MICROSURGICAL TOOL FOR ROBOTIC APPLICATIONS

摘要

The disclosed technology includes improved microsurgical tools providing multiple degrees of freedom at the wrist level, including roll, pitch, and grasp DOFs, a tight articulation bending radius, low radial offset, and improved stiffness. Some implementations include an end effector platform moveable along a fixed trajectory on a fictional axle so as not to interfere with a central-axis aligned working channel; a crossed-arm mechanical linkage for articulating an end-effector platform throughout a pitch DOF with an amplified pitch angle; and a partial pulley system to articulate the arms while maximizing pulley radius to shaft diameter, and permitting a constant transmission efficiency to the arms throughout the range of articulation. In some implementations, a tool shaft outer diameter may be smaller than 3 mm; a pitch DOF range may be ±90°, a roll DOF range may be ±180°, and a grasp DOF range may be 30°.

主权项

1. A microsurgical tool, comprising:
an elongated body having a centerline and outer diameter at a distal end; a platform moveably coupled to the distal end of the elongated body; and an end effector operatively coupled to the platform and being articulable in at least three degrees of freedom, including a pitch degree of freedom up to a pitch angle of at least ±90°; wherein a ratio of the outer diameter of the elongated body to a radial offset of the end effector to the centerline of the elongated body is at least 0.65.