MECHANICAL WRIST JOINTS WITH ENHANCED RANGE OF MOTION, AND RELATED DEVICES AND METHODS

摘要

A wrist joint, such as for a surgical instrument, may include a first disc, a second disc adjacent the first disc, and a drive tendon that extends through the first disc and the second disc. The first disc and the second disc may include respective opposing joint features that intermesh with one another. The first disc and the second disc may further include opposing load bearing surfaces separate from the joint features. The drive tendon may exert a force on at least one of the first and second discs to cause relative rotation between the first and second discs. The first and second discs may have a maximum rotational range of motion greater than about +/−45 degrees relative to each other.

主权项

1. A surgical instrument comprising a wrist joint, the wrist joint comprising:
a first disc; a second disc adjacent the first disc; and a drive tendon that extends through the first disc and the second disc, wherein the first disc and the second disc comprise opposing joint features that intermesh with one another; wherein the first disc and the second disc comprise opposing load bearing surfaces separate from the joint features; wherein the drive tendon is configured to exert a force on at least one of the first and second discs to cause relative rotation between the first and second discs; and wherein the relative rotation between the first and second discs has a maximum rotational range of motion greater than about ±45 degrees.