Pulley arrangement for articulating a surgical instrument
A robotic surgical instrument comprising a shaft and end effector element connected by an articulation. The articulation comprises a first joint driveable by a first pair of driving elements. The first joint permits the end effector element to rotate about a first axis transverse to a longitudinal axis of the shaft, the rotation of the end effector element about the first axis bounded by an extreme rotation angle relative to the longitudinal axis. A second joint is driveable by a second pair of driving elements. A pulley arrangement constrains the second pair of driving elements, and comprises a first set of pulleys rotatable about the first axis, and a second set of pulleys located relative to the first set of pulleys such that at the extreme rotation angle the second pair of driving elements is retained in contact with both the first and second sets of pulleys.
1. A robotic surgical instrument comprising:
a shaft extending between an instrument interface at one end and an articulation at the other end;
the articulation connecting an end effector element to the shaft, the articulation comprising:
a first joint driveable by a first pair of driving elements, the first joint permitting the end effector element to rotate about a first axis transverse to a longitudinal axis of the shaft, the rotation of the end effector element about the first axis bounded by an extreme rotation angle relative to the longitudinal axis, and
a second joint driveable by a second pair of driving elements; and
a pulley arrangement around which the second pair of driving elements is constrained to move, the pulley arrangement comprising:
a first set of pulleys rotatable about the first axis, and
a second set of pulleys, wherein each pulley of the second set of pulleys is rotatable about an offset axis offset from the first axis in a direction transverse to the longitudinal direction of the shaft, and the second set of pulleys is located between the first set of pulleys and the instrument interface end of the shaft and relative to the first set of pulleys such that at the extreme rotation angle the second pair of driving elements is retained in contact with both the first and second sets of pulleys.
2. A robotic surgical instrument as claimed in claim 1 , wherein the second set of pulleys is located such that the second pair of driving elements is retained in contact with both the first and second sets of pulleys at any rotation angle of the end effector element relative to the longitudinal axis.
3. A robotic surgical instrument as claimed in claim 1 , wherein the second joint permits the end effector element to rotate about a second axis transverse to the first axis.
4. A robotic surgical instrument as claimed in claim 1 , wherein each pulley of the second set of pulleys is rotatable about an axis parallel to the first axis.
5. A robotic surgical instrument as claimed in claim 4 , wherein the second set of pulleys comprises a first pulley rotatable about a third axis, and a second pulley rotatable about a fourth axis, the third axis being offset from the fourth axis.
6. A robotic surgical instrument as claimed in claim 1 , wherein a distal end of the shaft is connected to the articulation, and a proximal end of the shaft is connected to a drive mechanism configured to drive the first and second pairs of driving elements, wherein the second set of pulleys is located between the first set of pulleys and the proximal end of the shaft.
7. A robotic surgical instrument as claimed in claim 6 , wherein the second set of pulleys is located inside the shaft.
8. A robotic surgical instrument as claimed in claim 6 , wherein the articulation comprises the second set of pulleys.
9. A robotic surgical instrument as claimed in claim 1 , wherein:
the first set of pulleys comprises a first pulley and a second pulley located on opposing sides of the first joint; and
the second set of pulleys comprises a first pulley and a second pulley located on opposing sides of the first joint.
10. A robotic surgical instrument as claimed in claim 9 , wherein the second pair of driving elements is constrained to move around opposing sides of the first and second pulley of the first set of pulleys.
11. A robotic surgical instrument as claimed in claim 9 , wherein the second pair of driving elements is constrained to move around opposing sides of the first and second pulleys of the second set of pulleys.
12. A robotic surgical instrument as claimed in claim 1 , further comprising a further end effector element, wherein the articulation further comprises a third joint driveable by a third pair of driving elements, the third pair of driving elements constrained to move around the pulley arrangement, the second set of pulleys being located relative to the first set of pulleys such that at the extreme rotation angle the third pair of driving elements is retained in contact with both the first and second sets of pulleys.
13. A robotic surgical instrument as claimed in claim 12 , wherein the second pair of driving elements and the third pair of driving elements have the same length for all rotation angles of the end effector element relative to the longitudinal axis.
14. A robotic surgical instrument as claimed in claim 12 , wherein both end effector elements are opposing first and second jaws of an end effector.
15. A robotic surgical instrument as claimed in claim 12 , wherein the third joint permits the further end effector element to rotate about a second axis.
16. A robotic surgical instrument as claimed in claim 12 , wherein each pulley of the first and second sets of pulleys comprises a pair of pulley elements, the pair of pulley elements comprising an inside pulley element and an outside pulley element, the inside pulley element located between the outside pulley element and the first joint, each pulley element comprising a groove configured to seat a driving element.
17. A robotic surgical instrument as claimed in claim 16 , wherein:
the second pair of driving elements is constrained to move about the inside pulley element of the first pulley of the second set of pulleys and the outside pulley element of the second pulley of the second set of pulleys; and
the third pair of driving elements is constrained to move about the outside pulley element of the first pulley of the second set of pulleys and the inside pulley element of the second pulley of the second set of pulleys.
18. A robotic surgical instrument as claimed in claim 16 , wherein:
the second pair of driving elements is constrained to move about the inside pulley element of the first pulley of the first set of pulleys and the outside pulley element of the second pulley of the first set of pulleys; and
the third pair of driving elements is constrained to move about the outside pulley element of the first pulley of the first set of pulleys and the inside pulley element of the second pulley of the first set of pulleys.
19. A robotic surgical instrument as claimed in claim 16 , wherein for each pulley, one pulley element of the pair of pulley elements abuts the other pulley element of the pair of pulley elements.