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 surgical instrument, comprising:
an instrument shaft and a mechanical structure, the instrument shaft comprising a proximal end portion and a distal end portion; and
the mechanical structure operably coupled to the instrument shaft, the mechanical structure comprising:
an input connection operatively couplable to an actuator of a teleoperated control mechanism,
a drive member comprising an elongate member having a first end and an opposite second end, the input connection coupled to the first end of the drive member,
a spool coupled to the drive member,
a manual actuator operatively coupled to the second end of the drive member and configured to be manually actuated by a user of the surgical instrument, and
a cable wrapped at least partially about the spool;
wherein the input connection is configured to be driven by the actuator of the teleoperated control mechanism;
wherein the drive member is configured to be actuated by one of the actuator of the teleoperated control mechanism or the manual actuator to cause the drive member to rotate;
wherein rotation of the drive member causes a winding of a portion of the cable about the spool; and
wherein winding of the portion of the cable causes movement of the instrument shaft.
2 . The surgical instrument of claim 1 , wherein:
movement of the input connection causes rotation of the spool to cause articulation of the instrument shaft without acting through the manual actuator.
3 . The surgical instrument of claim 1 , wherein:
the input connection is on one end portion of the drive member,
the manual actuator is on an opposite end portion of drive member, and
the spool is between the input connection and the manual actuator.
4 . The surgical instrument of claim 1 , wherein:
actuation of the drive member in a first rotational direction causes movement of the instrument shaft in a first linear direction, and actuation of the drive member in an opposite second rotational direction causes movement of the instrument shaft in a second linear direction, opposite the first linear direction.
5 . The surgical instrument of claim 1 , wherein the spool is a first spool, the cable is a first cable, and wherein the surgical instrument further comprises:
a second spool coupled to the drive member; and
a second cable wrapped at least partially about the second spool,
wherein rotation of the drive member causes a winding of a portion of the second cable about the second spool, and winding of the portion of the second cable about the second spool causes movement of the instrument shaft.
6 . The surgical instrument of claim 1 , wherein:
rotation of the drive member about a first rotation axis causes the spool to rotate about a second rotation axis, the second rotation axis being parallel to the first rotation axis.
7 . The surgical instrument of claim 6 , wherein:
the second rotation axis is coaxial with the first rotation axis.
8 . The surgical instrument of claim 6 , further comprising:
an idler pulley operatively coupled to the drive member, wherein the cable is wrapped about the idler pulley, and wherein the idler pulley rotates about a third rotation axis nonparallel to the first rotation axis.
9 . The surgical instrument of claim 8 , wherein:
the third rotation axis is perpendicular to the first rotation axis.
10 . A surgical instrument, comprising:
an instrument shaft and a mechanical structure, the instrument shaft comprising a proximal end portion and a distal end portion; and
the mechanical structure operably coupled to the instrument shaft, the mechanical structure comprising:
a drive member comprising an elongate member having a first end and an opposite second end,
an input connection operatively coupled to the first end of the drive member and operatively couplable to an actuator of a teleoperated control mechanism,
a manual actuator operatively coupled to the second end of the drive member and configured to be manually actuated by a user of the surgical instrument,
a first spool and a second spool each coupled to the drive member between the input connection and the manual actuator,
a first cable wrapped at least partially about the first spool, and
a second cable wrapped at least partially about the second spool;
wherein the input connection is configured to be driven by the actuator of the teleoperated control mechanism;
wherein the drive member is configured to be actuated by one of the actuator of the teleoperated control mechanism or the manual actuator to cause the drive member to rotate;
wherein rotation of the drive member causes a winding of a portion of the first cable about the first spool and a winding of a portion of the second cable about the second spool; and
wherein winding of the portion of the first cable causes actuation of the instrument shaft in a first direction, and winding of the portion of the second cable causes actuation of the instrument shaft in a second direction opposite the first direction.
11 . The surgical instrument of claim 10 , wherein:
movement of the input connection causes rotation of the first spool and rotation of the second spool to cause articulation of the instrument shaft without acting through the manual actuator.
12 . The surgical instrument of claim 10 , wherein:
rotation of the drive member in a first rotational direction causes movement of the instrument shaft in a first linear direction, and rotation of the drive member in an opposite second direction causes movement of the instrument shaft in a second linear direction, opposite the first linear direction.
13 . The surgical instrument of claim 10 , wherein:
rotation of the drive member about a first rotation axis causes the first spool and the second spool to each rotate about a second rotation axis, the second rotation axis being parallel to the first rotation axis.
14 . The surgical instrument of claim 13 , wherein:
the second rotation axis is coaxial with the first rotation axis.
15 . The surgical instrument of claim 13 , further comprising:
an idler pulley operatively coupled to the drive member, wherein the first cable and the second cable are each coupled to the idler pulley, and wherein the idler pulley rotates about a third rotation axis nonparallel to the first rotation axis.
16 . The surgical instrument of claim 15 , wherein:
the third rotation axis is perpendicular to the first rotation axis.