articulating end-effector 1065 by moving the moving jaw 1068 relative to the fixed jaw 1069.
- the apparatus 1000 may also provide the rotation of the non-articulating end-effector 1065 about the handle axis 1011 (Axis 1 111), wherein the shaft axis 1015 (Axis 3) remains parallel to the handle axis 1011 (Axis 1 111) under rotation of the H.Body B 102, 1002, tool shaft 1026, and the non-articulating end-effector 1065 attached hereto.
- FIG. 11 shows an articulating laparoscopic device 1100.
- Such devices include a handle shell 101, 1101, handle lever 1153, handle dial 102, 1102, shuttle 104, 1104, pull/push rod 103,
- jaw closure actuation transmission member 1139 jaw closure actuation transmission member 1139, tool shaft 1126 and an articulating end-effector
- the articulating laparoscopic device 1100 also incorporates an end-effector rotation joint 1067 (open/close functionality) operative between a moving jaw 1168 and a fixed jaw 1169, and in addition to this open/close end- effector rotation joint 1067, also contains an output articulation joint 1143 for end-effector articulation and a corresponding associated input articulation joint 1142.
- the input articulation joint 1142 may be implemented as either a serial kinematic (S-K) input joint or parallel kinematic (P-K) input joint.
- S-K serial kinematic
- P-K parallel kinematic
- FIGS. 12 and 13 illustrate other unlimited-roll handle assembly variations that follow the constraint map illustrated in FIG. 1. These handle assembly variations may be used with any of the other apparatus components described herein (including with other device architectures and/or constraint maps).
- the rotation dial 102, 1202 is proximal to the palm grip/handle shell portion 101, 1201.
- the apparatus may include a shaft 1226 and an end-effector 1265 and may include the same axes as described above (first Axis 111, 1211, second Axis 1213, and third Axis 1215).
- joint characteristics DoFs and DoCs
- H.Body C 103 Handle Lever 1203 is a mechanical extension of H.Body C 103 are the same as the ones between H.Body B 102, 1202 and H.Body D 104 (not shown in FIG. 12).
- joint characteristics (DoFs and DoCs) between H Body A 101, 1201 and H Body B 102, 1202 are the same as the ones between H Body C 103 and H Body D. Any of the four bodies can be referred as ground reference.
- H.Body B 102, 1202 is located away from to the tool shaft 1226 and towards the proximal end of the hand 609.
- H.Body A 101, 1201 is located towards the proximal end of the tool shaft 1226.
- H.Body B 102, 1202 is rotated w.r.t.
- H.Body C 103 rotates with respect to H.Body D 104.
- FIG. 12 Another way of explaining this embodiment (shown in FIG. 12) is that the handle assembly’s rotation dial is now placed at the proximal end of the handle assembly.
- Any of the apparatuses described herein may include a rotation lock/ratcheting mechanism, as illustrated in FIG. 13.
- the handle assembly shown here follows the constraint map of FIG. 1 and consists ofajoint 1317 between H.Body A 101, 1301 andH.BodyB 102, 1302 that provides a rotational DoF about Axis 1 111.
- This rotation can be made more tactile by the application of a ratcheting feature 1319 between H.Body A 101, 1301 and H.Body B 102, 1302.
- Ratcheting between H.Body A 101, 1301 and H.Body B 102, 1302 can provide a sense of discrete rotation steps while rotating about Axis 1.
- FIG. 13 illustrates a ratchet mechanism 1319 along with a thrust bearing 1317 (that provides rotational DoF 106’ and translational DoC 106”) located between the palm grip/handle shell 101, 1301 and the rotation dial 102, 1302.
- the shuttle 104, 1304 and push rod 103, 1303 otherwise operate per the constraint diagram of FIG. 1 and handle assembly 400 of FIG. 4.
- the unlimited-roll handle assemblies described herein may also be used with an apparatus configured to provide a pecking motion at the end-effector.
- an unlimited-roll handle assembly 400 of FIG. 4 (fitting the constraint map of FIG. 1) may provide for the opening and closing of an end-effector jaw triggered directly by radially pressing the rotation dial 102, 1402 (H.Body B).
- the embodiment illustrated in FIG. 14 comprises a handle shell 101, 1401 (H.Body A), held in a hand 609 of the user, and may include a rotation dial 102, 1402 (H.Body B) that can rotate relative to handle shell 101, 1401 (H.Body A) about Axis 1 111, 1411.
- the rotation dial 104, 1404 when radially pressed, pushes a shuttle 104, 1404 (H.Body D) along Axis 1 111, 1411 direction in accordance with the translational DoF of the shuttle 104, 1404 (H.Body D) with respect to the rotation dial 104, 1404 (H.Body B) along Axis 1 111, 1411.
- the flexible nature of the body representing combined shaft and end- effector 1432 directs the movement of shuttle 104, 1404 (H.Body D) - as a sleeve 1404’ - over the combined shaft and end-effector 1432.
- This sleeve 14047shuttle 104, 1404 (H.Body D) controls the opening and closing of the associated end-effector 1432’, the latter of which acts as a double action jaw that can have various applications in open surgery, for example, in eye surgery, or in minimal invasive surgery.
- H.Body A the interior of the handle shell 101, 1401 (H.Body A) and attached via a spring, so that after the push/pull rod (H.Body C) is moved relative to handle shell 101, 1401 (H.Body A), it retracts back to its original position with the help of the spring.
- this provides for the motion of the push/pull rod (H.Body C) and shuttle 104, 1404 (H.Body D) along Axis 1 111, 1411 direction when the shuttle 104, 1404 (H.Body D) is pushed along Axis 1 direction by radially pressing the rotation dial 104, 1404 (H.Body B), and provides for retracting both the shuttle 104, 1404 (H.Body D) and the push/pull rod (H.Body C) to their original position thereafter.
- the combined end-effector 1432 can be rotated about Axis 1 (111, 1411), and the associated end-effector 1432’ can be used to grab or clamp external bodies by pecking the shuttle 104, 1404 (H.Body D), which closes of the end-effector 1432’, and can then be used to release the external body by releasing the shuttle 104, 1404 (H.Body D), which opens the end-effector 1432’.
- an apparatus 1500 utilizing a pull-pull configuration for jaw closure transmission incorporates an unlimited-roll handle assembly 400 such as was shown in FIG.
- H.Body D H.Body B 102
- An associated jaw closure (open/close) actuation transmission member 1530 is first pulled to close an end-effector moving jaw 1567 with respect to a corresponding end-effector fixed jaw 1568, and is then subsequently released to open the end-effector moving jaw 1567 with respect to the end-effector fixed jaw 1568.
- the jaw closure (open/close) actuation transmission member 1530 is attached to H.Body D 104, 404 where H.Body D can translate with respect to H.Body B 102, 402 as a result of the translational DoF 107’ along Axis 1 111, 411 direction, but has a translational constraint (DoC) 108” with respect to H.Body C 103, 403.
- DoC translational constraint
- H.Body D 104, 404 moves along Axis 1 111, 411 direction to pull the jaw closure (open/close) actuation transmission member 1530 to close the jaws 1567, 1568 (i.e., bringing the end-effector moving jaw 1567 and end-effector fixed jaw 1568 together), a second jaw closure (open/close) actuation transmission member 1532 is pulled to open the end-effector moving jaw 1567.
- the second jaw closure actuation transmission member 1532 may be pulled.
- the second jaw closure actuation transmission member 1532 can be pulled using a pull spring 1513, grounded at a reference frame called “Spring Reference Ground 1512”.
- “Spring Reference Ground 1512” can occur at different locations in the assembly, as follows: (1) If roll transmission is by means of an input articulating joint 529, a tool frame/tool shaft 1526, and an output articulating joint 583, then the “spring reference ground 1512” can occur at the H.Body B 102, 402, or the tool frame/tool shaft 1526, or the end-effector fixed jaw 1568; (2) If roll transmission is by means of an independent roll transmission member routed across the input articulating joint 529, through tool frame/tool shaft 1526, and through the output articulating joint 583 (given an extra roll DoF between output joint distal end and end-effector base), then the “spring reference ground 1512” can occur at H.Body B 102, 402 or at the end-effector fixed jaw 1568.
- the unlimited-roll handle assembly is generally configured to include a forearm attachment apparatus 600.
- the unlimited-roll handle apparatus 1600 may provide the ability for simultaneously transmitting roll and closure action to H.Body D 104 with respect to H.Body A 101.
- FIG. 16 illustrates a tool apparatus embodiment in the alpha configuration (defined later).
- a forearm attachment apparatus 600 that provides for addition degrees of freedom (DoFs)
- DoFs degrees of freedom
- a forearm attachment apparatus 1611 (one) joint - referred to as a forearm attachment apparatus 1611 - exists between a wrist attachment/wrist cuff 1609 and a tool frame 1625.
- the forearm attachment apparatus 1611 (similar to 600 shown in FIG. 6) may be used to couple the wrist attachment/wrist cuff 1609 to the tool frame 1625, allowing either zero, or one, or more degrees of freedom between the user’s forearm and the unlimited-roll handle apparatus 1600, depending upon the nature of the forearm attachment apparatus 1611.
- the forearm attachment apparatus 600 may be used with either articulating devices or non-articulating devices.
- one embodiment can include a roll DoF by providing a roll rotation joint 1611' between the wrist attachment/wrist cuff 1609 and the tool frame 1625.
- This joint may use a “sled 518" — for example, as illustrated in FIG. 6 - which can provide for a roll rotational DoF about the roll axis 111, 531 or the arm axis 612.
- Another embodiment can provide for a pitch DoF by providing a rotation joint to allow rotation about the flexion/extension axis of rotation 516.
- Another embodiment can provide for a yaw DoF by providing a rotation joint to allow rotation about the deviation axis of rotation 521.
- Another embodiment can provide for both pitch and yaw DoF by providing one or more rotation joints that allow rotation about the flexion/extension axis of rotation 516 and rotation about the deviation axis of rotation 521, respectively, for example, by incorporating an intermediate body referred to as a deviation ring 514, for example, as illustrated in FIG. 6.
- Another embodiment can provide for 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 (DoFs). Also as shown in FIG.
- a joint exists between the tool frame 1625 and the tool shaft 1626, called a shaft-frame joint 1685, which may have a zero DoF joint (i.e., a rigid connection between the tool shaft 1626 and the tool frame 1625), which, for the embodiments disclosed herein, is the default configuration.
- the device 1600 illustrated in FIG. 16 includes a handle palm grip 101, 1601 (H.Body A), a rotation dial 102, 1602 (H.Body B), an end-effector input 1612 (e g.
- a handle lever 549 a shaft-frame joint 1685, an end-effector 1668 at a distal end 1627 of the tool shaft 1626, for which are defined an associated handle axis 111 (Axis 1), an associated tool shaft axis 1615 (Axis 3) and an associated end-effector axis 1613 (Axis 2).
- an associated handle axis 111 Axis 1
- an associated tool shaft axis 1615 Axis 3
- an associated end-effector axis 1613 Axis 2
- Some variations of a non-articulating instrument 1600 that is forearm mounted and that incorporates the unlimited-roll handle assembly 400 of FIGS. 4A and 4B may include a separate tool frame 1625 and a separate tool shaft 1626. In one such configuration, the tool frame 1625 and wrist attachment/wrist cuff 1609 may be rigidly attached (i.e., 0 DoF).
- any of the apparatuses incorporating an unlimited-roll handle assembly described herein may also include a virtual center (VC) 1721 associated with an input articulation joint, for example, as shown in FIG. 17.
- This device 1700 can have either a serial or parallel kinematic input joint, with the associated joint axes intersecting at the 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.
- the device 1700 also includes an end- effector assembly 1765 that is also configured as a jaw assembly.
- FIGS. 18A-18D illustrate one example of a medical device 1800 configured as a laparoscopic apparatus including an unlimited-roll handle assembly 400 (similar to that illustrated in FIGS. 4A and 4B), an elongate tool frame 525, a forearm attachment apparatus 600 (similar to that illustrated in FIG.
- FIGS. 19A-19C A schematic constraint diagram for the medical device 1800 shown in FIGS. 18A-18D is shown in FIG. 20A, corresponding to beta configuration (defined later). An alternative constraint diagram for a medical device 1800 as described herein is shown in FIG. 20B, which corresponds to alpha configuration (defined later). [0140] Referring again to FIGS. 18A-18D, the overall medical device 1800 comprises a pulley block
- the pulley block 1805 serves as the outer ring 1805 of a forearm attachment joint 1807 that interfaces with the distal forearm 608’ of a user via a wrist cuff 1803, as described above.
- the wrist cuff 1803 and the outer ring 1805 are all part of the forearm attachment joint 1807 (corresponding to the forearm attachment apparatus 600 of FIG. 6).
