USOO7691098B2
`
`(12) Ulllted States Patent
`(10) Patent N0.:
`US 7,691,098 B2
`
`Wallace et al.
`(45) Date of Patent:
`Apr. 6, 2010
`
`(54) PLATFORM LINK WRIST MECHANISM
`
`(58) Field of Classification Search ..................... 606/1,
`606/39, 51, 53, 120, 151, 190, 205, 210,
`
`(75)
`
`Inventors: Daniel T. Wallace, Redwood City, CA
`(US); S. Christopher Anderson,
`Northamptom, MA (US); Scott Manzo,
`Sh 11
`CT US
`e on’
`(
`)
`
`(56)
`
`606/2'373 623/24
`.
`.
`See application file for complete search history.
`References Cited
`
`U.S.PATENT DOCUMENTS
`
`(73) Assigneei
`
`IntuitiVe Surgical, 1110-: SmmYVale: CA
`(US)
`
`( * ) Notice:
`
`Subjectto any disclaimer, the term ofthis
`Patent 1s oxtondod or adjusted under 35
`U.S.C. 154(b) by 755 days.
`
`4,806,068 A .1
`4,919,112 A
`4,919,382 A *
`
`2/1989 Kohli et a1,
`4/1990 Siegmund
`4/1990 Farinan ................... 248/1781
`
`, 318/5682
`$053,687 A >:< 10,1991 Merlet ......
`1/1995 Zvenyatsky et a1.
`......... 606/206
`5,383,888 A -+-
`
`................. 414/735
`
`(21) App]. N0.: 11/436,988
`(22) Filed:
`May 18, 2006
`
`(Continued)
`
`OTHER PUBLICATIONS
`
`(65)
`
`Prior Publication Data
`
`US 2007/0156119 A1
`
`J11]. 5, 2007
`
`Vernit, Jean and Coeffet, Philippe Coiffet; “Robot Technology; vol.
`3A Teleoperation and Robotics Evolution and Development”; 1986;
`Prentice-Hall, Inc; Englewoed Cliffs, NJ.
`
`Related US. Application Data
`.
`_
`_
`_
`(63) Continuation of application No. 10/758,050, filed on
`Jan. 14. 2004, now Pat. No. 7,066,926, which is a
`continuation of application No. 10/186,176, filed on
`Jun. 28, 2002, now Pat. No. 6,699,235.
`.
`.
`.
`.
`(60) Prowsional application No. 60/301,967, filed 011 Jun.
`29, 2001, provisional application N0~ 60821701
`filed 011 001 5: 2001-
`
`(51)
`
`Int. Cl-
`(200601)
`005G 11/00
`(200601)
`G05G 9/00
`(2006.01)
`325-] 9/06
`(2006.01)
`325.] 11/00
`(2006.01)
`A613 1 7/28
`(2006.01)
`A613 19/00
`(2006.01)
`A613 1 7/00
`6116/1; 74/49().()6; 74/491101;
`(52) us. (:1.
`606/914; 606/206; 606/139; 606/130; 606/142;
`606/205
`
`Primary ExamineriHenry M Johnson, III
`Assistant Examiner
`JelI‘rey B Lipilz
`
`(57)
`
`ABSTRACT
`
`The present invention provides a robotic surgical tool for use
`in a robotic surgical system to perform a surgical operation.
`The robotic surgical tool includes a wrist mechanism dis-
`posed near the distal end of a shaft which cormects with an
`end effector, The wrist mechanism includes a distal member
`
`configured to support the end effector, and a plurality of rods
`extending generally along an axial direction within the shaft
`and movable generally along this axial direction to adjust the
`orientation of the distal member with respect to the shaft.
`Advancement or retraction of a first rod generally along the
`axial direction tips the base through a first angle. The addition
`ofa second angle allows the distal member to direct the end
`effector in essentially a compotuid angle. The robotic surgical
`tool may also include provisions for roll movement-
`
`14 Claims, 24 Drawing Sheets
`
`
`
`Ethicon Exhibit 2002.001
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`Intuitive v. Ethicon
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`Intuitive v. Ethicon
`IPR2018-01254
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`US 7,691,098 B2
`Page 2
`
`
`U.S. PATle DOCUMleS
`
`---------- 74/490-06
`12/ 997 Canfielde 511-
`5,699,695 A *
`4/ 998 BallanLyne et a1.
