Medical device adapter with wrist mechanism
A surgical device adapter for coupling an end effector to a surgical device includes: a proximal joint housing that is couplable to the surgical device; a middle joint housing that is pivotally coupled to the distal end of the proximal joint housing; and a distal joint housing that is pivotally coupled to the distal end of the middle joint housing. The middle joint housing is pivotable about a first pivot axis defined between the proximal joint housing and the middle joint housing. The distal joint housing is couplable to the end effector and pivotable about a second pivot axis defined between the middle joint housing and the distal joint housing, the second pivot axis being transverse to the first pivot axis.
1. A surgical device having a drive mechanism comprising:
a proximal transmission shaft defining a first longitudinal axis, the proximal transmission shaft including a connector sleeve disposed at a proximal end thereof and a first gear disposed at a distal end thereof, wherein the connector sleeve is couplable to the surgical device;
a middle transmission shaft including a second gear disposed at a proximal end thereof and meshingly engaged with the first gear and a third gear disposed at a distal end thereof, the middle transmission shaft defining a second longitudinal axis, the middle transmission shaft movable relative to the proximal transmission shaft from a first position where the first and second longitudinal axes are in a parallel orientation to a second position where the first and second longitudinal axes are in a non-parallel orientation; and
a distal transmission shaft including a fourth gear disposed at a proximal end thereof and meshingly engaged with the third gear, the distal transmission shaft defining a third longitudinal axis, the distal transmission shaft movable relative to the proximal and middle transmission shafts,
wherein the first, second, third and fourth gears define an elliptical shape along each respective axis of the first, second, and third longitudinal axes, the first, second, third, and fourth gears maintaining rotatable engagement during a respective movement of the proximal, middle, and distal transmission shafts.
2. The surgical device according to claim 1 , wherein the proximal, middle and distal transmission shafts are pivotable with respect to one another.
3. The surgical device according to claim 2 , wherein the distal transmission shaft has a keyed distal end configured to engage an end effector of the surgical device.
4. The surgical device according to claim 1 , wherein the proximal transmission shaft is disposed in a proximal joint housing, the middle transmission shaft is disposed in a middle joint housing, and the distal transmission shaft is disposed in a distal joint housing, the proximal, middle, and distal joint housings being pivotally connected.