- the forearm attachment joint 1807 comprises the outer ring 1805, a sled 518, a deviation ring 514, and the wrist cuff
- the forearm attachment joint 1807 provides the above three rotational degrees of freedom between the tool frame 525 and user’s/surgeon’s forearm 608.
- the tool frame 525 extends from the outer ring 1805/pulley block 1805 and is shaped around the unlimited-roll handle assembly 400 to accommodate a user’s hand 609 (over its entire range of articulation) while supporting the unlimited-roll handle assembly 400.
- the tool frame 525 rigidly connects to the tool shaft 526, which further extends in a distal direction (i.e., away from the forearm attachment joint 1807 and the user).
- a two-DoF articulating joint also referred to as the output joint 583/end-effector articulating joint 583’
- the input joint 1801 is located between the unlimited-roll handle assembly 400 and the pulley block 1805 at the proximal end 528 of the medical device 1800 and provides for two rotational degrees of freedom (DoF) (pitch rotation and yaw rotation) therebetween.
- the input joint 1801 is a parallel kinematic mechanism comprising two flexure transmission strips 533, 534 and two transmission pulleys 1813.1, 1813.2 (a pitch pulley 1813.1 and a yaw pulley 1813.2, shown in FIG. 18C).
- the parallel kinematic input joint 1801 ’ of the medical device 1800 is also referred to as a Virtual Center mechanism 180V or a Virtual Center input joint 1801’.
- the overall geometry of the medical device 1800 is such that the virtual center (VC) 1821 produced by the parallel kinematic input joint 1801 ’ approximately coincides with the center of rotation the user’s wrist joint 607. This ensures a natural, comfortable, unrestricted articulation of the surgeon’s wrist 607 while using the medical device 1800.
- the yaw and pitch rotations of the user’s wrist 607 with respect to his/her forearm 608 are translated to the corresponding rotations of the unlimited-roll handle assembly 400 with respect to the pulley block 1805/tool frame 525.
- the parallel kinematic design of the virtual center mechanism 1801 ’ is such that the two rotation components (pitch and yaw) of the handle shell 101, 501 with respect to the pulley block 1805 are mechanically separated/filtered into a pitch-only rotation at the pitch pulley 1813.1 and a yaw-only rotation at the yaw pulley 1813.2.
- the pitch pulley 1813.1 and yaw pulley 1813.2 are respectively pivoted (and mounted) with respect to the pulley block 1805 about the corresponding associated pitch rotation axis 1833 and yaw rotation axis 1831, respectively.
- the pitch and yaw rotations of the unlimited-roll handle assembly 400 (and therefore, of the surgeon’s wrist 607) thus captured at the pitch 1813.1 and yaw 1813.2 transmission pulleys are then transmitted as corresponding rotations of the end-effector articulating joint 583 via cables that originate at the transmission pulleys 1813.1, 1813.2 and run through the pulley block 1805, tool frame 525, and tool shaft 526 all the way to the end-effector assembly 1765.
- the input joint In addition to the yaw and pitch rotational degrees of freedom (DoFs) provided by the input joint 1801, the input joint also provides/allows for an axial translational degree of freedom along the roll axis 111, 1835, which provides/allows for a range of user hand 609 sizes to be accommodated by the medical device 1800, and ensures free and unrestricted hand 609/wrist 607 articulation.
- DoFs yaw and pitch rotational degrees of freedom
- the flexure transmission strips 533, 534 are stiff in twisting about the roll axis 111, 1835, which ensures that the input joint 1801 constrains (and therefore transmits) roll rotation from the distal end of the unlimited-roll handle assembly 400 (i.e., the dial) via the flexure transmission strips 533, 534 to the pulley block 1805.
- pulley block 1805 serves as the outer ring 1805 of the forearm attachment joint 1807, which provides a well-defined low-resistance rotation about roll axis 111, 1835 with respect to the wrist cuff 1803 shown in FIG. 18C.
- the twirling of the rotation dial 102, 502 (i.e., roll rotation) is transmitted to the pulley block 1805/outer ring 1805 via the parallel kinematic input joint 180 V (i.e. via the flexure transmission strips 533, 534 of the Virtual Center mechanism 1801’).
- the tool shaft 526 also rotates about the roll axis 111, 1835.
- the roll rotation of the tool shaft 526 is transmitted to the end-effector assembly 1765 as well via the output joint 583 (i.e. via the end-effector articulating joint 583 ’). Because the articulation of the end-effector assembly 1765 (at the output joint
- the handle shell 101, 501 which remains fixed in the user’s hand 609, is indeed limited in its roll angle by the pronation/supination limit of the user’s hand 609/ forearm 608.
- the user can - via his/her fingers - endlessly, or infinitely, roll-rotate the rotation dial 102, 502 with respect to the handle shell
- the unlimited-roll handle assembly 400 comprises a rotation dial 102, 502 and a handle shell 101, 501, which are connected by a rotation joint therebetween which has a single rotational DoF about the roll axis 111, 1835. Additionally, the unlimited-roll handle assembly 400 also houses an end-effector actuation mechanism that is actuated by the handle lever 549, wherein as the handle lever 549 is depressed (by the user’s fingers, typically middle, ring, and pinky fingers) with respect to the handle shell 101, 501, the end-effector actuation mechanism translates this action into a pulling action of a transmission cable 566 of an end-effector transmission 471.
- This pulling action is transmitted through the rotating interface/joint between the handle shell 101, 501 and the rotation dial 102, 502 to the end-effector assembly 1765 via the transmission cable 566 within a flexible conduit between the rotation dial 102, 502 and tool frame 525, then through the tool shaft 526, and finally to the end-effector jaws 1756 of the end-effector assembly 1765 via the end-effector articulating joint 583.
- a jaw closure mechanism in the end-effector assembly 1765 closes the end-effector jaws 1756 responsive to the pulling action of the transmission cable 566, as would be needed to operate shears, graspers, a needle-holder, etc.
- the 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 rotational axes ofthe corresponding three rotational degrees offreedoms (yaw axis 1831, pitch axis 1833, and roll axis 1835) provided by the forearm attachment joint 1807 may all intersect at one point, referred to as the center of rotation of the forearm attachment joint 1807. This center of rotation of the forearm attachment joint 1807 may coincide with the center of rotation of the input joint 1801 (i.e. the virtual center (VC) of rotation 1721 of the unlimited-roll handle assembly 400 with respect to the pulley block 1805).
- the center of rotation of the forearm attachment joint 1807 may also coincide with the center of rotation of the user’s wrist joint 607 when the medical device 1800 is mounted on a user’s forearm 608.
- the forearm axis should coincide with the axis of the outer ring 1805, which should coincide with the axis of the tool shaft 526, which should coincide with the axis of the end-effector assembly 1765.
- the unlimited-roll handle assembly 400 is not articulated with respect to the pulley block 1805 (i.e., is nominal) and therefore the end-effector assembly 1765 is not articulated with respect to the tool shaft 526.
- the overall weight of the medical device 1800 may be distributed such that its center of gravity lies close to the roll axis 111, 1835 of the medical device 1800, which ensures that as the user rolls the medical device 1800 (as described above), he/she is not working with or against gravity.
- the weight of the medical device 1800 supported at the user’s forearm 608 and a trocar on the patient’s body locating the center of gravity of the medical device 1800 on the roll axis 111, 1835 makes driving the roll rotation relatively effortless because gravity no longer has an effect on the roll rotation.
- the overall design and construction of the medical device 1800 also helps filter out hand tremors and prevent them from reaching the end- effector assembly 1765.
- the handle assembly 400 - and therefore surgeon’s hand 609 - are isolated from the pulley block 1805/tool frame 525/tool shaft 526 by means of the flexure transmission strips 533, 534, which because of their material and/or construction, prevent any hand tremors from reaching the tool shaft 526 and end-effector assembly 1765.
- the tool frame 525 is mounted on the forearm 608 via the forearm attachment joint 1807. Therefore, the tool shaft 526, which is connected to the tool frame 525, is controlled by the forearm 608 of the surgeon. Not only does this help drive power motions (translating the tip of the shaft in three directions), but the forearm 608 has many fewer tremors compared to the hand 609, so the shaft will experience fewer tremors as well.
- the flexure transmission strips 533, 534 may help separate out the yaw and pitch rotation components of the rotation of the handle shell 101, 501 (and handle assembly 400) with respect to the pulley block 1805 (equivalently, the yaw and pitch rotations of the hand 609 with respect to the forearm 608), and separately transmit these components of rotation to the corresponding pitch 1813.1 and yaw 1813.2 transmission pulleys, the latter of which are mounted on the pulley block 1805.
- the flexure transmission strips 533, 534 also help transmit the roll rotation from the unlimited-roll handle assembly 400 to the pulley block 1805, tool frame 525, tool shaft 526, all the way to the end-effector assembly 1765, and also help filter out or block hand tremors from reaching the pulley block 1805, and therefore from reaching the tool frame 525, and therefore from reaching the tool shaft 526, and finally, therefore, from reaching the end-effector assembly 1765.
- an unlimited-roll handle assembly 400 enables surgeons to have better control of the surgical instrument during surgery as a result of being able to transfer natural, ergonomic, and intuitive motion from the surgeon’s hand 609/wrist 607/forearm 608 to the end-effector assembly 1765.
- the Virtual Center mechanism 1801' i.e. the input joint
- the roll of the end-effector assembly 1765 is no longer limited by the surgeon’s biomechanical limitation in pronation and supination of his forearm 608 / wrist 607.
- the surgeon is able to perform an infinite amount of roll while still being able to use the actuate the handle lever 549 of the end-effector actuation mechanism to control the open/close actuation of the end-effector assembly 1765 in any articulated orientation of his wrist 607.
- the unlimited-roll handle assemblies described herein enable simultaneous and predictable control of all the minimal access tool’s advanced features with an ergonomic interface.
- This handle features power motions, finesse motions, and intuitive control of articulation. These three actions are individually aligned to optimal regions of the user’s hand 609. Power motions such as gripping the handle body and lever to close the end-effector jaw assembly are provided by the palm and fingers
- Performing a “running stitch” by rotating the rotation dial 102, 502 in continuous direction without unwinding, unlocking, or other intermediate steps is a novelty compared with other suturing instruments. This is made possible by weight balancing the instrument about the tool shaft axis (e.g., Axis 3) and simplifying the mechanics of instrument rotation as described herein.
- the rotation dial 102, 502 on the unlimited-roll handle assembly 400 is rotated, the entire instrument rotates or orbits in the same direction around the user’s wrist 607. During this process, the frame also rotates but the virtual center associated with the input joint remains located at the center of the user’s wrist 607. Consequently, performance is consistent and predictable, even during complex moves like an articulated roll rotation.
- the unlimited-roll handle assembly apparatuses described herein enable a finesse roll of the associated unlimited-roll handle assembly while engaging the end-effector closure mechanism and end-effector articulation.
- the unlimited-roll handle assembly as previously described comprises optimized bearings between the various bodies within the mechanism. It is by way of the bearings between various bodies of the handle assembly that the surgeon notices minimal or veiy little difference in the resistance to rotate 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 which prevent the jaw closure cable from twisting upon itself during rotation.
- these unlimited-roll handle-based assemblies may allow the surgeon to perform an articulation of the end-effector assembly 1765 of the overall medical device 1800 by articulating their own wrist 607 while comfortably holding the handle shell 101, 501 and handle lever 549.
- Articulation of the unlimited-roll handle assembly leverages the distal end of the rotation dial 102, 502, to drive (i.e. rotate) the flexure transmission strips 533, 534 along with their associated transmission pulleys 1813.1, 1813.2, whose axes are centered at the surgeon’s wrist 607 in accordance with what is also referred to as the Virtual Center mechanism 1801’.
- Rotation of the two transmission pulleys 1813.1, 1813.2 drives associated articulation cables within the frame to provide for controlling the corresponding articulation of the end-effector assembly 1765, about the end-effector output articulation joint 583’.
- the surgeon may choose to close the jaw by actuating the handle lever 549 on the handle assembly 400.
- the process of suturing with a needle requires that the surgeon roll- rotate the end-effector assembly 1765 about its articulated axis, thereby driving the needle about its curvature axis through various tissue planes.
- These devices provide for finesse rotation control with relatively low resistances to rotation both within the unlimited-roll handle assembly (addressed via bearings) and at the wrist gimbal (addressed via minimized contact surfaces and low friction plastic materials), with overall balance of the device (addressed by establishing a center of gravity on the axis of rotation and redistribution of weight throughout the device), and with the use of flexure transmission strips 533, 534 which offer little compliance in torsion/twisting about roll axis 111, 1835.
- Mechanism and joint There is a certain equivalence between the terms “mechanism” and “joint”
- a “joint” may also be alternatively referred to as a “connector” or a “constraint.” All of these can be viewed as allowing certain motion(s) along a certain degree(s) of freedom (DoF) between two bodies and constraining the remaining motions.