`5.740,699 A
`
`606/]
`8/ 998 Madhani et a],
`5,702,135 A "‘
`
`,,,,,,,,,,, 606/130
`6,331,181 31* 12/2001 Tierneyetal,
`6,394,998 B1*
`5/2002 Wallace ct al.
`................. 606/1
`
`
`7/2002 Rosheim .........
`6.418.811 B1 *
`.. 74/490.06
`7/2002 Akeel
`6,425,177 B1
`
`2/2003 Pierrot et :11,
`6,516,681 B1“
`74/490,01
`6,658,962 B1* 12/2003 Rosheim ......
`74/49005
`
`7.273.488 BZ’:<
`9/2007 Nakamuraetal.
`..
`.. 606/205
`6/2004 Nakamuraetal.
`.......... 606/205
`2004/0111113 A1*
`’1‘ cited by examiner
`
`
`
`Ethicon Exhibit 2002.002
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`Intuitive v. Ethicon
`
`lPR2018-01254
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`Ethicon Exhibit 2002.002
`Intuitive v. Ethicon
`IPR2018-01254
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`

`

`U.S. Patent
`
`Apr. 6, 2010
`
`Sheet 1 of 24
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`US 7,691,098 B2
`
`
`
`Fig. 1
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`Ethicon Exhibit 2002.003
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`U.S. Patent
`
`Apr. 6, 2010
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`Sheet 2 of 24
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`US 7,691,098 B2
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`
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`Ethicon Exhibit 2002.004
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`Intuitive v. Ethicon
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`lPR2018-01254
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`U.S. Patent
`
`Apr. 6, 2010
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`Sheet 3 of 24
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`US 7,691,098 B2
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`
`
`Fig- 3A
`
`Fig. 33
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`Ethicon Exhibit 2002.005
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`U.S. Patent
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`Apr. 6, 2010
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`Sheet 4 of 24
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`US 7,691,098 B2
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`+
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`I I I I I I | I I I I I I l I I I I I la l
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`
`Ethicon Exhibit 2002.006
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`Intuitive v. Ethicon
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`lPR2018-01254
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`U.S. Patent
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`Apr. 6, 2010
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`Sheet 5 of 24
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`US 7,691,098 B2
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`f|
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`
`Ethicon Exhibit 2002.007
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`Intuitive v. Ethicon
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`lPR2018-01254
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`U.S. Patent
`
`Apr. 6, 2010
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`Sheet 6 of 24
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`US 7,691,098 B2
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`L,
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`Intuitive v. Ethicon
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`lPR2018-01254
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`Ethicon Exhibit 2002.008
`Intuitive v. Ethicon
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`U.S. Patent
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`Apr. 6, 2010
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`Sheet 7 of 24
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`US 7,691,098 B2
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`
`
`Fig. 7
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`Ethicon Exhibit 2002.009
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`lPR2018-01254
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`Intuitive v. Ethicon
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`U.S. Patent
`
`Apr. 6, 2010
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`US 7,691,098 B2
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`Intuitive v. Ethicon
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`U.S. Patent
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`Apr. 6, 2010
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`Sheet 9 of 24
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`US 7,691,098 B2
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`28
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`Ethicon Exhibit 2002.011
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`U.S. Patent
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`Apr. 6, 2010
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`Sheet 10 of 24
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`US 7,691,098 B2
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`Ethicon Exhibit 2002.012
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`U.S. Patent
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`Apr. 6, 2010
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`Sheet 11 of 24
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`US 7,691,098 B2
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`U.S. Patent
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`Apr. 6, 2010
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`Sheet 12 of 24
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`US 7,691,098 B2
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`U.S. Patent
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`Apr. 6, 2010
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`US 7,691,098 B2
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`U.S. Patent
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`Apr. 6, 2010
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`US 7,691,098 B2
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`U.S. Patent
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`Apr. 6, 2010
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`U.S. Patent
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`Apr. 6, 2010
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`Sheet 16 of 24
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`US 7,691,098 B2
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`U.S. Patent
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`Sheet 17 of 24
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`US 7,691,098 B2
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`US 7,691,098 B2
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`Apr. 6, 2010
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`U.S. Patent
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`Apr. 6, 2010
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`US 7,691,098 B2
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`Apr. 6, 2010
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`Apr. 6, 2010
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`US. Patent
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`Apr. 6, 2010
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`U.S. Patent
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`Apr. 6, 2010
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`US 7,691,098 B2
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`

`US 7,691,098 B2
`
`1
`PLATFORM LINK WRIST MECHANISM
`
`CROSS—REFERENCES I'D RELA'I'EI)
`APPLICATIONS
`
`This application is a continuation of US. patent applica—
`tion Ser. No. 10/758,050, filed on Jan. 14, 2004, now US. Pat.
