Geared grip actuation for medical instruments
An actuation mechanism for a medical instrument includes a pinion and a face gear that move a push-pull element. The pinion has a mounting that permits rotation of the pinion by an external control system such as a robot. The face gear meshes with the pinion. The push-pull element may have a proximal end coupled to the face gear and a distal end coupled to a tool at a distal end of an instrument shaft. A manipulator coupled for manual rotation of the actuation mechanism may include a slip clutch to prevent manual application of excessive force to the actuation mechanism.
1. A medical instrument, comprising:
an instrument shaft;
a mechanical structure coupled to the instrument shaft, the mechanical structure comprising:
an engagement structure configured to be coupled to an actuator of an instrument control mechanism,
an input member operably coupled to the engagement structure,
a transfer member rotationally coupled to the input member,
a manual manipulator configured to be operably coupled to the transfer member in a first configuration and operably decoupled from the transfer member in a second configuration, and
a drive element operably coupled to the input member via the transfer member;
wherein the engagement structure is configured to be driven by the actuator of the instrument control mechanism;
wherein the input member is configured to be actuated by one of the actuator and the manual manipulator to cause the transfer member to rotate; and
wherein rotation of the transfer member causes movement of the drive element.
2. The medical instrument of claim 1 , wherein the drive element is one of a rod, a wire, or a cable.
3. The medical instrument of claim 1 , wherein the transfer member is a rotating disc.
4. A medical instrument, comprising:
an instrument shaft;
a tool coupled to the instrument shaft;
a mechanical structure coupled to the instrument shaft, the mechanical structure comprising:
an engagement structure configured to be coupled to an actuator of an instrument control mechanism,
an input member operably coupled to the engagement structure,
a manual manipulator operatively coupled to the input member via a slip clutch, and
wherein rotation of at least one of the actuator or the manual manipulator causes the input member to rotate; and
wherein rotation of the input member causes movement of the tool.
5. The medical instrument of claim 4 , wherein the slip clutch comprises:
a plunger; and
a spring system that pushes the plunger into a notch defined in the input member.
6. The medical instrument of claim 5 , wherein:
the manual manipulator comprises a knob; and
the spring system comprises a flexure formed in the knob and positioned to push the plunger into the notch.
7. The medical instrument of claim 2 , wherein the drive element is routed from the mechanical structure into the instrument shaft.
8. The medical instrument of claim 1 , wherein rotation of the input member causes rotation of the transfer member to cause movement of the drive element.
9. The medical instrument of claim 8 , wherein:
the transfer member is configured to rotate about a rotation axis; and
the drive element is coupled to the transfer member via a connector at a connection radius from the rotation axis.
10. The medical instrument of claim 1 , wherein the manual manipulator may be actuated when the engagement structure is coupled to the actuator of the instrument control mechanism.
11. The medical instrument of claim 1 , wherein the manual manipulator may be actuated when the engagement structure is decoupled from the actuator of the instrument control mechanism.
12. The medical instrument of claim 10 , wherein the manual manipulator is any one of a knob, a lever, or a handle.
13. The medical instrument of claim 1 , wherein the mechanical structure further comprises a clutch mechanism between the manual manipulator and the input member.
14. The medical instrument of claim 13 , wherein the clutch mechanism is a slip clutch to limit an amount of torque transferred from the manual manipulator to the input member.
15. A medical instrument, comprising:
an instrument shaft;
a mechanical structure coupled to the instrument shaft, the mechanical structure comprising:
an engagement structure configured to be coupled to an actuator of an instrument control mechanism,
an input member operably coupled to the engagement structure,
a transfer member rotationally coupled to the input member,
a manual manipulator configured to be operably coupled to the transfer member, and
a clutch between the manual manipulator and the transfer member, the clutch configured to limit transfer of a torque between the manual manipulator and the transfer member, and
a drive element operably coupled to the input member via the transfer member;
wherein the input member is configured to be actuated by one of the actuator of the instrument control mechanism and the manual manipulator to cause the transfer member to rotate; and
wherein rotation of the transfer member causes movement of the drive element.
16. The medical instrument of claim 15 , wherein:
the transfer member is configured to rotate about a rotation axis; and
the drive element is coupled to the transfer member via a connector at a connection radius from the rotation axis.
17. The medical instrument of claim 15 , wherein the drive element is one of a rod, a wire, or a cable.
18. The medical instrument of claim 17 , wherein the drive element is routed from the mechanical structure into the instrument shaft.
19. The medical instrument of claim 15 , wherein the manual manipulator may be actuated when the engagement structure is coupled to the actuator of the instrument control mechanism.
20. The medical instrument of claim 15 , wherein the manual manipulator may be actuated when the engagement structure is decoupled from the actuator of the instrument control mechanism.