- a mechanism generally comprises multiple joints and rigid bodies. Typically, a joint is of simpler construction, while a mechanism is more complex as it can comprise multiple joints. But what is simple and what is complex depends on the context.
- a mechanism under consideration may appear simple or small in the context of a much bigger mechanism or machine, in which case the particular mechanism under consideration may be called a joint
- the particular mechanism under consideration may be called a joint
- joint here refers to a mechanical connection that allows motions as opposed to a fixed joint (such as welded, bolted, screwed, or glued jointly). In the latter case, the two bodies are fused with each other and are considered one and the same in the kinematic sense (because there is no relative motion allowed or there are no degree of freedoms).
- the term “fixed joint” is used herein to refer to this kind of joint between two bodies.
- joint means a connection that allows certain motions, e.g., pin joint, a pivot joint, a universal joint, a ball, and socket joint, etc.
- the joint that we are referring to here interfaces one body with another in a kinematic sense.
- Axis and direction refers to a specific line in space.
- a body may rotate with respect to (w.r.t.) another body about a certain axis.
- a body may translate w.r.t another body in a certain direction.
- a direction is not defined by a particular axis and is instead commonly defined by multiple parallel axes.
- X-axis is a specific axis defined and shown in a figure, while X direction refers to the direction of this X-axis. Multiple different but parallel X axes can have the same X direction.
- direction is more general. If one specifies an axis, the direction is defined because axis has a direction.
- axis 1 and direction 1 are defined further which are used to define motion and constraints of the described system.
- Degree of freedom As noted already, a joint or mechanism allows certain motions between two bodies and constrains the rest “Degrees of freedom” is a technical term to capture or convey these “motions.” In all, there are six independent degrees of freedom possible between two rigid bodies when there is no joint between them: three translations and three rotations. A joint will allow anywhere between 0 and 6 DoF between the two bodies. For the case when the joint allows 0 DoF, this effectively becomes a “fixed joint,” described above, where the two bodies are rigidly fused or connected to each other. From a kinematic sense, the two bodies are one and the same.
- the joint allows 6 DoF, this effectively means that there is no joint, or that the joint really does not constrain any motions between the two bodies such as when two bodies are connected via a spring or members that are compliant in all directions.
- Any practical joint allows 1, or 2, or 3, or 4, or 5 DoF between two rigid bodies. If it allows one DoF, then the remaining 5 possible motions are constrained by the joint If it allows 2 DoF, then the remaining 4 possible motions are constrained by the joint and so on.
- Degree of constraint refers to directions along which relative motion is constrained between two bodies. Since relative motion is constrained, these are directions along which motion that can be transmitted from one body to the other body. Since the joint does not allow relative motion between the two bodies in the DoC direction, if one body moves in the DoC direction, it drives along with it the other rigid body as well along that direction. In other words, load
- the body referred to as the local ground is not necessarily an absolute ground (i.e., attached or bolted to the actual ground). Rather, the body that is selected as a local ground simply serves as a mechanical reference with respect to which the motions of all other bodies is described or studied. Also, selecting a body in an assembly/multi-body system/mechanism as the local ground doesn’t limit the functionality of the assembly/multi-body system/mechanism.
- the Handle Body may be chosen as the local ground and motion of other bodies may be defined with respect to the Handle Body (i.e., assuming the Handle Body is kept stationary). However, this does not mean that the handle assembly is only functional when the Handle Body is held stationary. Rather, at a high level, the functionality of the handle assembly is independent of which body is assumed to local ground.
- Body is a discrete component that is part of an assembly, possibly inter-connected by joints or mechanism. This discrete component is rigid and thereby, facilitates rigid body motion transmission. This means that there is no loss in transmission when force travels through the body along DoC.
- a body may be compliant (not rigid). In such cases, exception to the baseline definition will be specifically mentioned herein.
- the term body maybe used for an assembly of bodies. Specific features of the body that are relevant to the discussion will be specified while describing a body. Also, body is used as a common term describing a discrete component that is part of an assembly or a mechanism. As described further, structural components that are used to form an assembly or sub-assembly are terms as “bodies.”
- body and “component” may be interchangeably used throughout the description and hold the same meaning.
- Transmission member A transmission member is a rigid/compliant body that transmits motions from one body to another body.
- a transmission member maybe a compliant wire/cable/cable assembly, flexible shaft, etc.
- User interface acts as an input interface that user interacts with to produce certain output at the other end of a machine or instrument or mechanism.
- User interface is generally an ergonomic feature on a body, which is part of an instrument, that is triggered by the user.
- a knob on a car dashboard can be rotated by a user to increase/decrease speakers’ volume.
- the knob and specifically, knurled outer circumference (feature) of the knob is the user interface.
- Handle assembly terminologies Components named in U.S. Pat No. 9,814,451 B2 (Fig. 1 in the application) are given alternate equivalent names in this application for clarity purposes. “H.Body A” is referred to as “Handle Body,” “H.Body B” is referred to as “Dial,” “H.Body C” is referred to as “Push Rod” and “H.Body D” is referred to as “Shuttle.”
- Axis 1 refers to the axis about which Dial rotates w.r.t. the Handle Body. This axis is also defined as the axis about which the Push Rod has a rotational DoF w.r.t the Shuttle.
- Handle body refers to a body in the handle assembly which is considered as a local ground while describing the handle assembly and associated mechanisms. The Handle Body is held by the user while other bodies within handle assembly are put in motion with respect to (w.r.t) the Handle Body. Handle Body described herein may also be referred to as “palm grip”, “palm grip portion”, or “handle shell.”
- Closure body refers to a body in the handle assembly which has at least 1 degree of freedom motion w.r.t. the Handle Body and in certain embodiments can be rotationally constrained (DoC) w.r.t. the Handle Body about axis 1.
- Closure Body may also interface with another body called Closure Input. Once the Closure Input is actuated w.r.t. the Handle Body, it may lead to translation of the Closure Body w.r.t. the Handle Body along direction 1.
- the Closure Body when it has a translation degree of freedom relative to the Handle Body along axis 1, is termed a Push Rod. Push Rod is also described in Pat No. 9,814,451B2.
- Shuttle refers to a body in the handle assembly which rotates w.r.t the Push Rod about axis 1 and translates w.r.t. the Dial along direction 1.
- the Shuttle is also rotationally constrained w.r.t. the Dial about axis 1.
- Roll body refers to a body in the handle assembly which has rotational DoF w.r.t. the Handle Body.
- Roll Body in certain handle assembly embodiments, can be a visible (an external component accessible by the user) component of the handle assembly. Apart from the function and structure of Dial that is described in Pat. No. 9,814,451B2, Roll Body may also interface with another body called Roll Input Once the Roll Input is rotated w.r.t. the Handle Body about its roll axis, it may lead to rotation of the Roll Body w.r.t the Handle Body about axisl.
- dial or “knob” are used interchangeably for the term Roll Body.
- Tool frame refers to a structural body that is part of a tool apparatus. In certain tool apparatuses, it may be connected to a handle assembly and/or an elongated tool shaft.
- the terms “tool frame” and “frame” may be used interchangeably throughout the document.
- EE (end-effector) assembly With general reference to FIGS. 21 A and 21B, EE assembly 2010 or end-effector assembly or jaw assembly exists at the distal end of the elongated tool shaft 2011.
- An EE assembly may contain one or more jaws (or EE jaws).
- the first type of EE assembly 2010 consists of two EE jaws, namely “Moving Jaw” 2012 and “Fixed Jaw” 2014.
- EE Frame 2016 that acts as a local reference ground for Moving Jaw 2012 and any other moving body within the EE assembly 2010.
- Moving Jaw 2012 moves relative to EE Frame 2016 by rotating about a pivot pin 2018 shown in FIG. 21 A.
- This motion of Moving Jaw 2012 w.r.t EE Frame 2016 is termed as “jaw closure motion.” Jaw closure motion and
- Fixed Jaw 2014 is also coupled to EE Frame 2016 such that it is a rigid extension of the EE Frame 2016. While describing this EE assembly 2010 that is shown in FIG. 21A, Fixed Jaw 2014 is treated as a local reference like 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 may have one or more DoF joint w.r.t. the EE Frame 2016.
- the EE Frame 2016 is further coupled to the tool shaft 2011 via an output articulation joint 2020 in case the EE assembly 2010 is part of a tool apparatus that provides articulation function.
- EE roll motion is the second output motion at the EE assembly 2010.
- EE roll motion can refer to two separate rotations of EE assembly 2010 about different axes.
- Rotation about axis 2 refers to rotation of EE assembly 2010 about EE assembly’s roll axis.
- Rotation about axis 3 refers to rotation of EE assembly 2010 about the tool shaft 2011 roll axis.
- EE assembly 2010 upon rotation of the overall tool apparatus including handle assembly 2022 and tool shaft 2011 about axis 3, EE assembly 2010 also rotates about axis 3.
- Handle Body 2026 about axis 1 leads to rotation of tool shaft 2011 about axis 3 and rotation of EE assembly 2010 about axis 2. This is further described while presenting various tool apparatus configurations in the description.
- the second type of EE assembly 2010 consists of two EE jaws, namely “Moving Jaw” 2012 and “Fixed Jaw” 2014.
- the assembly also contains EE Frame 2016.
- Moving Jaw 2012 moves relative to EE Frame 2016 by rotating about a 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 the EE Frame 2016.
- Fixed Jaw 2014 is treated as a local reference like 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 “EE base” 2028.
- the EE base 2028 has a 1 DoF rotation joint to the EE Frame 2016. This rotation joint provides a roll DoF about axis 2.
- This joint can be formed by a thrust bearing, roll bearing, plain bearing, etc.
- FIG. 21B shows a thrust bearing 2030 between EE Frame 2016 and EE base 2028.
- EE base 2028 is coupled to tool shaft 2011 via an articulation output joint 2020.
- EE base 2028 does not lead to rotation of output articulation joint 2020 and thereby, does not lead to rotation of tool shaft 2011 about axis 3.
- rotation of Fixed Jaw 2014/EE Frame 2016 involves rotation of the output articulation joint 2020.
- the output articulation joint 2020 provides a roll rotation DoC between Fixed Jaw 2014/EE Frame 2016 and tool shaft 2011 axis 2 in order to transmit roll motion.
- EE assembly 2010 upon rotation of the overall tool apparatus including handle assembly 2022 and tool shaft 2011 about axis 3, EE assembly 2010 also rotates about axis 3.
- roll motion that is generated by rotation of Dial 2024 w.r.t. Handle Body 2026 about axis 1 leads to rotation of EE Frame 2016/Fixed Jaw 2014 and Moving Jaw 2012 about axis 2. It does not lead to rotation of tool shaft 2011 about axis 3.
- EE assembly 2010 may rotate about its roll axis termed as “EE roll axis” or “axis 2” w.r.t. to the EE base 2028.
- EE assembly 2010 may be interchangeably referred to as “jaw assembly” or “end-effector assembly” in this document.
- Roll input “Roll Input” or “Rotation input” refers to the body that is part of the handle assembly 2022 which is rotated or activated to produce rotation of the EE assembly 2010 about axis 2
- both handle assembly 2022 and EE assembly 2010 are part of a tool apparatus where handle assembly 2022 is proximal to the user and EE assembly 2010 is distal to the user.
- Roll Input in its simplest form, is the Dial 2024 which is part of the handle assembly 2022.
- Roll Input in another scenario, may be an assembly that may consist of an external Roll Input body which is visible or externally accessible by the user. In this scenario, Roll Input acts as a user interface.
- This assembly may also consist of the Dial 2024 which mates with the Shuttle such that the Shuttle has a rotational DoC w.r.t. Dial 2024 about axis 1 and translational DoF w.r.t. Dial 2024 along direction 1.
- the Dial 2024 also has rotational DoF w.r.t. Handle Body 2026 about axis 1.
- rotation of external Roll Input may be transmitted to Dial 2024 via roll transmission mechanism.
- This mechanism may include mechanical transmission components including but not limited to linkages, pulley, compliant mechanisms/members, cable, threaded screw, pneumatic and/or gears.
- This mechanism may be an electromechanical transmission mechanism that may include sensors
- actuators rotary motors, linear motors, solenoids
- transducers rotary motors, linear motors, solenoids
- Closure input This refers to the body that is part of the handle assembly 2022 which is triggered or activated to cause actuation of members) of the EE assembly 2010.
- Closure Input in its simplest form, is the Push Rod which is part of the handle assembly 2022. This is the first scenario where Closure Input is the Push Rod itself.
- Closure Input in a second scenario, may be an assembly which includes an external Closure Input which is visible or externally accessible by a user. In this scenario,
- Closure Input acts as a user interface.
