IP Library › Granted Patent US 12708253
Granted Patent B2
US 12708253 · App. 18/434,456 · Granted Aug 18, 2026

Articulation mechanisms for robotic surgical tools

Inventors: Andrew Beckman (Cincinnati, OH); Benjamin D. Dickerson (Cincinnati, OH)
Assignee: Cilag GmbH International
A61B1/00149A61B1/00009A61B17/00234A61B17/072A61B17/1285A61B17/29A61B17/3201A61B18/1442A61B34/20A61B34/30A61B90/50B25J9/102B25J15/0019B25J17/0241F16H1/20F16H25/186F16H25/20F16H57/0025A61B2018/0063A61B2018/126A61B2034/2051A61B2034/301A61B2034/302A61B2217/005A61B2217/007F16H2025/2059F16H2025/2081
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Quick Facts
Patent No.
US 12708253
App. No.
18/434,456
Granted
Aug 18, 2026
Kind
B2
Abstract

A robotic surgical tool includes a drive housing having a first end, a second end, and one or more splines extending between the first and second ends, a carriage mounted to the one or more splines and movable between the first and second ends, and a cylindrical lead screw operatively coupled to the first end and extending toward the second end, the cylindrical lead screw including an interior sized to receive the splines and the carriage. The carriage is operatively coupled to the cylindrical lead screw such that rotation of the cylindrical lead screw correspondingly causes the carriage to move between the first and second ends.

Claims (49)

1 . A robotic surgical tool, comprising:

a drive housing having a first end, a second end, and one or more splines extending between the first and second ends, wherein each spline has a spline longitudinal axis that is eccentric to a longitudinal axis of the drive housing, and wherein each spline is rotatable about the respective spline longitudinal axis;

a carriage mounted to the one or more splines and movable between the first and second ends;

a cylindrical lead screw operatively coupled to the first end and extending toward the second end, the cylindrical lead screw including an interior sized to receive the one or more splines and the carriage; and

a drive input arranged at the first end and operatively coupled to the cylindrical lead screw such that rotation of the drive input correspondingly rotates the cylindrical lead screw about the longitudinal axis of the drive housing,

wherein the carriage is operatively coupled to the cylindrical lead screw such that rotation of the cylindrical lead screw correspondingly causes the carriage to move between the first and second ends.

2 . The robotic surgical tool of claim 1 , further comprising:

an instrument driver arranged at an end of a robotic arm and matable with the drive housing at the first end, the instrument driver providing a drive output matable with the drive input such that rotation of the drive output correspondingly rotates the drive input and thereby rotates the cylindrical lead screw.

3 . The robotic surgical tool of claim 2 , further comprising:

a drive gear operatively coupled to the drive input such that rotation of the drive input correspondingly rotates the drive gear; and

a driven gear forming part of the cylindrical lead screw and intermeshed with the drive gear such that rotation of the drive gear correspondingly drives the driven gear and thereby rotates the cylindrical lead screw.

4 . The robotic surgical tool of claim 3 , wherein the driven gear comprises a ring gear defined on an outer surface of the cylindrical lead screw.

5 . The robotic surgical tool of claim 2 , further comprising an elongate shaft extending from the carriage and extending through the first end, wherein the elongate shaft extends through the instrument driver by extending through a central aperture defined longitudinally through the instrument driver.

6 . The robotic surgical tool of claim 1 , wherein the cylindrical lead screw comprises a hollow cylinder that exhibits a circular cross section.

7 . The robotic surgical tool of claim 1 , further comprising:

one or more cam profiles defined on an inner surface of the interior of the cylindrical lead screw; and

one or more follower pins provided on the carriage and slidably matable with the one or more cam profiles,

wherein, when the cylindrical lead screw rotates, the one or more follower pins traverse the one or more cam profiles and thereby cause the carriage to move between the first and second ends.

8 . The robotic surgical tool of claim 7 , wherein the one or more follower pins comprise protrusions extending radially outward from an outer periphery of the carriage.

