Wrist and jaw assemblies for robotic surgical systems
An end effector for use and connection to a robot arm of a robotic surgical system, wherein the end effector is controlled and/or articulated by at least one cable extending from a respective motor of a control device of the robot surgical system, is provided. The end effector includes a wrist assembly, and a jaw assembly. The jaw assembly includes a cam pulley rotatably supported on at least one support plate of the jaw assembly, wherein the cam pulley is operatively connected to a proximal end of each of the jaws of the jaw assembly such that rotation of the cam pulley results in one of an opening and closing of the jaw assembly.
1. An end effector of a surgical tool comprising:
a pair of jaws pivotable about a first axis;
a first and a second cam pulley rotatable about a second axis parallel to the first axis and coupled to the pair of jaws; and
a cam follower coupling the first and the second pulleys to each of the pair of jaws; wherein:
a rotation of the first cam pulley opens or closes the pair of jaws about the first axis; and
a force applied to the second cam pulley rotates the pair of jaws about the second axis.
2. The end effector according to claim 1 , wherein the first cam pulley multiplies a closure force acting on the pair of jaws as the first cam pulley is rotated to close the pair of jaws.
3. The end effector according to claim 2 , wherein the first cam pulley defines at least one arcuate slot formed in a surface thereof, each arcuate slot including:
a first end spaced a first radial distance from a pivot axis of the first cam pulley; and
a second end spaced a second radial distance from the pivot axis of the first cam pulley, and
wherein each jaw is in sliding and camming connection with a respective arcuate slot of the first cam pulley.
4. The end effector according to claim 2 , wherein the first cam pulley defines a single arcuate slot formed therein, and wherein a proximal end of each jaw defines an angled slot formed therein, wherein the angled slots diverge from one another in a proximal direction, and wherein the end effector includes a cam pin slidably disposed within the arcuate slot of the first cam pulley and the angled slot of each jaw.
5. The end effector according to claim 4 , wherein the second cam pulley defines an axially extending slot formed therein, and wherein the cam pin is slidably disposed within the axially extending slot formed in the second cam pulley.
6. The end effector according to claim 5 , wherein the first cam pulley includes at least one cam plate, and wherein the end effector further includes a cam link pivotally connected to a respective one cam plate and a respective second cam pulley.
7. The end effector according to claim 6 , wherein the respective second cam pulley defines a longitudinally extending slot formed therein, and wherein the cam link includes a first end pivotally connected to the respective one cam plate, and a second end pivotally and slidably connected to the longitudinally extending slot formed in the respective second cam pulley.
8. The end effector according to claim 7 , wherein a proximal end of each jaw defines an angled slot formed therein, wherein the angled slots diverge from one another in a proximal direction, and wherein the end effector includes a cam pin slidably disposed within the axially extending slot of each second cam pulley and the angled slot of each jaw.
9. The end effector according to claim 2 , wherein the first cam pulley includes at least one cam plate, and wherein the end effector further includes at least one cam linkage pivotally connected to a respective one cam plate and a respective proximal portion of a respective jaw.
10. The end effector according to claim 9 , wherein the first cam pulley includes a pivot pin disposed along the second axis, and wherein the pivot pin non-rotatably supports the cam plate, and wherein the at least one cam linkage includes:
a first cam linkage having a proximal link non-rotatably extending from the pivot pin of the first cam pulley, and a distal link pivotably interconnecting the proximal link of the first cam linkage and the proximal portion of a first jaw of the pair of jaws; and
a second cam linkage having a proximal link non-rotatably extending from the pivot pin of the first cam pulley, and a distal link pivotably interconnecting the proximal link of the second cam linkage and the proximal portion of a second jaw of the pair of jaws, wherein the proximal link of the second cam linkage is radially offset from the proximal link of the first cam linkage.
11. An end effector for use and connection to a robot arm of a robotic surgical system, wherein the end effector is controlled and/or articulated by at least one cable extending from a respective motor of a control device of the robot surgical system, the end effector comprising:
a jaw assembly including:
at least one cam plate;
a pair of jaws pivotally supported on the at least one cam plate, wherein each jaw includes:
a pivot point connected to the at least one cam plate;
a proximal portion extending proximally of the pivot point thereof; and
a distal portion extending distally of the pivot point thereof; and
a cam pulley rotatably supported on the at least one cam plate, wherein the cam pulley is operatively connected to the proximal end of each of the jaws such that rotation of the cam pulley results in one of an opening and closing of the jaw assembly.
12. The end effector according to claim 11 , further comprising:
a wrist assembly supporting the jaw assembly, the wrist assembly including:
a proximal hub defining a longitudinal axis; and
a distal hub pivotally connected to the proximal hub, wherein the distal hub defines a longitudinal axis, and wherein the proximal hub and the distal hub are pivotable about a first pivot axis that is oriented transverse to the longitudinal axis of the proximal hub; and
wherein the jaw assembly is pivotally connected to the distal hub of the wrist assembly, wherein the at least one cam plate is pivotable about a second pivot axis that is oriented transverse to the longitudinal axis of the distal hub of the wrist assembly.
13. The end effector according to claim 12 , wherein the cam pulley is pivotally supported, on the at least one cam plate, at the second pivot axis, the cam pulley defining at least one arcuate slot formed in a surface thereof, each arcuate slot including:
a first end spaced a first radial distance from a pivot axis of the cam pulley; and
a second end spaced a second radial distance from the pivot axis of the cam pulley, and
wherein the proximal portion of each jaw is in sliding and camming connection with a respective arcuate slot of the cam pulley.
14. The end effector according to claim 12 , wherein at least one cable is connected to the cam pulley at a location off-set a radial distance from the second pivot axis.
15. The end effector according to claim 14 , wherein at least one cable is connected to the at least one cam plate at a location off-set a radial distance from the second pivot axis.
16. The end effector according to claim 12 , wherein the cam pulley of the jaw assembly includes at least one cam plate, and wherein the jaw assembly further includes at least one cam linkage pivotally connected to a respective one cam plate and a respective proximal portion of a respective jaw of the jaw assembly.
17. The end effector according to claim 16 , wherein the cam pulley includes a pivot pin disposed along the second pivot axis, and wherein the pivot pin non-rotatably supports the cam plate, and wherein the at least one cam linkage includes:
a first cam linkage having a proximal link non-rotatably extending from the pivot pin of the cam pulley, and a distal link pivotably interconnecting the proximal link of the first cam linkage and the proximal portion of a first jaw of the jaw assembly; and
a second cam linkage having a proximal link non-rotatably extending from the pivot pin of the cam pulley, and a distal link pivotably interconnecting the proximal link of the second cam linkage and the proximal portion of a second jaw of the jaw assembly, wherein the proximal link of the second cam linkage is radially offset from the proximal link of the first cam linkage.
18. The end effector according to claim 11 , wherein the cam pulley of the jaw assembly includes at least one cam plate, and wherein the jaw assembly further includes a cam link pivotally connected to a respective one cam plate and a respective one support plate.
19. The end effector according to claim 18 , wherein the respective one cam plate defines a longitudinally extending slot formed therein, and wherein the cam link includes a first end pivotally connected to the respective one cam plate, and a second end pivotably and slidably connected to the longitudinally extending slot formed in the respective one cam plate.
20. The end effector according to claim 19 , wherein the proximal end of each jaw defines an angled slot formed therein, wherein the angled slots diverge from one another in a proximal direction, and wherein the jaw assembly includes a cam pin slidably disposed within an axially extending slot of each cam plate and the angled slot of each jaw.