- This assembly may also consist the Push Rod which mates with the Shuttle such that Shuttle has a rotation DoF w.r.t. Push Rod about axis 1 and a translational DoC w.r.t. Push Rod along direction 1. Therefore, translation of Push Rod leads to translation of Shuttle.
- a closure transmission mechanism 1 DoF motion of external Closure Input w.r.t. Handle Body 2026 is transmitted to Push Rod via a closure transmission mechanism.
- This mechanism may be a mechanical transmission mechanism which may use linkages, pulley, compliant mechanisms/members, cable, threaded screw, pneumatic and/or gears.
- Closure Input may just be an external Closure Input component.
- Closure Input has at least 1 DoF w.r.t. Handle Body 2026 and interfaces with Shuttle such that Shuttle has a translational DoF w.r.t Dial along direction 1 and a rotational DoC w.r.t Dial about axis 1.
- Motion of external Closure Input may be transmitted to Shuttle via a closure mechanism.
- This mechanism may be a mechanical transmission mechanism which may use linkages, pulley, compliant mechanisms/members, cable, threaded screw, pneumatic and/or gears.
- This mechanism may be an electromechanical transmission mechanism that may include sensors (rotation/position/force), actuators (rotaiy motors, linear motors, solenoids) and/or transducers.
- This third scenario is shown via various embodiments that follow the constraint map shown in FIG. 31.
- Jaw closure transmission member (TM) This transmission member/body helps transmit translation of Shuttle w.r.t Dial 2024 along direction 1 to the jaw closure motion within the EE assembly
- the transmission member can be a mechanical component, e.g., a solid wire (sometimes also called piano wire) or a flexible braided cable.
- This member may be torsionally stiff along its centroidal axis.
- a Nitinol wire which is stiff against a torsional load but flexible against bending load.
- a braided steel cable made with individual steel filaments which is flexible in bending, not torsionally stiff and may wound on itself upon rotation about its centroidal axis.
- “Jaw closure transmission member” and “Jaw closure actuation transmission member” may be used interchangeably herein.
- Roll Transmission Member (TM)— This transmission member helps transmit rotation of rotation input or Dial 2024 w.r.t. Handle Body 2026 to produce EE roll motion.
- Articulation Transmission Member This transmission members that help transmit articulation (pitch and yaw motion) from the articulation input joint, which may exist between handle assembly 2022 and tool shaft 2011, to the articulation output joint 2020 (present between tool shaft 2011 and EE assembly 2010).
- these articulation transmission members may comprise cables, crimps, pulleys, etc.
- Jaw closure transmission assembly refers to bodies, joints, mechanisms, and/or jaw closure transmission member(s) that exist between the handle assembly 2022 and EE assembly 2010 and facilitate Jaw Closure Motion. Specifically, the body within the handle assembly 2022 that produces output motion (e.g., Shuttle) is coupled to the proximal body that is part of jaw closure transmission assembly. Similarly, the moving jaw within the EE assembly 2010 is coupled to the distal most body that is part of the jaw closure transmission assembly. Terms “jaw closure transmission assembly” and “jaw actuation transmission assembly” may be used interchangeably throughout the description.
- EE roll transmission assembly refers to bodies, joints, mechanisms and/or roll transmission member(s) that exist between the handle assembly 2022 and EE assembly 2010 and facilitate EE Roll Motion.
- Articulation transmission assembly refers to bodies, joints, mechanisms and/or articulation transmission member(s) that help transmit input motion (pitch and yaw rotation motion) generated by the user via input articulation joint to the output articulation joint 2020.
- the body that couples with the body within the tool apparatus that receives input from the user is the proximal body of the articulation transmission assembly.
- the body that couples with either the EE Frame 2016 or EE Base 2028 depending on the type of EE assembly 2010 under consideration is the distal-most body within the articulation transmission assembly.
- Handle assembly 2022 described herein may be part of a tool apparatus which can include the handle assembly 2022, a tool frame 2032, the elongated tool shaft 2011 , which is a rigid extension of the tool frame 2032, and the EE assembly 2010 located at the distal end of the tool shaft 2011.
- the tool apparatus may provide various functions which correspond to following output motions: i) jaw closure motion at the EE assembly 2010; ii) articulation motion (pitch and yaw rotation) of the EE assembly 2010; iii) rigid body motion of the tool shaft 2011 and EE assembly 2010; and iv) articulated roll motion of the EE assembly 2010 (or portion thereof).
- FIGS. 22A-B Two configurations that are used herein to describe the tool apparatus functions are shown in FIGS. 22A-B.
- handle assembly 2022 consists of at least a closure input 2048, handle body 2026, and dial 2024.
- closure actuation transmission interface 2036 between dial 2024 and frame 2032.
- This closure actuation transmission interface 2036 comprises a jaw closure transmission member 2038 and a jaw closure transmission member conduit 2039 (e.g. flexible sheath or conduit, also shown in FIG. 23) between the dial and the frame that guides the jaw closure transmission member 2038.
- the jaw closure transmission member conduit 2039 may be coupled to (e.g.
- the jaw closure transmission member conduit 2039 may be coupled to the Dial 2024 via an interface that seats the conduit’s proximal end against Dial 2024 axially but allows relative roll rotation between the two.
- the jaw closure transmission member 2038 facilitates the transmission of the relative motion of the Closure Input 2048 w.r.t. the Handle Body 2026 to the EE assembly 2010. This relative motion leads to motion of the Moving Jaw 2012 w.r.t the Fixed Jaw 2014 about a pivot pin 2018 (with an Axis 4) to produce jaw closure motion.
- Articulation function of the tool apparatus is a function in which pitch and yaw rotations (i.e. output motions) are produced at the EE assembly 2010 at distal end of the tool apparatus. These output motions are generated by pitch and yaw rotation input motion of the handle assembly 2022.
- pitch and yaw rotations i.e. output motions
- These output motions are generated by pitch and yaw rotation input motion of the handle assembly 2022.
- 2-DoF output articulation joint 2020 that exists between the shaft 2011 (also referred as the tool shaft) and EE assembly 2010.
- 2-DoF input articulation joint 2040 that exists between the handle assembly 2022 and frame 2032. Articulation motion of the handle assembly 2022 w.r.t.
- FIGS. 22A-B There may exist two different configurations for the tool apparatus that are shown in FIGS. 22A-B.
- FIG. 22A shows a tool apparatus configuration and embodiment where the input articulation joint 2040 exists between handle body 2026 and frame 2032.
- the EE assembly 2010 is similar to the one shown in FIG. 21B.
- EE assembly 2010 in this case, consists of bodies namely, EE base 2028, Moving Jaw 2012, and Fixed Jaw 2014.
- the Fixed Jaw 2014 is shown as a rigid extension of EE Frame 2016.
- the Fixed Jaw 204 can be separate body coupled to EE Frame 2016.
- EE assembly 2010 (which in this embodiment is the EE base 2028) and the distal end of the shaft 2011.
- the need for EE base 2028 and a 1-DoF roll rotation joint between EE base 2028 and EE frame 2016 is discussed while describing EE roll motion in the following paragraphs.
- This configuration is termed as “alpha configuration.”
- Also depicted in the embodiment shown in FIG. 22A are two transmission interfaces - roll transmission interface 2037 and closure actuation transmission interface 2036. Associated with these two transmission interfaces are two respective transmission members, namely a roll transmission member 2042 and the jaw closure transmission member 2038.
- a single transmission interface and a single associated transmission member may be used. In such scenarios, the single transmission member has adequate axial and torsional stiffness can be used to transmit both roll rotation as well as jaw closure actuation from the handle assembly to the end-effector assembly.
- FIG. 22B shows an alternate tool apparatus configuration and embodiment where the input articulation joint 2040 exists between the dial 2024 and the frame 2032.
- the EE assembly 2010 is similar to the one shown in FIG. 21 A.
- the EE assembly 2010 consists of bodies namely, Moving Jaw 2012 and Fixed Jaw 2014.
- the Fixed Jaw 2014 shown here is a rigid extension of the EE frame 2016 but in other instances these two may be separate bodies that are coupled to each other.
- the proximal portion of the EE assembly 2010 is the EE Frame 2016.
- Each of the 2-DoF input and output articulation joints), 2040 and 2020 respectively, can be either a parallel kinematic input joint or a serial kinematic input joint.
- Examples of tool apparatus with parallel kinematic input joint is shown in U.S. Pat. No. 8,668,702, U.S. patent application publication No. 2013/0012958 and U.S. Pat No. 10,405,936.
- Examples of tool apparatus with serial kinematic input joints are U.S. Pat. No. 5,908,436; U.S. Pat. No. 6,994,716; and U.S. application Ser. No. 11/787,607.
- the center of rotation of the input articulation joint 2040 can lie proximal or distal to the handle assembly
- distal represents the direction where the end-effector assembly lies w.r.t. the tool shaft / tool frame
- proximal represents the direction where the handle assembly lies w.r.t. the tool shaft / tool frame.
- shaft 2011 has 3 translation DoFs (along X, Y, and Z axis direction) and 3 rotation
- DoFs pitch, yaw, and roll rotation
- the interface between the instrument shaft 2011 and the patient’s body e.g. via a trocar or cannula
- roll rotation of the EE assembly 2010 and tool shaft 2011 takes place about axis 3.
- axis 1, axis 2, and axis 3 are all colinear.
- roll rotation of EE assembly 2010 takes place about axis 2 while the roll rotation of the shaft 2011 takes place about axis 3, and the roll rotation of dial 2024 takes place about axis 1.
- axis 1, axis 2 and axis 3 are no longer collinear. This roll rotation function of the end-effector when it is articulated is referred to as “articulated roll.”
- Constraint (DoC) for both these joints.
- roll rotation of dial 2024 w.r.t. handle body 2026 about axis 1 leads to rotation of only the EE frame 2016 (and its extension Fixed Jaw 2014) w.r.t. EE
- EE assembly 2010 whether articulated w.r.t the tool shaft 2011 or not, rotates about the tool shaft roll axis or axis 3 and not about its own roll axis (axis 2).
- dial 2024 can be rotated w.r.t. handle body 2026 about axis 1.
- This proximal body is either integral to or coupled to the proximal end of the roll transmission member 2042, which may be guided through a roll transmission member conduit 2035 that is part of the roll transmission interface 2037 (see FIG. 22A).
- the roll transmission member conduit 2035 may be coupled to the Frame 2032 on it distal end and coupled to the Handle Body
- the roll closure transmission member conduit 2035 may be coupled to the Dial 2024 via an interface that allows relative roll rotation between the two. In some instances, a roll transmission member conduit may not be employed at all.
- the roll transmission member 2042 may further pass through a portion of the tool frame 2032, the tool shaft 2011, through the output articulation joint 2020, and through the EE Base 2028. The distal portion of this roll transmission member 2042 terminates at and is coupled to the EE Frame 2016.
- this roll rotation of dial is transmitted via the second roll transmission assembly to the end-effector assembly 2010 such that the EE frame EE Frame 2016 rotates w.r.t. EE Base 2028 about axis 2.
- there are two distinct roll transmission assemblies in the alpha configuration There can be a version of the alpha configuration where there is only one roll transmission assembly e.g. the second roll transmission assembly.
- the input articulation joint 2040 does not provide a DoC about the roll rotation
- the output articulation joint 2020 does not provide a DoC about the roll rotation, or neither provide a DoC about the roll rotation.
- This roll rotation is transmitted from the Dial 2024 via input articulation joint 2040, rigid bodies (namely frame 2032 and tool shaft 2011), and output articulation joint 2020.
- the input articulation joint 2040 and output articulation joint 2020 each provide a DoC in the roll rotation direction in order to transmit roll motion from the Dial 2024 to the EE frame 2016.
- roll rotation of the dial 2024 w.r.t handle body 2026 about axis 1 leads to roll rotation of the EE frame 2016 about axis 2.
- Roll rotation of the EE frame 2016 causes roll rotation of the whole EE assembly 2010 (which includes Moving Jaw 2012 and Fixed Jaw 2014) about axis 2.
- axis 2 and axis 3 are no longer collinear.
- EE roll motion is transmitted via a single roll transmission assembly consisting of roll motion transmission via rigid body roll rotation of the frame and shaft, and via input and output articulation joints.
- EE roll motion transmission can take place via two roll transmission assemblies, as described above.
- FIG. 23 shows an embodiment of a tool apparatus which includes a parallel kinematic input articulation joint that has a center of rotation (Virtual Center) proximal to the handle assembly 2022.
- This tool apparatus embodiment is based on the beta configuration that has been discussed above.
- the handle assembly 2022 that is part of this tool apparatus is discussed in detail in sections below.
- FIG. 24A represents a constraint map termed as “constraint map A” that is used to describe the relationship between various bodies that constitute the handle assembly 2022.
- the handle assembly 2022 may consist of four bodies namely, Handle Body 2026, Dial 2024, Push Rod 2044, and Shuttle 2046.
