Rotary input for lever actuation
A medical device includes a lever with an applied force position, a load position, and a fulcrum position. A first cable extends from the applied force position of the lever to a first capstan, the first cable wrapping around the first capstan. A second cable extends from the applied force position of the lever to a second capstan, the second cable wrapping around the second capstan. A rod couples the load position of the lever and a surgical end effector. The first and second capstans may be fixed to an axle. The axle may receive a rotational input from a rotary actuator. A hand wheel may be coupled to the axle. There may be a spring between a support structure and the lever to bias the lever to rotate about the fulcrum position of the lever.
1. A medical device, comprising:
an instrument shaft comprising a proximal end portion and a distal end portion;
an end effector operably coupled to the distal end portion of the instrument shaft; and
a mechanical structure operably coupled to the instrument shaft, the mechanical structure comprising:
an input connection,
a drive member operably coupled to the input connection,
a first spool operably coupled to the drive member,
a second spool operably coupled to the drive member,
an idler pulley, and
a cable wrapped at least partially about each of the first spool, the second spool, and the idler pulley;
wherein the input connection is configured to be driven by an actuator of a control mechanism;
wherein the drive member rotates about a first rotation axis;
wherein the first spool and the second spool each rotate about a second rotation axis parallel to the first rotation axis;
wherein the idler pulley rotates about a third rotation axis nonparallel to the second rotation axis;
wherein rotation of the input connection causes the drive member to rotate about the first rotation axis and causes the first spool and the second spool each to rotate about the second rotation axis;
wherein rotation of the drive member about the first rotation axis causes a winding of a portion of the cable about the first spool; and
wherein winding of the portion of the cable causes actuation of the end effector.
2. The medical device of claim 1 , wherein:
the second rotation axis is coaxial with the first rotation axis.
3. The medical device of claim 1 , wherein:
the third rotation axis is perpendicular to the first rotation axis.
4. The medical device of claim 1 , wherein:
rotation of the drive member about the first rotation axis causes an unwinding of a portion of the cable about the second spool.
5. The medical device of claim 1 , wherein:
rotation of the drive member about the first rotation axis is in a first direction;
the drive member is rotatable about the first rotation axis in a second direction opposite the first direction; and
rotation of the drive member about the first rotation axis in the second direction causes an unwinding of the portion of the cable about the first spool.
6. The medical device of claim 5 , wherein:
the rotation of the drive member about the first rotation axis in the second direction causes a winding of a portion of the cable about the second spool.
7. The medical device of claim 1 , wherein:
the mechanical structure is embodied in a surgical instrument coupled to the control mechanism.
8. A medical device, comprising:
a mechanical structure, an instrument shaft, and an end effector;
wherein the mechanical structure comprises
an actuator input connection,
a drive member operably coupled to the actuator input connection,
a first spool and a second spool each operably coupled to the drive member,
an idler pulley, and
a cable wrapped at least partially about each of the first spool, the second spool, and the idler pulley;
wherein the instrument shaft is operably coupled to the mechanical structure and comprises a distal end portion; and
wherein the end effector is operably coupled to the distal end portion of the instrument shaft and to the cable;
wherein the actuator input connection is rotatable in response to an actuator input;
wherein rotation of the actuator input connection causes the drive member to rotate about a first rotation axis;
wherein rotation of the drive member about the first rotation axis causes the first spool and the second spool to each rotate about a second rotation axis parallel to the first rotation axis and causes the idler pulley to rotate about a third rotation axis nonparallel to the second rotation axis;
wherein rotation of the drive member about the first rotation axis causes winding of a portion of the cable about the first spool; and
wherein winding of the portion of the cable causes actuation of the end effector.
9. The medical device of claim 8 , wherein:
the second rotation axis is coaxial with the first rotation axis.
10. The medical device of claim 8 , wherein:
the third rotation axis is perpendicular to the first rotation axis.
11. The medical device of claim 8 , wherein:
rotation of the drive member about the first rotation axis causes an unwinding of a portion of the cable about the second spool.
12. The medical device of claim 8 , wherein:
rotation of the drive member about the first rotation axis is in a first direction;
the drive member is rotatable about the first rotation axis in a second direction, opposite the first direction; and
the rotation of the drive member about the first rotation axis in the second direction causes an unwinding of the portion of the cable about the first spool.
13. The medical device of claim 12 , wherein:
the rotation of the drive member about the first rotation axis in the second direction causes a winding of a portion of the cable about the second spool.
14. The medical device of claim 8 , wherein:
the medical device comprises a control mechanism;
the control mechanism comprises an actuator; and
the mechanical structure is embodied in a surgical instrument coupled to the control mechanism.