`No. 7,066,926, which is a continuation of US. patent appli-
`cation Ser. No. 10/186,176, filed on Jun. 28, 2002, now US.
`Pat. No. 6,699,235, which was based on and claimed the
`benefit of US. Provisional Patent Application No. 60/301,
`967, filed Jun. 29, 2001, and Us. Provisional Patent Appli-
`cation No. 60/327,702, filed Oct. 5, 2001, the entire disclo—
`sures of which are incorporated herein by reference.
`This application is related to the following patents and
`patent applications, the full disclosures ofwhich are incorpo—
`rated herein by reference:
`PCT International Application No. PCT/US98/19508,
`enti led “Robotic Apparatus”, filed on Sep. 18, 1998, and
`pub ished as WO99/5072I;
`L .S. patent application Ser. No. 09/418,726, entitled “Sur-
`gical Robotic Tools, Data Architecture, and Use”, filed on
`Oct. 15, 1999;
`L .S. Patent Application No. 60/111,711, entitled “Image
`Shifting for a Telerobotie System”, filed on Dec. 8, 1998;
`L .S. patent application Ser. No. 09/378,173, entitled “Ste-
`reo rnaging System for Use in Telerobotie System”, filed on
`Aug. 20, 1999;
`L .S. patent application Ser. No. 09/398,507, entitled “Mas-
`ter Having Redundant Degrees of Freedom”, filed on Sep. 17,
`1999;
`L .S. application Ser. No. 09/399,457, entitled “Coopera-
`tive Minimally Invasive Telesurgery System”, filed on Sep.
`17, 1999;
`L .S. patent application Ser. No. 09/373,678. entitled
`“Camera Referenced Control in a Minimally Invasive Surgi-
`cal Apparatus", filed on Aug. 13, 1999;
`L .S. patent application Ser. No. 09/398,958, entitled “Sur-
`gical Tools for Use in Minimally Invasive Telesurgical Appli-
`cations”, filed on Sep. 17, 1999; and
`L .S. Pat. No, 5,808,665, entitled “Endoscopic Surgical
`Instrument and Method for Use”, issued on Sep. 15, 1998.
`
`BACKGROUND OF TI IE INVENTION
`
`
`
`The present invention relates generally to surgical tools
`and, more particularly, to various wrist mechanisms in surgi-
`cal tools for performing robotic surgery.
`Robotic surgery has developed to improve and expand the
`use of minimally invasive surgical (MIS) techniques in the
`treatment of patients. Minimally invasive techniques are
`aimed at reducing the amount of extraneous tissue that is
`damaged during diagnostic or surgical procedures. thereby
`reducing patient recovery time, discomfort, and deleterious
`side effects. The average length of a hospital stay fora stan—
`dard surgery may also be shortened significantly using MIS
`techniques. Thus, an increased adoption of minimally inva-
`sive techniques could save millions of hospital days and mil-
`lions of dollars annually in hospital residency costs alone.
`Patient recovery times. patient discomfort. surgical side
`effects and time away from work may also be reduced with
`minimally invasive surgery.
`The most common form of minimally invasive surgery
`may be endoscopy. And, probably the mo st common form of
`endoscopy is laparoseopy, which is minimally invasive
`inspection and surgery inside the abdominal cavity. In stan-
`dard laparoseopie surgery, a patient’s abdomen is insuffiated
`
`I 0
`
`15
`
`30
`
`35
`
`40
`
`45
`
`mm
`
`60
`
`2
`with gas, and calmula sleeves are passed through small (ap-
`proximately 1/2 inch) incisions to provide entry ports for lap-
`aroseopie surgical
`instruments. The laparoseopie surgical
`instruments generally include a laparoseope (for viewing the
`surgical field) and working tools. The working tools are simi-
`lar to those used in conventional (open) surgery, except that
`the working end or end effector of each tool is separated from
`its handle by an extension tube. As used herein, the temi “end
`effector” means the actual working part ofthe surgical instru-
`ment and can include clamps, graspers, scissors, staplers, and
`needle holders. for example. To perform surgical procedures,
`the surgeon passes these working tools or instrLunents
`through the cannula sleeves to an internal surgical site and
`manipulates them from outside the abdomen. The surgeon
`monitors the procedure by means ofa monitor that displays an
`image ofthe surgical site taken from the laparo scope. Similar
`endoscopic techniques are employed in, e.g., arthroscopy,
`retroperitoneoscopy, pelviscopy, nephroscopy, cystoscopy,
`cistemoscopy, sinoscopy, hystero scopy, urethroscopy and the
`like.