- Handle Body 2026 can be considered as the local ground.
- Closure Body (i.e., Push Rod) 2044 has a 1-DoF translational joint w.r.t Handle Body 2026 along direction 1.
- Push Rod 2044 also has a rotational DoC w.r.t.
- Handle Body 2026 about axis 1.
- the Push Rod 2044 is rotationally constrained (e.g., keyed) w.r.t. Handle Body 2026 and if Handle Body 2026 is rotated about axis 1, it rotates the Push Rod 2044 along with itself.
- the Roll Body (i.e. Dial) 2024 has a 1 DoF rotational joint w.r.t. Handle Body 2026.
- Dial 2024 rotates about axis 1 relative to Handle Body 2026.
- Dial 2024 also has 1 translational DoC w.r.t Handle Body 2026 along direction 1. Therefore, translation of Handle Body 2026 along direction 1 leads to translation of the Dial 2024 as well.
- the Shuttle 2046 has a 1 DoF rotational joint w.r.t. Push Rod 2044, i.e., Shuttle 2046 can rotate about axis 1 w.r.t Push Rod 2044.
- the Shuttle 2046 also has a translational DoC w.r.t. Push Rod 2044 along direction 1. Therefore, along direction 1, translation of the Push Rod 2044 is transmitted to Shuttle 2046.
- the Shuttle 2046 has a 1 DoF translational joint w.r.t. Dial 2024 along direction 1.
- the Shuttle 2046 also has a 1 rotational DoC w.r.t. Dial 2024 about axis 1. Therefore, rotation of Dial 2024 w.r.t. Handle Body 2026 about axis 1 leads to rotation of Shuttle 2046 about axis 1 due to the presence of rotational DoC between Shuttle 2046 and Dial 2024.
- handle assembly 2022 may also comprise additional bodies, such as Closure Input 2048 and Roll Input 2050.
- Closure Input 2048 may be coupled to the Push Rod 2044 via a direct structural connection or via a Closure Input Mechanism that transmits the input motion of the Closure Input 2048 w.r.t the Handle Body 2026 to the translation along direction 1 of Push Rod 2044 w.r.t. Handle Body 2026.
- the Closure Input 2048 has a direct structural connection to Push Rod 2044
- the Push Rod 2044 itself serves as the Closure Input 2048.
- the Closure Input 2048 is integral to or an extension of the Push Rod 2044.
- the Closure Input 2048 may be coupled to the Push Rod 2044 via a Closure Input Mechanism (which is shown via various embodiments in the next section).
- Actuation of the Closure Input 2048 may be done manually by the user, or by using an electro-mechanical actuator, or pneumatic actuator, or hydraulic actuator, or another actuator. Additional mechanical transmission components (such as gears, pulleys, levers, tension cables, etc.) may be used between the actuator and the Closure Input 2048. Such mechanical transmission components may also be included in the Closure Input Mechanism.
- Roll Input 2050 may be coupled to the Dial 2024 via a direct structural connection or via a Roll Input Mechanism that transmits the input motion of the Roll Input 2050 w.r.t. the Handle Body 2026 to the rotation about axis 1 of Dial 2024 w.r.t. Handle Body 2026.
- the Roll Input 2050 has a direct structural connection to the Dial 2024
- the Dial 2024 itself serves as the Roll Input 2050.
- Roll Input 2050 is integral to or an extension of the Dial 2024.
- the Roll Input 2050 is coupled to the Dial 2024 via a Roll Input Mechanism (which shall be described in detail later).
- Actuation of the Roll Input 2050 may be done by the user manually, or by using electro-mechanical actuator, or pneumatic actuator, or hydraulic actuator, or another actuator. Mechanical transmission components and systems (namely, gears, pulleys, levers, tension cables, etc.) may be used between such actuator and the Roll Input 2050, and/or within the Roll Input Mechanism.
- Input received at Closure Input 2048 leads to translation of Shuttle 2046 along direction 1 w.r.t. Handle Body 2026.
- Input received at Roll Input 2050 leads to rotation of Shuttle 2046 about axis 1 w.r.t Handle Body 2026.
- These inputs can simultaneously be received by the handle system shown in FIG. 24A-B in order to produce a combined or simultaneous translation and rotation of Shuttle 2046.
- the output motion of the handle assembly 2022 is a translation of Shuttle 2046 along direction 1 w.r.t Dial 2024 as well as w.r.t. Handle Body 2026. Based on input provided by the user to the handle assembly 2022 at the Roll Input 2050, the output motion of the handle assembly 2022 is a rotation of Shuttle 2046 about axis 1 w.r.t. Handle Body 2026. Therefore, the handle assembly 2022 is such that two separate and independent inputs lead to a combined translation and rotation output motion at a single body, namely, the Shuttle 2046.
- the main benefit of providing independent inputs to the handle assembly 2022 is the ability to independently optimize bodies, joints, mechanisms, and transmission members that are part of roll transmission assembly and jaw closure transmission assembly.
- Tool apparatus in beta configuration shown in FIG. 23 includes handle assembly 2022 that follows the constraint map shown in FIG. 24B, the elongated tool shaft 2011 which is distal to the handle assembly 2022, and the EE assembly 2010 that exists at the distal end of the tool shaft 2011.
- Translation of Shuttle 2046 e.g. shown as Shuttle 104, 404 in FIGS. 4A and 4B
- w.r.t Dial 2024 e.g. shown as
- This jaw closure transmission member 2038 has to have adequate stiffness along direction 1 at the location where it couples with the Shuttle, and more generally along its entire length in order to capture and transmit translation of the shuttle 2046.
- This jaw closure transmission member 2038 may be a flexible (bendable) solid wire (e.g., piano wire, Nitinol wire) which may or may not be torsionally stiff when rotated about its centroidal axis; it may be a solid rod that may not be flexible in bending and/or torsion; it may be a braided cable assembly, which is flexible in bending and/or torsional, or it may be a member with a combination of these attributes. All these transmission members offer relatively high axial stiffness along their respective lengths.
- roll transmission assembly consists of rigid bodies (frame 2032, tool shaft 2011), and input and output articulation joint 2040, 2020.
- jaw closure and roll transmission assemblies are independent and thus can be independently analyzed, designed, and optimized.
- bodies, joints, and mechanisms that belong to the jaw closure transmission assembly can be independently optimized for mechanical advantage, forces, materials used, efficiency, etc. without an impacting roll rotation transmission.
- bodies, joints, and mechanisms that belong to the roll transmission assembly can be independently optimized to transmit roll efficiently without impacting the jaw closure transmission.
- the Shuttle 2046 is pulled by the Push Rod (or Closure Body) 2044 towards the proximal end of the handle assembly 2022 (also shown as 400 in FIGS. 4A and 4B).
- the Closure Input 2048 may be a a rigid extension of the Push Rod 2044, in which case the Closure Input 2048 may translate w.r.t Handle Body 2026 along direction 1.0
- the Closure Input 2048 may be coupled to the Push Rod 2044 via a Closure Input Mechanism.
- motion of the Closure Input 2048 w.r.t. the Handle Body 2026 may lead to translation of the Push Rod 2044 w.r.t. Handle Body 2026 along direction 1. This leads to actuation of the Moving Jaw 2012 w.r.t. Fixed Jaw 2014 in EE assembly 2010.
- actuating the Moving Jaw 2012 w.r.t the Fixed Jaw 2014 may require a high amount of force due to the requirement of high clamping loads between the two jaws or due to high losses and/or resistance between bodies within the jaw closure transmission assembly.
- Rotating Shuttle 2046 w.r.t. Push Rod 2044 simultaneously while the interface between the Push Rod 2044 and the Shuttle 2046 is under high load may turn out to be hard to perform and inefficient due to high resistance if there is no well-defined and intentional load bearing interface between the Shuttle 2046 and Push Rod 2044.
- This well-defined load bearing interface may consist of a thrust bearing, a roller bearing, or a lubricious plain bearing (e.g. FIGS. 3D, 3E, 3F) that helps mitigate the impact of high axial load on the rotation of the Shuttle 2046 with respect to the Push Rod 2044, and eventually on the roll rotation of the EE assembly 2010 when the Moving Jaw 2012 is actuated w.r.t. the Fixed Jaw 2014. Therefore, the presence of a well-defined bearing interface within the handle assembly 2022 that makes roll transmission efficient without impacting jaw closure transmission is a functional need of an efficient instrument/apparatus.
- FIG. 25 A shows a tool apparatus configuration map (i.e. schematic drawing) that incorporates the handle assembly 2022 based on constraint map B of FIG. 24B.
- This tool apparatus configuration map correlates to the beta configuration of tool apparatus presented in FIG. 22B.
- Actuation of Closure Input 2048 relative to Handle Body 2026 leads to translation of Closure Body or Push Rod 2044 along direction 1. Since the Shuttle 2046 has a translation DoC w.r.t. Push Rod 2044 along direction 1, translation of the Push Rod w.r.t. the Handle Body leads to translation of Shuttle 2046 w.r.t. the Handle along direct 1.
- a single-line represents a joint or mechanism that offers at least 1 DoF (e.g. input articulation joint, output articulation joint, etc.) between bodies, components, or sub-assemblies;
- a double-line represents a transmission member (e.g. cables) that transmits a motion from one body/component/sub-assembly to another;
- a triple-line represents an interface that may be either a rigid/direct coupling between two bodies/components/sub-assemblies or a joint/mechanism that offers at least 1 DoF between two bodies/components/sub-assemblies; and
- a dashed single-line represents a sub- assembly.
- Proximal Body which is part of the jaw closure transmission assembly, is coupled to and therefore translates along with Shuttle 2046, and thereby transmits motion to jaw closure transmission member 2038 which is attached or coupled to the Proximal Body.
- jaw closure transmission member 2038 At the distal end, jaw closure transmission member 2038.
- the jaw closure transmission member On its distal end, the jaw closure transmission member is coupled to Distal Body, which in turn is coupled to the Moving Jaw 2012 in the end-effector assembly
- the Proximal Body, jaw closure transmission member(s), and various intermediate bodies are all part of the Jaw Closure Transmission Assembly.
- the Proximal Body may be coupled to the Shuttle either via a rigid/direct coupling or via a joint/mechanism, as represented by a triple-line.
- the Distal Body may be coupled to the
- FIG. 25A shows “Intermediate Body 1” and “Intermediate Body 2” and a joint/mechanism between them to depict the diverse types of components that can exist within the jaw closure transmission assembly. There may exist more than two
- EE roll motion is produced by rotation of Roll Input 2050 relative to Handle Body 2026.
- This configuration map correlates to the beta configuration of tool apparatus presented in FIG. 22B. Transmission of EE roll motion from the handle assembly 2022 to the EE assembly 2010 for this beta configuration is described above.
- the Shuttle 2046 has a roll DoC about axis 1 w.r.t. the Dial 2024. Therefore, as the user rotates the Dial 2024, the Shuttle 2046 also rotates. There also exists a roll DoF between the Push Rod 2044 and Shuttle 2046 about axis 1 such that Shuttle 2046 can rotate relatively freely without being impacted by jaw closure transmission that also originates within the handle assembly 2022 (at Closure
- FIG. 25B In the prior art, there exist tool apparatuses that follow another tool apparatus configuration map shown in FIG. 25B which lacks Shuttle 2046 within the handle assembly 2022.
- This configuration map does not incorporate a handle assembly based on the constraint maps of FIG. 24A or 24B.
- all the other bodies and associate joints within the 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 tool apparatus to the EE assembly 2010 by actuation of Closure Input 2048 leading to translation of Push Rod 2044 w.r.t Handle Body 2026 along direction 1.
- Body or Push Rod 2044 is further connected to the jaw closure transmission member 2038 with Proximal
- This Proximal Body or proximal end of transmission member has a translation DoC w.r.t Push
- Proximal Body and/or the proximal end of the transmission member both of which exist within the jaw closure transmission assembly.
- Proximal Body is rigidly connected or coupled to the proximal end of the jaw closure transmission member 2038.
- Proximal Body may simply be the a relatively rigid end proximal end of the jaw closure transmission member 2038.
- Within the jaw closure transmission assembly there may either be a Distal Body rigidly coupled to the distal end of the jaw closure transmission member 2038, or a Distal body that itself is the distal end of the jaw closure transmission member 2038. Further, as in the case of FIG.25A, this Distal Body may be coupled to the
- Moving Jaw 2012 of the EE assembly 2010 either directly or via a mechanism that converts the translation of jaw closure transmission member 2038 (and therefore the Distal Body) to the rotation of Moving Jaw 2012 relative to EE Frame/Fixed Jaw.
- This mechanism may contain linkages, rack and pinion assembly, pulleys, cams, pins, etc.
