Surgical tool for robotic surgery and robotic surgical assembly
A medical instrument for surgery includes at least one frame and at least one jointed device. The jointed device includes at least one first joint member, or first link, adapted to connect to at least one portion of the frame and at least one second joint member, or second link. The first joint member is connected by a rotational joint to the second joint member. The medical instrument includes at least a pair of tendons, adapted to move the second joint member with respect to the first joint member. Each of the first joint member and the second joint member includes a main structural body made in a single piece with one or more convex contact surfaces. Each of the convex contact surfaces is a ruled surface formed by straight line portions all parallel to each other and substantially parallel to a joint movement axis.
1 . A medical instrument comprising:
a frame; and
a jointed device comprising:
a first link;
a second link;
a rotational joint defining an axis of rotation, the rotation joint connecting said first link and said second link; and
at least one tendon for pulling said second link with respect to said first link;
wherein at least one of said first link and said second link comprises in a single piece, at least one sliding surface, on which said at least one tendon slides for pulling said second link with respect to said first link;
said sliding surface is a convex, ruled surface formed by a plurality of generator lines;
said generator lines are portions of straight generator lines and all of said generator lines are parallel to each other;
wherein mechanical properties and/or composition of one of said at least one tendon vary in different portions of the one of said at least one tendon.
2 . The medical instrument of claim 1 , wherein said straight generator lines are all parallel to said axis of rotation.
3 . The medical instrument of claim 1 , wherein said straight generator lines are all orthogonal to said axis of rotation.
4 . The medical instrument of claim 1 , wherein said straight generator lines are either all parallel to said axis of rotation or all orthogonal to said axis of rotation.
5 . A medical instrument comprising:
a frame; and
a jointed device comprising:
a first link;
a second link;
a rotational joint defining an axis of rotation, the rotation joint connecting said first link and said second link; and
at least one tendon for pulling said second link with respect to said first link;
wherein at least one of said first link and said second link comprises in a single piece, at least one sliding surface, on which said at least one tendon slides for pulling said second link with respect to said first link;
said sliding surface is a convex, ruled surface formed by a plurality of generator lines;
said generator lines are portions of straight generator lines and all of said generator lines are parallel to each other;
wherein said sliding surface is free of grooves or channels to guide said at least one tendon.
6 . The medical instrument of claim 1 , wherein a path of said tendon is locally orthogonal to said straight generator lines of said convex, ruled surface of said sliding surface for any angle defined by the rotational joint when in operative conditions.
7 . The medical instrument of claim 1 , wherein said at least one tendon comprise a pair of tendons working in opposition.
8 . The medical instrument of claim 1 , wherein said sliding surface at least partially surrounds said axis of rotation.
9 . The medical instrument of claim 1 , wherein said at least one tendon extends through a tendon termination feature of the second link and is locked to the tendon termination feature by a knot formed by the tendon.
10 . A medical instrument comprising:
a frame; and
a jointed device comprising:
a first link;
a second link;
a rotational joint defining an axis of rotation, the rotation joint connecting said first link and said second link; and
at least one tendon for pulling said second link with respect to said first link;
wherein at least one of said first link and said second link comprises in a single piece, at least one sliding surface, on which said at least one tendon slides for pulling said second link with respect to said first link;
said sliding surface is a convex, ruled surface formed by a plurality of generator lines;
said generator lines are portions of straight generator lines and all of said generator lines are parallel to each other;
wherein said at least one of said first link and said second link comprising in a single piece said at least one sliding surface is said first link, and wherein said second link comprises a winding surface onto which said at least one tendon wraps without sliding; and
wherein said at least one winding surface is a convex, ruled surface formed by a plurality of said generator lines, said generator lines are all portions of straight lines and all parallel to each other.
11 . The medical instrument of claim 10 , wherein the generator lines of said sliding surface of the first link are parallel to said generator lines of said winding surface of the second link.
12 . The medical instrument of claim 10 , wherein the generator lines of said sliding surface of the first link are orthogonal to the generator lines of said winding surface of the second link.
13 . The medical instrument of claim 1 , wherein said at least one tendon is made of polymer fibers.
14 . The medical instrument of claim 1 , wherein the frame includes a shaft and the jointed device is at a distal end of the shaft.
15 . A robotic surgery assembly comprising at least one medical instrument according to claim 1 .
16 . The robotic surgery assembly of claim 15 , wherein the at least one medical instrument is detachable from the robotic surgery assembly.