`There are many disadvantages relating to current MIS tech-
`nology. For example, existing MIS instruments deny the sur-
`geon the flexibility of tool placement found in open surgery.
`Most current laparoseopie tools have rigid shafts, so that it
`can be diflicult to approach the worksite through the small
`incision. Additionally, the length and construction of many
`endoscopic instruments reduces the surgeon‘s ability to feel
`forces exerted by tissues and organs on the end effector ofthe
`associated tool. The lack of dexterity and sensitivity of endo-
`scopic tools is a major impediment to the expansion of mini—
`mally invasive surgery,
`Minimally invasive telesurgical robotic systems are being
`developed to increase a surgeon’s dexterity when working
`within an internal surgical site, as well as to allow a surgeon
`to operate on a patient from a remote location. In a telesurgery
`system, the surgeon is often provided with an image of the
`surgical site at a computer workstation. While Viewing a
`three-dimensional image of the surgical site on a suitable
`viewer or display, the surgeon perfonns the surgical proce-
`dures on the patient by manipulating master input or control
`devices ofthe workstation. The master controls the motion of
`a servomechanieally operated surgical instrument. During the
`surgical procedure,
`the telesurgical system can provide
`mechanical actuation and control of a variety of surgical
`instruments or tools having end effectors such as, e.g.. tissue
`graspers, needle drivers, or the like, that perfomi various
`functions for the surgeon, e.g., holding or driving a needle,
`grasping a blood vessel, or dissecting tissue, or the like, in
`response to manipulation of the master control devices.
`Manipulation and control ofthese end effectors is a critical
`aspect of robotic surgical systems, For these reasons, it is
`desirable to provide surgical tools which include mechanisms
`to provide three degrees of rotational movement of an end
`effector around three perpendicular axes to mimic the natural
`action of a surgeon’s wrist. Such mechanisms should be
`appropriately sized for use in a minimally invasive procedure
`and relatively simple in design to reduce possible points of
`failure.
`In addition,
`such mechanisms
`should provide
`adequate degree of rotation to allow the end effector to be
`manipulated in a Wide variety of positions. At least some of
`these objectives wi ll be met by the inventions described here—
`inafter.
`
`BRIEF SUMMARY OF THE INVENTION
`
`The present invention provides a robotic surgical tool for
`use in a robotic surgical system to perform a surgical opera-
`
`Ethicon Exhibit 2002.027
`
`Intuitive v. Ethicon
`
`lPR2018-01254
`
`Ethicon Exhibit 2002.027
`Intuitive v. Ethicon
`IPR2018-01254
`
`

`

`US 7,691,098 B2
`
`3
`tion. Robotic surgical systems perform surgical operations
`with tools which are robotically operated by a surgeon. Such
`systems generally include master controllers and a robotic
`arm slave cart. The robotic arm slave cart is positioned adja-
`cent to the patient’s body and moves the tools to perform the
`surgery. The tools have shafts which extend into an internal
`surgical site within the patient body via minimally invasive
`access openings. The robotic arm slave cart is connected with
`master controllers which are grasped by the surgeon and
`manipulated in space while the surgeon views the procedure
`on a stereo display. The master controllers are manual input
`devices which preferably move with six degrees of freedom,
`and which often further have an actuatable handle for actuat—
`ing the tools (for example. for closing grasping saws, apply-
`ing an electrical potential to an electrode, or the like). Robotic
`surgery systems and methods are further described in co—
`pending U.S. patent application Ser. No, 08/975,617, filed
`Nov. 21, 1997, the full disclosure of which is incorporated
`herein by reference.