- the Distal Body or the distal end of the jaw closure transmission member 2038 may have a roll DoC (e.g. via a keying feature or a pin) w.r.t the Moving Jaw 2012 about axis 2 such that rotation of Moving Jaw 2012 about axis 2 leads to rotation of the Distal Body or the distal end of the jaw closure transmission member 2038.
- EE roll motion is produced by rotation of Roll Input 2050 (or directly of the Dial 2024) relative to Handle Body 2026.
- This configuration map (FIG. 25B) also aligns with the beta configuration of tool apparatus presented in FIG. 22B.
- rotation of Moving Jaw 2012 about axis 2 may also lead to rotation of the Distal Body or the distal end of the jaw closure transmission member 2038 due to presence of a roll DoC about axis 2.
- jaw closure transmission member 2038 does not transmit roll rotation in this configuration, it rotates nevertheless due to the EE roll motion about its centroidal axis.
- Rotation of 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 interfaces with the Proximal Body.
- the jaw closure transmission assembly 2038 (and more generally the jaw closure transmission assembly) has to have certain design characteristics. Even though it does not transmit roll rotation, it has to be torsionally stiff about its centroidal axis along with being axially stiff. It also has to have low friction or frictionless interface throughout its length along the shaft before it interfaces with the Closure Body or Push Rod 2044. It also has to have a roll DoF at its proximal end w.r.t Push Rod 2044 about axis 1. This roll DoF joint helps allow the same rotation of Proximal Body (or proximal end of the jaw closure transmission member
- the lack of Shuttle 2046 (as in case of Prior Art) is acceptable only when there is an efficient roll DoF joint between the Proximal Body (or proximal end of the jaw closure transmission member 2038) w.r.t. Push Rod 2044 and that the jaw closure transmission member 2038 (as well as the jaw closure transmission assembly) is adequately stiffness in torsion (i.e. about its centroidal axis or the roll rotation axis). This is necessary ensure that the jaw closure transmission member can rotate freely without twisting about its centroidal axis and without impacting the EE roll motion or the jaw actuation.
- Presence of Shuttle 2046 and a roll DoC between Shuttle 2046 and Dial 2024 about axis 1 provides an efficient solution and relieves the need for the above design characteristics namely high torsional stiffness and axial stiffness for jaw closure transmission member 2038.
- the advantage of using such a jaw closure transmission member is that it also flexible in bending, which allows for a tight bend radius and large range of articulation at the output articulation joint 2020.
- FIG. 25C In contrast to the tool apparatus configuration map shown in FIG. 25A, there exists tool apparatuses that are based on another configuration map (FIG. 25 C) where the handle assembly 2022 does not include Shuttle 2046.
- FIG. 25C With the exception of the shuttle, all other bodies and associated joints within the handle assembly 2022 are mapped to the constraint map shown in FIG. 24B.
- This tool apparatus configuration of FIG. 25C aligns with the alpha configuration of tool apparatus shown in FIG 22A.
- These two transmission interfaces and associated transmission members can either be distinct or combined.
- the same transmission member can serve as the jaw closure transmission member as well as the roll rotation transmission member.
- Proximal Body which is part of the “combined roll rotation and jaw closure transmission assembly” is either rigidly connected
- Roll rotation of the Roll Input 2050 is transmitted to Dial 2024 via a Roll Input Mechanism (described later). Roll Rotation is transmitted from Dial 2024 to the roll to the Proximal Body (or proximal end of the combined roll rotation and jaw closure transmission member) via a joint that provides roll DoC w.r.t. Dial 2024 about axis 1 and translation DoF along direction 1. Furthermore, this Proximal Body (or proximal end of the combined roll rotation and jaw closure transmission member) is connected to the
- the Distal Body (or distal end of the combined roll rotation and jaw closure transmission member), which is part of the combined roll rotation and jaw closure transmission assembly, couples to the EE assembly 2010 (specifically the EE frame 2016 and Moving Jaw 2012) via a joint/mechanism.
- This mechanism allows relative translation of the Distal Body w.r.t. EE frame 2016 (i.e. DoF along axis 2) but constrains and therefore transmits roll between the two (i.e. DoC about axis 2 e.g. via a keying feature).
- This mechanism also couples the Distal Body (or distal end of the combined roll rotation and jaw closure transmission member) to the Moving Jaw 2012 so as to convert the translation of the former to rotation of the latter (i.e. Moving Jaw 2012) relative to EE Frame/Fixed Jaw about pivot axis 4 to produce jaw closure motion.
- This mechanism may contain linkages, rack and pinion assembly, pulleys, cams, pins, gears, cable, etc.
- This functionality may call for the combined roll and jaw closure transmission member to have certain design characteristics.
- This Proximal Body or the proximal end of this transmission member should have a joint with at least 1 DoF (roll rotation) w.r.t. closure body or Push Rod 2044.
- This joint may be achieved via a bearing interface between the Proximal Body (or the proximal end of transmission member) and Push Rod 2044 using thrust bearing, lubricious plain bearing, etc.
- This transmission member also has to be torsionally stiff about its centroidal axis as well as axially stiff (both under tension and compression) to transmit both roll rotation and jaw closure actuation, respectively.
- the torsional stiffness has to be high not only to transmit roll but also so that any friction at the joint between Push
- These design characteristics of large axial and torsional stiffness also impact the transmission member’s ability to bend, which limits the tool apparatus’ ability to provide large range of articulation and tight bend radius at the output articulation joint 2020.
- a braided cable with small diameter is not ideal for this transmission member since such cables are neither torsionally stiff about their centroidal axis nor axially stiff when under compression.
- a stiffer transmission member e.g. a solid wire, monofilament, or a thick braided cable with large diameter
- Such a well-defined and properly designed bearing interface isolates the impact of high jaw closure transmission load (e.g. axial tension or force) on the transmission member.
- high jaw closure transmission load e.g. axial tension or force
- the combined roll and jaw closure transmission member needs the aforementioned design characteristics (e.g. adequately high torsional stiffness), which limits articulation performance.
- FIG. 26 represents an embodiment of a handle assembly 2022 including Handle Body 2026,
- This handle assembly 2022 is an embodiment that follows the constraint map shown in FIG. 24A-B.
- Roll Input 2050 is represented in its simplest form as Dial 2024 itself.
- rotation of Dial 2024 w.r.t Handle Body 2026 about axis 1 leads to rotation of Shuttle 2046 about axis 1.
- plain bearing 2052 made from lubricious material
- Closure Input 2048 leads to translation of Push Rod 2044 along direction 1, while the Push Rod 2044 has a roll DoC joint w.r.t
- Closure Input 2048 This may lead to high force requirement to actuate the Closure Input 2048 due to introduction of reaction loads at the pivot joint between Closure Input 2048 and Handle Body 2026. In case of low roll friction between Push Rod 2044 and Shuttle 2046, this roll DoC may not be needed.
- Closure Input mechanism 2056 is represented by a rack and pinion gearset 2060 transmission assembly.
- Closure Input 2048 is a handle lever with an integrated pinion gear while Push Rod 2044 has a rack gear integrated into it Upon rotation of Closure
- Input 2048 about its pivot axis w.r.t. Handle Body 2026 the rack can move back and forth along direction 1. Further, presence of a prismatic joint 2062 provides translation DoF w.r.t. Handle Body 2026 along direction 1.
- FIG. 27 represents another embodiment of a handle assembly 2022 that includes Handle Body
- This handle assembly 2022 is an embodiment that follows the constraint map shown in FIGS. 24A-B.
- Roll Input 2050 is represented in its simplest form as Dial 2024 itself.
- rotation of Dial 2024 w.r.t Handle Body 2026 about axis 1 leads to rotation of Shuttle 2046 about axis 1.
- plain bearing 2064 made from lubricious material (e.g., Delrin, Teflon, PEEK, FIFE coated aluminum) between the Dial 2024 and Handle Body 2026.
- thrust bearing 2066 between Shuttle 2046 and Push Rod 2044.
- Dial 2024 acts as Roll Input 2050.
- Closure Input mechanism 2056 between Closure Input 2048 and Push Rod 2044 such that it leads to translation of Push Rod 2044 along direction 1 while the Push Rod 2044 has a roll DoC joint w.r.t. Handle Body 2026 about axis 1. Therefore, there exists a prismatic joint 2068 between the Push Rod 2044 and Handle Body 2026.
- the Closure Input Mechanism 2056 consists of a screw mechanism 2070 that exists between Closure Input 2048 and Push Rod 2044.
- Closure Input 2048 acts as a screw whereas Push Rod 2044 acts as a nut as part of this screw mechanism 2070.
- Closure Input 2048 has a translational DoC joint w.r.t. Handle Body 2026 along direction 1 and a rotational DoF w.r.t. Handle Body 2026 about axis 1. Threads of the screw (here, Closure Input 2048), are mated with the nut (Push Rod 2044).
- Push Rod 2044 has a translational DoF w.r.t. Handle Body 2026 along direction 1 and a rotational DoC w.r.t.
- This Closure Input 2048 may be operated by the user by turning the proximal end of the screw or via actuator (e.g., a stepper or servo motor). Also, the screw shown here may be a lead screw or a ball screw, depending on the other requirements of the application where this handle assembly 2022 is incorporated.
- FIG. 27 shows a bearing between Closure Input 2048 and Handle Body 2026 on the distal side, there may exist applications where a bearing interface between Closure Input 2048 and Handle Body 2026 may be required on the proximal side.
- FIG. 28A represents a 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-B.
- Roll Input 2050 is represented in its simplest form as Dial 2024 itself.
- rotation of Dial 2024 w.r.t Handle Body 2026 about axis V leads to rotation of Shuttle 2046 about axis V.
- plain bearing e.g. bushing
- Dial 2024 and Handle e.g. Delrin, Teflon, PEEK, PTFE coated aluminum
- a ball bearing between the Dial 2024 and Handle e.g. Delrin, Teflon, PEEK, PTFE coated aluminum
- the Shuttle 2046 also translates w.r.t. Dial 2024 along direction V and thus, has a prismatic joint 2074 w.r.t. Dial
- Dial 2024 There exists a roll DoC joint between Dial 2024 and Shuttle 2046 as Dial 2024 acts as Roll Input
- this Closure Input Mechanism 2056 comprises a flexible member 2076 (e.g., flexible wire) which is able to bend along a certain angle ⁇ (here 90 degrees) and translate along its centroidal axis direction. This axis is defined as axis V. This flexible wire, therefore, has a translational DoF w.r.t.
- a flexible member 2076 e.g., flexible wire
- Handle Body 2026 along axis V direction and is confined to move along this axis direction by guiding features of Handle Body 2026 present all around the wire.
- the flexibility of the wire provides the ability to bend but the wire needs to be stiff along its centroidal axis such that it transmits motion from Closure Input 2048 to the Push Rod 2044.
- This wire may be a Nitinol wire, a polymer composite which includes stiff member like spring steel and elastomeric resins, etc.
- This Closure Input Mechanism 2056 may comprise a flexible wire which is flexible to bend but stiff along its centroidal axis or, as shown in FIG 28 B, may be a serial chain of single DoF pivot joints about axis 1”, where axis 1” is perpendicular to both axis 1 and axis V.
- An embodiment showing a pivot chain 2078 with such pivot joints is shown in FIG. 28B.
- FIG. 28C shows the use of the pivot chain 2078 where Closure Input Mechanism 2056 consists of a serial chain 2078 of pivot joints that are guided by slot features present within the Handle Body 2026. At their two ends, the flexible wire or serial chain of joints may be rigidly connected to Closure Input 2048 and Push Rod 2044 respectively.
- FIGS. 29A-B represents a handle assembly 2022 including Handle Body 2026, Push Rod
- the handle assembly 2022 is an embodiment that follows the constraint map shown in FIGS. 24A-B. There exists a ball bearing 2080 between Dial 2024 and Handle Body 2026. There exists a thrust bearing 2082 between Shuttle 2046 and Push Rod 2044.
- Roll Input 2050 which is a distinct component that interfaces with Dial 2024 via a Roll Input transmission. Rotation of Roll Input 2050 about axis 1 ’, which perpendicular to axis 1 w.r.t. Handle
- Dial 2024 is transmitted to Dial 2024 via a bevel gear assembly 2084.
- Roll Input 2050 and Dial 2024 act as a bevel gearset such that rotation of Roll Input 2050 about axis 1 * is transmitted to the rotation of Dial 2024 w.r.t Handle Body 2026 about axis 1.
- these gears transmit rotation of Roll Input 2050 to Dial 2024 with the angle by 90° between the respective axis of Roll Input 2050 and Dial 2024 (axis 1).
- These gears may be designed to interface at other angles between axis 1 and axis V.
- This rotation of Dial 2024 leads to rotation of Shuttle 2046 about axis 1.
- the Shuttle 2046 also translates w.r.t. Dial 2024 along direction 1.
- Closure Input 2048 exists in form of the Push Rod 2044 in its simplest form.
