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1. (WO2017188851) END EFFECTOR WITH AN ARTICULATED JOINT AND ACTUATOR OF AN ENDOSCOPIC SURGICAL DEVICE

Pub. No.:    WO/2017/188851    International Application No.:    PCT/RU2016/050082
Publication Date: Fri Nov 03 00:59:59 CET 2017 International Filing Date: Fri Dec 09 00:59:59 CET 2016
IPC: A61B 17/94
A61B 17/29
Applicants: OBSCHESTVO S OGRANICHENNOI OTVETSTVENNOSTYU "MROBOTIKS"
ОБЩЕСТВО С ОГРАНИЧЕННОЙ ОТВЕТСТВЕННОСТЬЮ «МРОБОТИКС»
Inventors: GINSBURG, Vladimir Srulievich
ГИНСБУРГ, Владимир Срульевич
RYZHOV, Sergey Vladimirovich
РЫЖОВ, Сергей Владимирович
PUSHKAR, Dmitry Yurievich
ПУШКАРЬ, Дмитрий Юрьевич
RUSLANOV, Alexandr Lvovich
РУСЛАНОВ, Александр Львович
ESKIN, Boris Nikolaevich
ЭСКИН, Борис Николаевич
Title: END EFFECTOR WITH AN ARTICULATED JOINT AND ACTUATOR OF AN ENDOSCOPIC SURGICAL DEVICE
Abstract:
The group of inventions relates to medical technology, and more particularly to an endoscopic surgical device capable of manipulating a surgical instrument in a robotic surgical system, and to an actuator of said surgical device. An endoscopic surgical device comprises: an end effector consisting of a housing having a pusher disposed therein which is attached to a surgical instrument; a mechanism for controlling the end effector, having a flexible shaft, an articulated section consisting of links, and cables; and an actuator having a cable control mechanism and a flexible shaft actuator assembly. The cable control mechanism transmits a pulling force to at least one cable, and, via an actuator shaft, the flexible shaft actuator assembly transmits rotational motion to the flexible shaft and/or transmits reciprocating motion to the flexible shaft and to the pusher. The flexible shaft actuator assembly has independent mechanisms, powered by electric motors, for enabling the opening and closing of the working parts of a surgical instrument of the end effector and for enabling the rotational movement of the end effector together with the surgical instrument, respectively. The flexible shaft actuator assembly further has a device that provides for the individual or simultaneous functioning of both mechanisms. The cable control mechanism has cable tensioning assemblies for inclining the end effector in two mutually perpendicular planes, said assemblies being powered by electric motors. A first assembly of the cable control mechanism comprises a roller drum, in which the cables run counter to one another, and guide rollers, the roller drum and the guide rollers being connected by the cables. A second assembly of the cable control mechanism comprises, guide rollers, a distributing roller and a roller drum, which are connected in succession by the cables. Use of the group of inventions enables more accurate positioning of an end effector in a restricted surgical site.