Independent roll wrist mechanism
View Patent ↗A robotic system for use in Minimally Invasive Surgery (MIS) is provided that, in various aspects of this specification, comprises at least one elongated shaft known as the robotic arm. In certain aspects, the robotic arm is provided with an independent roll wrist mechanism, which can allow for imparting the roll motion to the end effectors while mitigating or potentially eliminating the need of rotating the entire robotic arm, thus ensuring independent movement of end effectors. The independent movement of the end effectors sweeps a considerably smaller conical volume, as compared to that swept by the entire robotic arm, thereby reducing the likelihood of collisions with neighboring tissues or organs.
1. A robotic surgical system comprising:
an end-effector assembly comprising a surgical instrument configured for fine-movement responsive to a first control mechanism in order to perform a medical procedure at a target area using said surgical instrument; and
a coarse-movement assembly connected to said end-effector assembly, said coarse-movement assembly configured for coarse-movement responsive to a second control mechanism in order to position said end-effector assembly near said target area, said coarse-movement comprising at least a wrist movement for said end-effector assembly, said first control mechanism and said second control mechanism being independently controllable from each other,
said coarse-movement assembly comprising:
a first articulating joint assembly having a longitudinal axis and movable within a first plane, said first articulating joint assembly including a first series of connected disks, each disk being independently moveable within said first plane; and
a second articulating joint assembly having a longitudinal axis and movable within a second plane perpendicular to said first plane, said second articulating joint assembly including a second series of connected disks, each disk being independently moveable within said second plane,
at least one cavity extending longitudinally along said first and second articulating joint assemblies, and at least one control cable implementing said first control mechanism and extending through said at least one cavity;
an opening separate from said at least one cavity extending longitudinally along said first and second articulating joint assemblies, and a flexible shaft coupled to said end-effector assembly and extending through said opening, wherein said flexible shaft is rotatable within said opening to impart a roll on said end-effector assembly and wherein rotation of the said flexible shaft is independent of any longitudinal movement of said flexible shaft; wherein each connected disk of said first and second series of connected disks further includes a freely rotatable core, said cavity and said opening being located in said core and wherein each of said core and said flexible shaft is rotatable simultaneously and independently about respective said longitudinal axes.
2. The robotic surgical system of claim 1 wherein said surgical instrument comprises at least one of a clamp, a spatula, and surgical scissors.
3. The robotic surgical system of claim 1 wherein said flexible shaft is coupled to said end-effector assembly by a thrust bearing.
4. The robotic surgical system of claim 1 wherein the longitudinal axis of said first articulating joint assembly is disposed at about ninety degrees relative to the longitudinal axis of said second articulating joint assembly.
5. The robotic surgical system of claim 1 wherein said first and second series of connected disks are each comprised of about 10 disks and wherein each of said first and second series of connected disks provides up to about 60° of flexion.
6. The robotic surgical system of claim 1 wherein said first and second series of connected disks are comprised of stainless steel.
7. The robotic surgical system of claim 1 wherein said first and second series of connected disks are comprised of titanium.