- FIGS. 30A-B front view and isometric view, respectively represent a handle assembly 2022 including Handle Body 2026, Push Rod 2044, Dial 2024, and Shuttle 2046.
- This handle assembly 2022 is an embodiment that follows the constraint map shown in FIG. 24A.
- rotation of Dial 2024 w.r.t. Handle Body 2026 about axis 1 leads to rotation of Shuttle 2046 about axis 1.
- Roll Input 2050 is represented in its simplest form as Dial 2024 itself. There exists a roll DoC joint between Dial 2024 and Shuttle 2046 as Dial 2024 acts as Roll Input 2050. The figure does not show the Closure Input 2048 and Closure Input Mechanism 2056.
- This embodiment represents a Dial-Shuttle interface to be a compliant mechanism 2086 that allows translation of Shuttle 2046 along direction 1.
- Handle Body-Push Rod interface consists of a compliant mechanism 2088 that allows translation of Push Rod 2044 along direction 1 while the Push Rod 2044 has a roll DoC joint w.r.t. Handle Body 2026 about axis 1.
- This compliant mechanism (2086, 2088) may consist of 2 parallel beams that connect radially between Handle
- FIG. 30C, FIG. 30D and FIG. 30E show embodiments of flexure or compliant bearings that provide 1 DoF translation along direction 1.
- Such flexure bearing may be used as the interface between Dial 2024 and Shuttle 2046, and/or Handle Body 2026 and Push Rod 2044.
- FIG. 30C shows a linear 1- DoF linear flexure bearing 2090.
- FIG. 30D shows an ortho-planar spring 2092.
- ortho-planar spring 2092 helps a linear motion for the inner ring relative to the outer ring.
- the outer ring can be integrated with the Dial 2024 whereas the inner ring can be connected to the Shuttle 2046.
- the outer ring can be integral to the Handle Body 2026 whereas inner ring can be structurally connected to the Push Rod 2044.
- FIG. 31 A presents a constraint map showing a four-body system which includes Closure Body 2044, Handle Body 2026, Roll Input 2050, and Shuttle 2046.
- Closure Body 2044 and Handle Body 2026.
- 1-DoF rotational joint providing rotation about axis 1 and 1 translational DoC along direction 1 between the Roll Input 2050 and Handle Body 2026.
- 1-DoF translational joint along direction 1 and 1 rotational DoC joint constraining rotation about axis 1 between Shuttle 2046 and Roll Input 2050.
- This handle assembly 2022 may be a part of an apparatus/instrument that consists of an elongated tool shaft 2011 that has an EE assembly 2010 at its distal end (as shown in FIG. 23).
- the elongated tool shaft 2011 may lie distal to the handle assembly 2022.
- the EE assembly 2010, as described earlier, may consist of a Moving Jaw 2012 and a Fixed Jaw 2014. Translation of Shuttle 2046 w.r.t. Roll Input 2050 along direction 1 may lead to the relative motion of Moving Jaw 2012 w.r.t. Fixed Jaw 2014. Also, rotation of Roll Input 2050 may lead to rotation of EE assembly 2010 about its roll axis.
- FIG. 3 IB presents an extended constraint map showing a six-body system which includes
- Closure Body 2044 Handle Body 2026, Roll Body 2024, Shuttle 2046, Closure Input 2048, and Roll
- Input 2050 There exists at least a 1-DoF joint or mechanism between Closure Body 2044 and Handle Body 2026.
- This constraint map C is an extension of constraint map C shown in FIG. 31 A.
- Closure Input Mechanism 2056 between Closure Input 2048 and Closure Body 2044 such that translation input can be transmitted via Closure Input 2048.
- Roll Input Mechanism 2094 between Roll Input 2050 and Roll Body 2024 such that rotation input can be transmitted via Roll Input 2050.
- Each of these two mechanisms help transmit motion by providing a DoC between Closure Input 2048 and Closure Body 2044, and between Roll Input 2050 and Roll Body 2024.
- constraint map B is an extension of constraint map A
- similarly constraint map C’ is an extension of constraint map C.
- FIGS. 32A-B represents a handle assembly 2022 including Handle Body 2026, Closure Body
- Roll Input 2050 can be termed as Roll Input 2050 as it is present in its simplest form. Rotation of Roll Input 2050 w.r.t. Handle Body 2026 about axis 1 leads to rotation of Shuttle 2046 about axis 1.
- the Shuttle 2046 can translate w.r.t Roll Input 2050 along direction 1. Therefore, the Shuttle 2046 has a prismatic joint 2096 w.r.t. Roll Input 2050.
- the Shuttle 2046 is an elongated member which extends towards the proximal end such that it has a ball/oval end which interfaces with the Closure Body 2044.
- Closure Body 2044 is shown as a level that has a 1-DoF rotation joint w.r.t. Handle Body 2026. The user triggers this input on one end of the pivot which leads to rotation of its other end about the pivot axis. This other end interfaces with the Shuttle 2046. Therefore, the ball end of the Shuttle 2046 interfaces with the Closure Body 2044.
- Closure Body 2044 has two prongs or a wishbone-like or a slot feature which can pull the Shuttle 2046 by pulling the ball end of the Shuttle 2046. This feature on Closure Body 2044 may have features to pull the Shuttle’s proximal end and/or push the proximal end of the Shuttle 2046. [0249] As the Closure Body 2044 rotates about the pivot, its two-prong end rotates about the pivot joint axis. This end produces a translation of Shuttle’s proximal end along direction 1. Translation of proximal end of Shuttle 2046 leads to translation of the distal end of the Shuttle 2046 which interfaces with the Roll Input 2050.
- FIG. 32A and FIG. 32B represents a ball/oval end of the Shuttle 2046. This end may be conical or anchor-like or any other feature which can interface with Closure Body 2044 in order to produce a translation of Shuttle 2046 along direction 1. Also, this translation can be towards the proximal end and/or towards the distal end.
- FIG. 33 represents a handle assembly 2022 that includes Handle Body 2026, Roll Input 2050,
- Roll Input 2050 can be termed as Roll Input 2050 as it is present in its simplest form. Rotation of Roll Input 2050 w.r.t. Handle Body 2026 about axis 1 leads to rotation of Shuttle 2046 about axis 1. Also, the Shuttle 2046 can translate w.r.t Roll Input 2050 along direction 1. Therefore, the Shuttle 2046 has a prismatic joint 2098 w.r.t Roll Input 2050. There exists a screw mechanism 3010 between Closure
- 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 the Closure Body 2044 (screw) is actuated by the user. Therefore, Closure Body 2044 moves w.r.t Handle Body 2026 by rotating about axis 1 and translating along direction 1. Here, Handle Body 2026 acts as a local ground. At the distal end of the Closure Body 2044, there exists 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) w.r.t.
- Handle Body 2026 does not lead to transmission of rotation to the Shuttle 2046. Translation of distal end of Closure Body 2044 leads to the transmission of translation to Shuttle 2046. Therefore, the Shuttle 2046 translates along direction 1 w.r.t. Roll Input 2050.
- the actuation of the screw may take place by rotation of the proximal end of Closure Body 2044 by the user manually or using a mechanical actuator or via an electromechanical actuator (e.g., linear motor).
- FIG. 34A represents a diaphragm spring 3012 which is commonly used in automotive applications as part of the clutch assembly. Diaphragm spring 3012 is pre-bent and is biased towards one direction. When the spring 3012 is deflected in the opposite direction, it tends to get back to its prebent configuration.
- FIG. 34B and FIG. 34C (different views of the same assembly) represents a handle assembly
- Roll Body 2024 can be termed as Roll Input 2050 as it is present in its simplest form.
- Rotation of Roll Input 2050 w.r.t. Handle Body 2026 about axis 1 leads to rotation of Shuttle 2046 about axis 1.
- the Shuttle 2046 can translate w.r.t. Roll Input 2050 along direction 1. Therefore, the Shuttle 2046 has a prismatic joint 3014 w.r.t. Roll Input 3050.
- Closure Body 2044 that interfaces with a diaphragm spring 3012. This spring 3012, as shown in FIG.
- the Closure Body 2044 produces 1 DoF w.r.t. Handle Body 2026 (as mentioned in the constraint map C shown in FIG. 31).
- the spring 3012 consists of an outer ring which is constrained w.r.t Handle Body 2026 and has an inner orifice. Between the outer ring and inner orifice, lies compliant radial beams which can deflect in order to produce a displacement of the inner orifice.
- the Closure Body 2044 may have an elongated member (Closure Input 2048, shown in FIGS.
- the Shuttle 2046 is an elongated member that elongates proximal to the feature that mates with Roll Input 2050 via the prismatic joint 3014.
- the proximal end of the Shuttle 2046 may be a ball end or an oval end or similar feature that can be constrained to the inner orifice of the diaphragm spring 3012. Once the Shuttle 2046 is mated to this orifice , deflection of diaphragm spring 3012 w.r.t Handle Body 2026 leads to translation of Shuttle 2046 via pulling of the proximal end of the Shuttle 2046.
- This deflection of the spring 3012 may take place via cables that pull around the inner orifice or via an elongated rigid member as shown in FIGS. 34A-B that extends external to the handle assembly 2022.
- deflection of the spring 3012 can be carried out via pulling of cables, or a rigid extension of the diaphragm spring 3012. In the case where cables are used, the cables may be constrained along the direction 1 w.r.t. handle assembly 2022.
- the cable(s) mentioned here constitute the Closure Input Mechanism 2056.
- This Closure Input Mechanism 2056 may also consist of braided cable(s) or nitinol wire(s) or linkage mechanism or other similar means of transmission.
- FIGS. 35A-C represent a configuration of Roll Input 2050 and Shuttle 2046 which can be part of a handle assembly 2022 that maps to any one of the constraint maps shown in FIG. 24A, FIG. 24B or FIG. 31.
- Roll Input 2050 can be termed as Dial 2024 as it is present in its simplest form. Rotation of Dial 2024 w.r.t. Handle Body 2026 about axis 1 leads to rotation of Shuttle 2046 about axis 1. Also, the Shuttle 2046 can translate w.r.t. Dial 2024 along direction 1. Therefore, the Shuttle 2046 has a prismatic joint w.r.t. Dial 2024.
- FIG. 35 A shows a configuration in which CCW rotation of Dial 2024 about axis 1 produces relative motion between Dial 2024 and Shuttle 2046.
- CW clockwise
- CCW counterclockwise
- FIG. 35 A 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 between Dial 2024 and Shuttle 2046 such that when the Dial 2024 is rotated CCW, the compliant portion of the Dial 2024 which serves as a pawl deflects and skips over the angled teeth profile present on the Shuttle 2046.
- FIG. 35 A is termed as a counterclockwise ratchet
- FIG. 35B shows a configuration in which CW rotation of Dial 2024 about axis 1 produces relative motion between Dial 2024 and Shuttle 2046.
- CW rotation of Dial 2024 about axis 1 produces relative motion between Dial 2024 and Shuttle 2046.
- a compliant clutch mechanism between Dial 2024 and Shuttle 2046 such that when the Dial 2024 is rotated CW, the compliant portion of the Dial 2024 which serves as a pawl deflects and skips over the angled teeth profile present on the
- FIG. 35C shows an embodiment showing the clutch mechanism shown in FIG. 35 A and FIG. 35B as part of a single assembly where the Shuttle 2046 from FIG. 35A is coupled to Shuttle 2046 from FIG. 35B using a common shaft and common axis (axis 1). Also, Dial 2024 from FIG. 35A is coupled to Dial 2024 from FIG. 35B which are merged while being spaced axially along axis 1.
- FIG. 35C shows a configuration of the Dial-Shuttle interface in which CCW rotation of Dial 2024 about axis 1 will produce relative motion between Dial 2024 and Shuttle 2046 at section 1 and CW rotation of Dial 2024 about axis 1 will produce relative motion between Dial 2024 and Shuttle 2046 at section 2.
- FIGS. 36A-C shows Handle Body 2026 and Dial 2024 which may be part of a handle assembly 2022 that may map to the constraint map shown in FIGS. 24A-B or FIG. 31.
- Roll Input 2050 can be termed as Dial 2024 as it is present in its simplest form.
- Rotation of Dial 2024 w.r.t. Handle Body 2026 can be controlled such that angular orientation of Dial 2024 can be locked w.r.t. Handle Body 2026 via locking levers 3016.
- position locking levers 3016 areclass I levers that are pivoted on the Dial 2024. These lever(s) 3016 may be singular or multiple (e.g., three locking levers located at an offset of one-hundred-and-twenty degrees (120°) that may be operated by the index finger, middle finger and/or thumb of the user). These levers 3016 may also be spring-loaded (e.g., via a torsion spring at the rotation pivot for each locking lever) such that it is always biased towards locking state. Each lever 3016 may have a peg that sits into one of many slots present on Handle Body 2026.
