GEAR TRAIN ASSEMBLIES FOR ROBOTIC SURGICAL SYSTEMS

摘要

An end effector for use and connection to a robot arm of a robotic surgical system, wherein the end effector is controlled and/or articulated by at least one cable extending from a respective motor of a control device of the robot surgical system, is provided. The end effector includes at least one gear train that transmits forces from the at least one motor of the control device to at least one of the proximal bracket of the wrist assembly, the distal bracket of the wrist assembly and the jaw assembly. The gear train enables at least one of a pivoting of the distal hub assembly relative to the proximal hub; a rotation of the distal bracket relative to the proximal bracket; and an opening/closing of the jaw assembly.

主权项

1. An end effector connectable to a robot arm of a robotic surgical system and actuated by at least one motor of a control device of the robot surgical system, the end effector comprising:
a wrist assembly including:
a proximal hub defining a respective longitudinal axis; anda distal hub assembly defining a respective longitudinal axis, the distal hub assembly includes:
a proximal bracket pivotally connected to the proximal hub; anda distal bracket pivotally connected to the proximal bracket, the distal bracket being rotatable relative to the proximal bracket along the longitudinal axis of the distal hub assembly; and a jaw assembly including a pair of jaws pivotally supported on the distal bracket, each jaw including:
a proximal portion pivotally connected to the distal bracket; anda distal portion extending distally of the proximal portion thereof; and at least one gear train supported in the wrist assembly, wherein the at last one gear train transmits forces from the at least one motor of the control device to at least one of the proximal bracket of the wrist assembly, the distal bracket of the wrist assembly and the jaw assembly; the gear train enabling at least one of:
a pivoting of the distal hub assembly relative to the proximal hub;a rotation of the distal bracket relative to the proximal bracket; andan opening or closing of the jaw assembly.