Pulley arrangement and pulley guard for articulating a surgical instrument

• Main Author: Ben Robert Chaplin
• Format: Patent
• Language: English
• Published: 14.12.2022
• Subjects: DIAGNOSIS; HUMAN NECESSITIES; HYGIENE; IDENTIFICATION; MEDICAL OR VETERINARY SCIENCE; SURGERY

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.