- FIG. 36D shows an isolated cross-section of a locking lever 3016 and Handle Body 2026 feature that interfaces with locking lever(s). Once pressed, these levers raise above the Handle Body 2026 such that locking lever(s) can rotate as Dial 2024 rotates about axis 1. When the user releases these levers, the levers sit in a respective slot on the Handle Body 2026 and lock the rotation of Dial 2024 w.r.t. Handle Body 2026 about axis 1. This mechanism provides a discrete rotation of Dial 2024 w.r.t. Handle Body 2026 about axis 1 with pitch being dependent on the pitch of slots on Handle Body 2026 which interface with locking lever(s).
- FIG. 37A represents a bistable rotation mechanism embodiment (that may be part of a handle assembly) showing the interface between Handle Body 2026 and Dial 2024 such that the rotation of Dial 2024 w.r.t. Handle Body 2026 about axis 1 is binary in nature.
- These bodies may be part of a handle assembly 2202 that may map to the constraint map shown in FIGS. 24A-B or FIG. 31.
- the Dial 2024 can be rotated CW by one discrete angle and Dial 2024 can be rotated CCW by one discrete angle. This is possible due to the presence of a bi-stable compliant mechanism 3018 shown in isolation in FIG. 37B that exists between the Dial 2024 and Handle Body 2026.
- the bi-stable compliant mechanism 3018 comprises multiple instances of parallel beams connected on one end to the Handle Body and on the other end to the Dial, followed by additional multiple instances of parallel beams attached to Dial on one end and to the Handle Body on the other end. This forms multiple instances of opposing sets of parallel beams between the Handle Body and Dial.
- Dial 2024 w.r.t. Handle Body 2026 may depend on the length of parallel beams that are part of the bi-stable compliant mechanism 3018.
- FIG. 38A shows an embodiment which consists of a Handle Body 2026 and Dial 2024. This embodiment may be incorporated in a handle assembly 2202 that maps to constraint map shown in FIGS.
- a detent spring 3020 which is housed in a frame 3022.
- This detent spring 3020 sits into detent features onto the Dial 2024 which are located around the circumference of the Dial 2024 at a certain pitch.
- the frame 3022 for detent spring 3020 may be placed on a rail such that it can translate w.r.t. the Handle Body 2026 along direction 1.
- the frame 3022 may be moved w.r.t. Handle Body 2026 by the user to switch the rotation of Dial 2024 w.r.t. Handle Body 2026 between discrete or continuous states. [0266] In a discrete state, the Dial 2024 can rotate w.r.t.
- Handle Body 2026 such that it rotates discretely based on the pitch of detent features on the Dial 2024.
- the Dial 2024 may rotate freely w.r.t. Handle Body 2026.
- the frame 3022 may also be locked w.r.t handle assembly 2022 in the discrete or continuous state using a push-push button 3024.
- the push-push button 3024 calls for motion of frame 3022 towards the Handle Body 2026 along direction 1 to push the button to lock the frame 3022 in a continuous Dial 2024 rotate state. In order to reset it back to discrete rotation state, it may need another push towards the Handle Body 2026 along direction 1.
- FIG. 38B shows an example of an embodiment similar to one shown in FIG. 38 A.
- components of a computer mouse can be considered as Handle Body 2026, Dial 2024 and the switch that helps toggle between discrete and continuous Dial 2024 rotation states. Pressing the button interfaces a pawl or gear to the outer surface of Dial 2024.
- the outer surface of Dial 2024 has slots or serrations or gear tooth features. This way, rotation of Dial 2024 w.r.t. Handle Body 2026 about axis 1 provides haptic feedback on each specific angle rotation (dependent on the pitch of serrations/slots on the Dial 2024).
- FIG. 39 shows a constraint map which represents DoFs and DoCs between Handle Body 2026 and “3DOF joint”
- This “Art-roll Input’ may replace Roll Input 2050 and/or Dial 2024 in constraint maps shown in FIGS. 24A-B or FIG. 31 to produce a handle assembly 2022 that includes an articulation input joint along with existing functions, i.e., rotation of Roll Input 2050 leading to rotation of the end- effector and actuation of Closure Input 2048 leading to the closing of Moving Jaw 2012 w.r.t Fixed Jaw 2014.
- Art-roll Input can be described as an assembly that includes two components, namely “Roll Input” (described above) and “Articulation Dial.” Articulation Dial has a 2-DoF joint w.r.t either Roll Input 2050 or Handle Body 2026 that produces pitch and yaw motion by rotation about pitch and yaw axes respectively. This 2-DoF joint/mechanism is termed as an articulation input mechanism.
- This handle assembly 2022 may be part of an apparatus which includes an elongated tool shaft 2011 and EE assembly 2010 at the distal end of the tool shaft 2011. There may also exist an articulation output joint 2020 between tool shaft 2011 and EE assembly 2010. Articulation input mechanism maybe a serial or parallel kinematic mechanism which takes pitch and yaw rotation as inputs and may transmit to output articulation joint 2020 present between tool shaft 2011 and EE assembly 2010 producing pitch and yaw motion output motion of end-effector respectively.
- FIG. 40 through FIG. 42 show a handle assembly 2022, particularly only components namely Handle Body 2026 and Art-roll Input Some of these figures may also contain a roll transmission member 3026 which transmit roll motion between the Roll Input 2050 and the EE assembly 2010 to produce rotation. Some of these figures may also contain an articulation transmission member which transmits articulation motion (pitch and yaw motion) from articulation input mechanism to articulation output mechanism. Also, “Roll Input” is present in its simplest form as Dial 2024 in these embodiments. Terms, namely, “Roll Input”, “Dial”, and “roll Dial” may be used interchangeably in the description.
- FIG. 40 there exists a 2-DoF pitch and yaw rotational joint between Articulation Dial 3028 and Handle Body 2026. Also, there exists a 1-DoF rotational joint 3030 between Roll Dial 2024 and Articulation Dial 3028.
- pitch and yaw motion transmission members which are rigidly mounted to Articulation Dial 3028 such that they capture pitch and yaw motion respectively. These members are referred to in FIG. 40 as cables. These cables may be flexible wires made from nitinol, Kevlar, braided stainless steel/tungsten assembly, or flexible polymers, or a combination of these materials.
- Each cable or a pair of cables may transmit pitch motion (or yaw motion) due to respective pitch motion (or yaw motion) of Articulation Dial 3028 w.r.t. Handle Body 2026.
- Moving Articulation Dial 3028 to produce pitch motion produces a pull force on a pitch cable.
- moving Articulation Dial 3028 to produce yaw motion produces a pull force on a yaw cable.
- Combining these motions to produce a compound motion consisting of pitch and yaw motion of Articulation Dial 3028 produces pull on both pitch and yaw cables.
- an apparatus consisting of a tool frame, an elongated tool shaft rigidly attached to tool frame and an EE assembly at the distal end of the tool shaft.
- a 2-DoF output articulation joint between the tool shaft and EE assembly.
- the 2-DoF articulation output joint is connected to a 2-DoF articulation input joint via pitch and yaw transmission members.
- pitch and yaw cables connect to the output articulation joint and may be routed through the tool frame and/or tool shaft
- EE assembly may rotate w.r.t.
- FIG. 41 represents a handle assembly 2022 consisting of Handle Body 2026, Roll Dial 2024, and Articulation Dial 3028.
- Handle Body 2026 serves as the reference ground and Roll Dial 2024 has 1 rotational DoF w.r.t. Handle Body 2026 about axis 1.
- rollers are here described as “encoders.”
- the pitch and yaw rotation data encoded by the respective encoders 3032, 3034 may be transmitted to 2-DoF output articulation joint between tool shaft 2011 and end-effector.
- the rotation of Roll Dial 2024 w.r.t Handle Body 2026 about axis 1 may either be encoded or transmitted mechanically leading to rotation of the end-effector. Mechanical transmission of rotation of Roll Dial 2024 may occur via roll transmission member that is rigidly mounted to the Roll Dial 2024.
- FIG. 42 represents a handle assembly 2022 consisting of Handle Body 2026, roll Dial 2024, and articulation Dial 3028.
- Handle Body 2026 serves as the reference ground and roll Dial 2024 has 1 rotational DoF w.r.t. Handle Body 2026 about axis 1.
- These transducers 3036, 3038 may be piezoelectric strips/plates or smart memory alloys or other strain transducers.
- the device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
- the terms “upwardly”, “downwardly”, “ vertical” , “horizontal” and the like are used herein for the purpose of explanation only unless specifically indicated otherwise.
- first and second may be used herein to describe various features/elements (including steps), these features/elements should not be limited by these terms, unless the context indicates otherwise. These terms may be used to distinguish one feature/element from another feature/element Thus, a first feature/element discussed below could be termed a second feature/element, and similarly, a second feature/element discussed below could be termed a first feature/element without departing from the teachings of the present invention.
- any of the apparatuses and methods described herein should be understood to be inclusive, but all or a sub-set of the components and/or steps may alternatively be exclusive and may be expressed as “consisting of’ or alternatively “consisting essentially of * the various components, steps, sub-components, or sub-steps.
- any of several changes may be made to various embodiments without departing from the scope of the invention as described by the claims. For example, the order in which various described method steps are performed may often be changed in alternative embodiments, and in other alternative embodiments one or more method steps may be skipped altogether.
- Optional features of various device and system embodiments may be included in some embodiments and not in others. Therefore, the foregoing description is provided primarily for exemplary purposes and should not be interpreted to limit the scope of the invention as it is set forth in the claims.
- a numeric value may have a value that is +/- 0.1% of the stated value (or range of values), +/- 1% of the stated value (or range of values), +/- 2% of the stated value (or range of values), +/- 5% of the stated value (or range of values), +/- 10% of the stated value (or range of values), etc.
- Any numerical values given herein should also be understood to include about or approximately that value unless the context indicates otherwise. For example, if the value “10” is disclosed, then “about 10” is also disclosed. Any numerical range recited herein is intended to include all sub-ranges subsumed therein.
Abstract
Description
Claims
Priority Applications (5)
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JP2023501880A JP2023534445A (en) | 2020-07-13 | 2021-07-13 | Handle assembly providing unlimited rolls |
KR1020237004492A KR20230037045A (en) | 2020-07-13 | 2021-07-13 | Handle assembly providing unlimited-roll |
IL299240A IL299240A (en) | 2020-07-13 | 2021-07-13 | Handle assembly providing unlimited roll |
CN202180062542.XA CN116322537A (en) | 2020-07-13 | 2021-07-13 | Handle assembly providing unrestricted rolling |
EP21842968.6A EP4178470A1 (en) | 2020-07-13 | 2021-07-13 | Handle assembly providing unlimited roll |
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US16/926,928 | 2020-07-13 | ||
US16/926,928 US20210038865A1 (en) | 2015-10-02 | 2020-07-13 | Handle Assembly Providing Unlimited Roll |
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WO2022015686A1 true WO2022015686A1 (en) | 2022-01-20 |
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JP (1) | JP2023534445A (en) |
KR (1) | KR20230037045A (en) |
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Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
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US20130012958A1 (en) * | 2011-07-08 | 2013-01-10 | Stanislaw Marczyk | Surgical Device with Articulation and Wrist Rotation |
US20150209059A1 (en) * | 2014-01-28 | 2015-07-30 | Ethicon Endo-Surgery, Inc. | Methods and devices for controlling motorized surgical devices |
US20180289384A1 (en) * | 2015-10-02 | 2018-10-11 | Gregory Brian BOWLES | Handle mechanism providing unlimited roll |
-
2021
- 2021-07-13 EP EP21842968.6A patent/EP4178470A1/en active Pending
- 2021-07-13 CN CN202180062542.XA patent/CN116322537A/en active Pending
- 2021-07-13 KR KR1020237004492A patent/KR20230037045A/en unknown
- 2021-07-13 JP JP2023501880A patent/JP2023534445A/en active Pending
- 2021-07-13 WO PCT/US2021/041365 patent/WO2022015686A1/en unknown
- 2021-07-13 IL IL299240A patent/IL299240A/en unknown
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20130012958A1 (en) * | 2011-07-08 | 2013-01-10 | Stanislaw Marczyk | Surgical Device with Articulation and Wrist Rotation |
US20150209059A1 (en) * | 2014-01-28 | 2015-07-30 | Ethicon Endo-Surgery, Inc. | Methods and devices for controlling motorized surgical devices |
US20180289384A1 (en) * | 2015-10-02 | 2018-10-11 | Gregory Brian BOWLES | Handle mechanism providing unlimited roll |
Also Published As
Publication number | Publication date |
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EP4178470A1 (en) | 2023-05-17 |
CN116322537A (en) | 2023-06-23 |
JP2023534445A (en) | 2023-08-09 |
KR20230037045A (en) | 2023-03-15 |
IL299240A (en) | 2023-02-01 |
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