`As described, robotic surgical tools comprise an elongated
`shaft having a surgical end effector disposed near the distal
`end of the shaft. As used herein, the terms “surgical instru-
`ment”, “instrument”, “surgical tool”, or “tool” refer to a
`member having a working end which carries one or more end
`effectors to be introduced into a surgical site in a cavity of a
`patient, and is actuatable from outside the cavity to manipu-
`late the end ef'fector(s) for effecting a desired treatment or
`medical function of a target tissue in the surgical site. The
`instrument or tool typically includes a shaft carrying the end
`effector(s) at a distal end, and is preferably servomechani—
`cally actuated by a telesurgical system for performing func-
`tions such as holding or driving a needle, grasping a blood
`vessel, and dissecting tissue. In addition, as used herein, “end
`effector” refers to the actual working part that is manipulable
`for effecting a predetermined treatment of a target tissue. For
`instance, some end effectors have a single working member
`such as a scalpel, a blade, or an electrode. Other end effectors
`have a pair or plurality of working members such as forceps.
`graspers, scissors, or clip appliers, for example.
`In a first aspect ofthe present invention, the robotic surgical
`tool includes a wrist mechanism disposed near the distal end
`of the shaft which comiects with the end effector. The wrist
`mechanism includes a distal member, configured to support
`the end effector, and a plurality of rods extending generally
`along an axial direction within the shaft and movable gener-
`ally along this axial direction to adjust the orientation of the
`distal member with respect to the axial direction or shaft. The
`distal member may have any form suitable for supporting an
`end effector. In most embodiments, the distal member has the
`form of a clevis. In any case, the distal member has a base to
`which the rods are rotatably connected.
`Advancement or retraction of a first rod generally along the
`axial direction tips the base through a first angle so that the
`distal member faces a first articulated direction. The first
`angle may be any angle in the range of 0-90 degrees and
`oriented so that the first articulated direction is any direction
`that is not parallel to the axial direction. This would allow the
`distal member to direct an end effector in any direction in
`relation to the shaft ofthe surgical tool. In most embodiments,
`the first angle is greater than approximately 30 degrees. In
`some embodiments, the first angle is greater than approxi—
`mately 60 degrees and in other embodiments the first angle is
`greater than approximately 70 degrees. This first angle may
`represent the pitch or the yaw of the wrist mechanism.
`In some embodiments, advancement or retraction of a sec-
`ond rod generally along the axial direction tips the base
`through a second angle so that the distal member faces a
`
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`second articulated direction. The second angle may also be
`any angle in the range of0-90 degrees and oriented so that the
`second articulated direction is any direction that is not parallel
`to the axial direction. The addition of a second angle would
`allow the distal member to direct an end effector in essentially
`a compound angle or in a second articulated direction in
`relation to the shaft ofthe surgical tool. In most embodiments,
`the second angle is greater than approximately 30 degrees. In
`some embodiments, the second angle is greater than approxi-
`mately 60 degrees and in other embodiments the second angle
`is greater than approximately 70 degrees. If the first angle
`represents the pitch ofthe wrist mechanism, the second angle
`may represent the yaw ofthe wrist mechanism and vice versa.
`The plurality ofrods may comprise two, three. four or more
`rods. In preferred embodiments, three or four rods are used to
`provide both pitch and yaw angulation. When four rods are
`used, the first and second rods are positioned adjacent to each
`other and the remaining two rods are located in positions
`diametrically opposite to the first and second rods. The four
`rods are generally arranged symmetrically around a central
`axis of the shaft or the axial direction. When the first rod is
`advanced, the diametrically opposite rod is simultaneously
`retracted. Likewise, when the first rod is retracted, the dia—
`metrically opposite rod is simultaneously advanced. This is
`similarly the case with the second rod and its diametrically
`opposite rod. Thus, the rods actuate in pairs. Such actuation
`will be further described in a later section.
`To maintain desired positioning ofthe rods, some embodi-
`ments include a guide tube having a plurality of guide slots.
`Each guide slot is shaped for receiving and guiding one ofthe
`plurality of rods substantially along the axial direction. In
`some embodiments, the rods are shaped so as to have a rect-
`angular cross-section. In these instances, the corresponding
`guide slots also rectangular in shape to receive and maintain
`proper orientation of the rods.
