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;
an end effector coupled to a distal end portion of the instrument shaft; and
a mechanical structure coupled to a proximal end portion of the instrument shaft, the mechanical structure comprising:
a first driving element configured to be driven along a first displacement,
a second driving element coupled to the end effector, the second drive element configured to be driven along a second displacement different than the first displacement, and
a motion-transform assembly rotatably coupled between the first driving element and the second driving element, the motion-transform assembly being configured to transform the first displacement of the first driving element into the second displacement of the second driving element.
2. The medical instrument of claim 1 , wherein:
the motion-transform assembly establishes a proportional relationship between the first displacement and the second displacement such that the first displacement has a magnitude that is different than a magnitude of the second displacement.
3. The medical instrument of claim 1 , wherein:
the first driving element is operably coupled to the motion-transform assembly at a first radial distance from an axis of rotation of the motion-transform assembly;
the second driving element is operably coupled to the motion-transform assembly at a second radial distance from the axis of rotation of the motion-transform assembly; and
the second radial distance is less than the first radial distance.
4. The medical instrument of claim 1 , wherein the mechanical structure further comprises:
an engagement feature positioned to receive a motive force from an external source; and
an input member coupled between the engagement feature and the first driving element, the input member being positioned to transfer the motive force from the engagement feature to the first driving element to develop the first displacement of the first driving element.
5. The medical instrument of claim 4 , wherein:
the external source is a drive motor; and
the engagement feature is shaped to be operably coupled to the drive motor.
6. The medical instrument of claim 4 , wherein:
the external source is an operator of the medical instrument; and
the medical instrument further comprises a manual manipulator configured to be operably coupled to the engagement feature in a first configuration and operably decoupled from the engagement feature in a second configuration, the manual manipulator configured to be operated manually to actuate the end effector.
7. The medical instrument of claim 6 , further comprising:
a slip clutch operably coupled between the manual manipulator and the engagement feature,
the manual manipulator being operatively coupled to the engagement feature via the slip clutch.
8. The medical instrument of claim 1 , wherein:
the motion-transform assembly includes a face gear and a shaft;
the shaft defines a rotation axis of the motion-transform assembly;
the face gear includes a first portion that extends radially outward from the shaft in a first direction;
the first portion defines a toothed portion;
the first driving element is movably coupled to the first portion of the face gear via the toothed portion;
the face gear includes a second portion that extends radially outward from the shaft in a second direction; and
the second driving element is movably coupled to the second portion of the face gear.
9. The medical instrument of claim 8 , wherein:
the first portion of the face gear is configured to move along a first arc length in response to a motive force;
the second portion of the face gear is configured to move along a second arc length that is less than the first arc length in response to the movement of the first portion; and
the second arc length is proportional but not equal to the first arc length.
10. The medical instrument of claim 1 , wherein:
the motion-transform assembly is a gearing mechanism; and
the second displacement is a linear displacement of the second driving element in response to a rotation of the gearing mechanism.
11. The medical instrument of claim 1 , wherein:
the end effector includes at least one movable jaw; and
a position of the movable jaw is determined by the second displacement of the second driving element.
12. A surgical system comprising:
a manipulator arm; and
a medical instrument operably coupled to the manipulator arm, the medical instrument comprising:
a first driving element configured to be driven along a first displacement,
a second driving element coupled to an end effector of the medical instrument, the second drive element configured to be driven along a second displacement different than the first displacement, and
a motion-transform assembly rotatably coupled between the first driving element and the second driving element, the motion-transform assembly being configured to transform the first displacement of the first driving element into the second displacement of the second driving element.
13. The surgical system of claim 12 , wherein:
the motion-transform assembly establishes a proportional relationship between the first displacement and the second displacement such that the first displacement has a magnitude that is different than a magnitude of the second displacement.
14. The surgical system of claim 12 , wherein:
the first driving element is operably coupled to the motion-transform assembly at a first radial distance from an axis of rotation of the motion-transform assembly;
the second driving element is operably coupled to the motion-transform assembly at a second radial distance from the axis of rotation of the motion-transform assembly; and
the second radial distance is less than the first radial distance.
15. The surgical system of claim 12 , wherein the medical instrument further comprises:
an engagement feature positioned to receive a motive force from an external source; and
an input member coupled between the engagement feature and the first driving element, the input member being positioned to transfer the motive force from the engagement feature to the first driving element to develop the first displacement of the first driving element.
16. The surgical system of claim 15 , wherein:
the manipulator arm includes at least one drive motor;
the external source is the drive motor; and
the engagement feature is shaped to be operably coupled to the drive motor.
17. The surgical system of claim 15 , wherein:
the external source is an operator of the surgical system; and
the medical instrument further comprises a manual manipulator configured to be operably coupled to the engagement feature in a first configuration and operably decoupled from the engagement feature in a second configuration, the manual manipulator configured to be operated manually to actuate the end effector.
18. The surgical system of claim 12 , wherein:
the motion-transform assembly includes a face gear and a shaft;
the shaft defines a rotation axis of the motion-transform assembly;
the face gear includes a first portion that extends radially outward from the shaft in a first direction;
the first portion defines a toothed portion;
the first driving element is movably coupled to the first portion of the face gear via the toothed portion;
the face gear includes a second portion that extends radially outward from the shaft in a second direction; and
the second driving element is movably coupled to the second portion of the face gear.
19. The surgical system of claim 18 , wherein:
the first portion of the face gear is configured to move along a first arc length in response to a motive force;
the second portion of the face gear is configured to move along a second arc length that is less than the first arc length in response to the movement of the first portion; and
the second arc length is proportional but not equal to the first arc length.
20. The surgical system of claim 12 , wherein:
the motion-transform assembly is a gearing mechanism; and
the second displacement is a linear displacement of the second driving element in response to a rotation of the gearing mechanism.