Symmetrically arranged surgical instrument articulation
A robotic surgical instrument including: a shaft; an end effector including a first end effector element and a second end effector element; an articulation connecting the end effector to the shaft, the articulation including: a first joint driveable by a first pair of driving elements, the first joint permitting the end effector to rotate about a first axis transverse to a longitudinal axis of the shaft; a second joint driveable by a second pair of driving elements, the second joint permitting the first end effector element to rotate about a second axis transverse to the first axis; and a third joint driveable by a third pair of driving elements, the third joint permitting the second end effector element to rotate about the second axis; the robotic surgical instrument further including a pulley arrangement around which the second and third pairs of driving elements are constrained to move, the second and third pairs of driving elements having symmetrically opposing paths around the pulley arrangement.
1. A robotic surgical instrument comprising:
a shaft;
an end effector comprising a first end effector element and a second end effector element;
an articulation connecting the end effector to the shaft, the articulation comprising:
a first joint driveable by a first pair of driving elements, the first joint permitting the end effector to rotate about a first axis transverse to a longitudinal axis of the shaft;
a second joint driveable by a second pair of driving elements, the second joint permitting the first end effector element to rotate about a second axis transverse to the first axis; and
a third joint driveable by a third pair of driving elements, the third joint permitting the second end effector element to rotate about the second axis;
the robotic surgical instrument further comprising a pulley arrangement around which the second and third pairs of driving elements are constrained to move, the second and third pairs of driving elements having symmetrically opposing paths around the pulley arrangement, the pulley arrangement comprising:
a first set of pulleys rotatable about the first axis: and
a second set of pulleys configured to redirect the second and third pairs of driving elements from the first set of pulleys into the shaft, the second set of pulleys comprising a first pulley and a second pulley located on opposing sides of the first joint in a longitudinal direction of the shaft, wherein each pulley of the second set of pulleys is rotatable about an axis parallel to the first axis and offset from the first axis.
2. The robotic surgical instrument as claimed in claim 1 , wherein in a straight configuration of the robotic surgical instrument in which the end effector is aligned with the shaft, the path of the second pair of driving elements around the pulley arrangement is rotationally symmetrical about the longitudinal axis of the shaft to the path of the third pair of driving elements around the pulley arrangement.
3. The robotic surgical instrument as claimed in claim 1 , wherein the second and third pairs of driving elements emerge from the pulley arrangement at a distal end of the shaft in a symmetrical arrangement.
4. The robotic surgical instrument as claimed in claim 1 , wherein the first pulley of the second set of pulleys is rotatable about a third axis, and the second pulley of the second set of pulleys is rotatable about a fourth axis, the third axis being offset from the fourth axis.
5. The robotic surgical instrument as claimed in claim 1 , wherein a first one of the second pair of driving elements and a second one of the third pair of driving elements are constrained to move around one side of the first pulley of the second set of pulleys, and a second one of the second pair of driving elements and a first one of the third pair of driving elements are constrained to move around an opposing side of the second pulley of the second set of pulleys, thereby causing the first one of the second pair of driving elements and the second one of the third pair of driving elements to emerge into an opposing side of the shaft to the second one of the second pair of driving elements and the first one of the third pair of driving elements.
6. The robotic surgical instrument as claimed in claim 5 , 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 articulation of the end effector, the second and third pairs of driving elements overlapping in the shaft so as to emerge at the drive mechanism with the first one of the second pair of driving elements adjacent to the second one of the second pair of driving elements, and with the first one of the third pair of driving elements adjacent to the second one of the third pair of driving elements.
7. The robotic surgical instrument as claimed in claim 6 , wherein the drive mechanism comprises a further pulley arrangement around which the second and third pairs of driving elements are constrained to move.
8. The robotic surgical instrument as claimed in claim 7 , each of the second and third pairs of driving elements extending from the pulley arrangement to the further pulley arrangement without wrapping around any intervening pulleys.
9. The robotic surgical instrument as claimed in claim 1 , wherein the second set of pulleys is located between the first set of pulleys and the proximal end of the shaft.
10. The robotic surgical instrument as claimed in claim 1 , wherein the second set of pulleys is located inside the shaft.
11. The robotic surgical instrument as claimed in claim 1 , wherein the articulation comprises the second set of pulleys.
12. The 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 in a longitudinal direction of the shaft.
13. The robotic surgical instrument as claimed in claim 12 , wherein the first one of the second pair of driving elements and the second one of the third pair of driving elements are constrained to move around one side of the first pulley of the first set of pulleys, and the second one of the second pair of driving elements and the first one of the third pair of driving elements are constrained to move around an opposing side of the second pulley of the first set of pulleys.
14. The robotic surgical instrument as claimed in claim 13 , 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 longitudinal axis of the shaft, each pulley element comprising a groove configured to seat a driving element.
15. The robotic surgical instrument as claimed in claim 14 , 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.
16. The robotic surgical instrument as claimed in claim 14 , 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.
17. The robotic surgical instrument as claimed in claim 14 , wherein for each pulley, one pulley element of the pair of pulley elements abuts the other pulley element of the pair of pulley elements.
18. The robotic surgical instrument as claimed in claim 1 , the pulley arrangement further comprising a pair of redirecting pulleys between the first set of pulleys and the second joint, the pair of redirecting pulleys comprising:
a first redirecting pulley rotatable about a first redirecting pulley axis, the second pair of driving elements being constrained to move around the first redirecting pulley, the first redirecting pulley axis at an angle to the first axis so as to cause the first redirecting pulley to redirect a first one of the second pair of driving elements from a take-off point of a first pulley of the first set of pulleys to a pick-up point of the second joint; and
a second redirecting pulley rotatable about a second redirecting pulley axis, the third pair of driving elements being constrained to move around the second redirecting pulley, the second redirecting pulley axis at an angle to the first axis so as to cause the second redirecting pulley to redirect a first one of the third pair of driving elements from a take-off point of a second pulley of the first set of pulleys to a pick-up point of the third joint.
19. The robotic surgical instrument as claimed in claim 1 , 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 of the shaft.
20. The robotic surgical instrument as claimed in claim 1 , wherein in a straight configuration of the robotic surgical instrument, the second axis is perpendicular to a central plane of the drive mechanism.