`In a second aspect of the present invention, the robotic
`surgical tool includes a tool base disposed near the proximal
`end of the shaft. The tool base includes mechanisms for
`actuating the wrist mechanism and often mechanisms for
`actuating the end effector. Mechanisms for actuating the wrist
`mechanism includes mechanisms for advancing or retracting
`the first rod. In some embodiments. such mechanisms com-
`prises a first rotational actuation member to which the first rod
`is attached so that rotation of the first rotational actuation
`member advances or retracts the first rod. Typically, another
`rod is attached to the first rotational actuation member in a
`position diametrically opposite to the first rod so that rotation
`of the first rotational actuation member simultaneously
`advances the first rod and retracts the diametrically opposite
`rod. In some embodiments, the tool base further comprises a
`second rotational actuation member to which the second rod
`is attached so that rotation of the second rotational actuation
`member advances or retracts the second rod substantially
`along the axial direction. Again, another rod is often attached
`to the second rotational actuation member in a position dia-
`metrically opposite to the second rod so that rotation of the
`second rotational actuation member simultaneously advances
`the second rod and retracts the diametrically opposite rod.
`Thus, by rotating the first and second rotational actuation
`members, the distal member is tipped through two angles, or
`a compound angle, so that the distal member faces any desired
`direction. This allows refined control of the end effector
`throughout three dimensions.
`The robotic surgical tool of the present invention may also
`include provisions for roll movement. Roll movement is
`achieved by rotating the shaft around its central axis. Since
`the shaft is connected to a guide tube through which the
`
`Ethicon Exhibit 2002.028
`
`Intuitive v. Ethicon
`
`lPR2018-01254
`
`Ethicon Exhibit 2002.028
`Intuitive v. Ethicon
`IPR2018-01254
`
`

`

`US 7,691,098 B2
`
`5
`plurality of rods pass, rotation of the shaft rotates guide tube
`which in turn rotates the rods around the central axis which is
`parallel to the axial direction. To actuate such roll, the above
`described tool base comprises a roll pulley which rotates the
`shaft. Since the rods extend through the roll pulley and attach
`to the rotational actuation members, such rotation is possible
`by flexing of the rods. Due to the length, thickness and flex-
`ibility ofthe rods, 360 degree rotation is possible. Thus, pitch,
`yaw and roll movement can be individually actuated by the
`tool base, particularly by manipulation ofthe rotational actua—
`tion members and roll pulley.
`Although actuation of the wrist mechanism is achieved by
`manipulation ofthe rods, it is the connection 0 f the rods to the
`base which allows tipping and manipulation of the distal
`member to face a desired direction. Such connection is
`achieved with the use of a plurality of linkages, each linkage
`connecting one ofthe plurality ofrods with the base. In some
`embodiments,
`the linkages comprise orthogonal
`linkage
`assemblies. Each orthogonal linkage assembly rotatably con-
`nects one of the plurality of rods with the base to allow the
`base to be rotated in at least two directions with respect to the
`axial direction. In some embodiments, each orthogonal link-
`age assembly comprises an orthogonal linkage having a first
`linkportion which is rotatably connectable with the one ofthe
`plurality of rods and a second link portion which is rotatably
`connectable with the base and wherein the first link portion
`and the second link portion lie in orthogonal planes. In other
`embodiments, each orthogonal linkage assembly comprises a
`linkage fastener having a link base portion which is rotatably
`connectable with one ofthe plurality ofrods and a cylindrical
`fastening end portion which is rotatably connectable with the
`base. The different orthogonal linkage assemblies allow the
`base to be rotated to different degrees of angularity relative to
`the axial direction.
`Such rotation is assisted by flexibility of the rods. Gener-
`ally, each rod is flexible in at least one direction. For example,
`when each rod has a rectangular cross—section, having a wide
`side and a narrow side, the rod may be flexible along the wide
`side yet rigid along the narrow side. When the rods are
`arranged so that the wide sides are parallel to the perimeter of
`the shaft, flexibility along the wide sides allows each rod to
`bend slightly inward, toward the center of the shaft or the
`longitudinal axis. This allows greater rotation of the distal
`member and flexibility in design parameters.
`In a third aspect of the present invention, methods of actu-
`ating the robotic surgical tool are provided. In some embodi-
`ments, methods include providing a robotic surgical tool
`comprising a wrist mechanism, which includes a distal mem-
`ber coupleable with a surgical end effector and having a base
`and a plurality of rods rotatably cormected to the base and
`extending along an axial direction, and actuating the wrist by
`manipulating a first rod ofthe plurality ofrods to tip the base
`through a first angle so that the distal member faces a first
`articulated direction. Manipulating typically comprises
`advancing or retracting the first rod. As previously men-
`tioned, advancing or retracting may comprise rotating a first
`rotational actuation member to which the first rod is attached.