9 . The robotic surgical tool of claim 7 , wherein the one or more cam profiles comprise a first cam profile and a second cam profile, and wherein the first and second cam profiles form parallel helical paths extending along a portion of the inner surface of the interior.

10 . The robotic surgical tool of claim 7 , wherein the one or more cam profiles extend at a constant pitch.

11 . The robotic surgical tool of claim 7 , wherein a pitch of the one or more cam profiles varies along an axial length of the cylindrical lead screw.

12 . The robotic surgical tool of claim 7 , wherein the one or more cam profiles extends at a first pitch along a first portion, and extends at a second pitch along a second portion contiguous with the first portion, and wherein the first and second pitches are different.

13 . The robotic surgical tool of claim 1 , wherein the cylindrical lead screw stops short of the second end.

14 . The robotic surgical tool of claim 1 , wherein the cylindrical lead screw terminates at the second end.

15 . The robotic surgical tool of claim 1 , further comprising a shroud extending between the first and second ends, wherein the cylindrical lead screw is arranged within the shroud.

16 . A method, comprising:

locating a robotic surgical tool adjacent to a patient, the robotic surgical tool comprising:

a drive housing having a first end, a second end, and one or more splines extending between the first and second ends, wherein each spline has a spline longitudinal axis that is eccentric to a longitudinal axis of the drive housing, and wherein each spline is rotatable about the respective spline longitudinal axis;

a carriage mounted to the one or more splines and movable between the first and second ends; and

a cylindrical lead screw operatively coupled to the first end and extending toward the second end, the cylindrical lead screw including an interior sized to receive the one or more splines and the carriage, the carriage being operatively coupled to the cylindrical lead screw and movable between the first and second ends in response to rotation of the cylindrical lead screw about the longitudinal axis of the drive housing;

rotating the cylindrical lead screw by actuating a drive input arranged at the first end and operatively coupled to the cylindrical lead screw, thereby moving the carriage axially between the first and second ends.

17 . The method of claim 16 , further comprising:

mating an instrument driver with the drive housing at the first end, the instrument driver being arranged at an end of a robotic arm;

mating a drive output of the instrument driver with the drive input as the instrument driver is mated to the drive housing; and

actuating the drive output to rotate the drive input and thereby rotate the cylindrical lead screw.

18 . The method of claim 17 , wherein the robotic surgical tool further includes an elongate shaft extending from the carriage, and wherein mating the instrument driver with the drive housing at the first end comprises extending the elongate shaft through a central aperture defined longitudinally through the instrument driver.

19 . The method of claim 16 , wherein one or more cam profiles are defined on an inner surface of the interior of the cylindrical lead screw, and one or more follower pins are provided on the carriage, the method further comprising:

slidably mating the one or more follower pins with the one or more cam profiles; and

causing the carriage to move between the first and second ends as the cylindrical lead screw rotates and the one or more follower pins traverse the one or more cam profiles.

20 . The method of claim 19 , wherein the one or more cam profiles comprise a first cam profile and a second cam profile, and wherein the first and second cam profiles form parallel helical paths extending along a portion of the inner surface of the interior.

21 . A robotic surgical tool, comprising:

a drive housing having a first end, a second end, and one or more splines extending between the first and second ends;

a carriage mounted to the one or more splines and movable between the first and second ends;

a cylindrical lead screw operatively coupled to the first end and extending toward the second end, the cylindrical lead screw including an interior sized to receive the one or more splines and the carriage;

one or more cam profiles defined on an inner surface of the interior of the cylindrical lead screw;

one or more follower pins provided on the carriage and slidably matable with the one or more cam profiles; and

a drive input arranged at the first end and operatively coupled to the cylindrical lead screw such that rotation of the drive input correspondingly rotates the cylindrical lead screw about the longitudinal axis,

wherein the carriage is operatively coupled to the cylindrical lead screw such that rotation of the cylindrical lead screw correspondingly causes the carriage to move between the first and second ends, and when the cylindrical lead screw rotates, the one or more follower pins traverse the one or more cam profiles and thereby cause the carriage to move between the first and second ends.