Pulley arrangement and pulley guard for articulating a surgical instrument

A surgical robotic instrument comprises an end effector element 501 connected to a shaft 504 via an articulation 505. The articulation comprises: a first joint 506, driveable by a first pair of driving elements A1, A2, that rotates about a first axis 510; a second joint 507 driveable by a second pai...

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Bibliographic Details
Main Author Ben Robert Chaplin
Format Patent
LanguageEnglish
Published 14.12.2022
Subjects
DIAGNOSIS
HUMAN NECESSITIES
HYGIENE
IDENTIFICATION
MEDICAL OR VETERINARY SCIENCE
SURGERY
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Summary:A surgical robotic instrument comprises an end effector element 501 connected to a shaft 504 via an articulation 505. The articulation comprises: a first joint 506, driveable by a first pair of driving elements A1, A2, that rotates about a first axis 510; a second joint 507 driveable by a second pair of driving elements B1, B2; a pulley arrangement around which the second pair of driving elements move and a clevis unit 508. The pulley arrangement comprises a first set of pulleys rotatable about the first axis and a second set of pulleys. The second set of pulleys comprises a first pulley rotatable about a second axis, and a second pulley rotatable about a third axis parallel to and offset from the second axis. The clevis unit comprises a base portion 532 and two arms 530, 531 that extend from the base portion and support the pulleys. A first drive element guide 533 is located between the two arms, with one driving element of the first pair of driving elements passing through the first drive element guide. A pulley guard 538 extends from the base portion and between one of the arms and the first drive element guide.
Bibliography:Application Number: GB20220009498