`Likewise, actuating the wrist may further comprises manipu—
`lating a second rod of the plurality of rods to tip the base
`through a second angle so that the distal member faces a
`second articulated direction. Again, advancing or retracting
`may comprise rotating a second rotational actuation member
`to which the second rod is attached.
`In some embodiments, methods further comprise actuating
`the wrist by rotating the plurality of rods around a longitudi-
`nal axis parallel to the axial direction to rotate the base. In
`some embodiments, rotating the plurality of rods comprises
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`rotating a roll pulley through which the plurality of rods
`extend. And, lastly, methods may further comprise coupling
`the end effector to the base and actuating the end effector.
`Other obj ects and advantages of the present invention will
`become apparent from the detailed description to follow,
`together with the accompanying drawings.
`
`
`
`BRIEF DESCRIPTION OF THE DRAWINGS
`
`FIG. 1 is a perspective overall view of an embodiment of
`the surgical tool of the present invention.
`FIGS. 2A-2B illustrate exemplary surgical end effectors.
`FIG. 3 illustrates an embodiment of a wrist mechanism.
`FIGS. 3A-3B illustrate possible arrangements of guide
`slots within the guide tube.
`FIGS. 3C-3D illustrate connection of rods to the distal
`member via orthogonal linkages.
`FIG. 4 illustrates movement of the wrist mechanism
`through a compound angle.
`FIG. 5 illustrates tipping in a variety ofdirections including
`a combinations ofpitch and yaw.
`FIGS. 6A-6F illustrate three different embodiments of the
`wrist mechanism of the present invention.
`FIG. 7 illustrates assemblage ofthe first main embodiment
`of the wrist mechanism.
`FIGS. 8-9 illustrate joining of a rod with an orthogonal
`linkage and thenjoining ofthe linkage with a foot on the distal
`clevis.
`FIG. 10 illustrates joining of additional rods to the distal
`clevis.
`FIG. 11A illustrates the first main embodiment ofthe wrist
`mechanism wherein four rods are attached. FIG. 11B is a
`cross—sectional view o 1‘ FIG. 11A.
`
`FIG. 12 illustrates assemblage ofthe second main embodi—
`ment of the wrist mechanism.
`FIG. 13 illustrates joining of a rod with a linkage fastener
`and for later joining with a distal clcvis half.
`FIG. 14 illustrates joining rods with corresponding aper—
`tures on the first and second clevis halves with the use of
`linkage fasteners.
`FIGS. 15-16 show mating of the elevis halves and joining
`with a clevis tip.
`FIG. 17A illustrates the second main embodiment of the
`wrist mechanism wherein four rods are attached. FIG. 17B is
`a cross—sectional view ofFIG. 17A.
`FIG. 18 is a perspective view o fan elnbodiment ofthe wrist
`mechanism showing rods inserted through a guide tube.
`FIG. 19 illustrates tipping of the distal clevis in response to
`advancement and/or retraction of one or more rods.
`FIG. 20 illustrates assemblage of the third main embodi—
`ment of the wrist mechanism.
`FIGS. 21-22 illustrate joining of a rod with an linkage
`fastener and then joining linkage fastener with a foot on the
`distal clevis.
`FIG . 23A illustrates the third main embodiment ofthe wrist
`mechanism wherein four rods are attached. FIG. 23B is a
`cross-sectional view ofFIG. 23A.
`FIG. 24 illustrates tipping of the distal clevis in response to
`advancement and/or retraction of one or more rods.
`FIG. 25 illustrates joining of a rod with a wire to create a
`wire/rod assembly.
`FIG. 26 illustrates inserting the wire/rod assembly through
`a roll pulley within the tool base.
`FIG. 27 illustrates additional features of the tool base,
`including rotational actuation members.
`
`Ethicon Exhibit 2002.029
`
`Intuitive v. Ethicon
`
`lPR2018-01254
`
`Ethicon Exhibit 2002.029
`Intuitive v. Ethicon
`IPR2018-01254
`
`

`

`US 7,691,098 B2
`
`7
`FIG. 28 is a side View illustrating insertion of the wire
`through a crosshole in a pivot pin which is mounted in a sector
`gear.
`FIG. 29 is a side view illustrating crimping of a crimp onto
`the wire to maintain positioning of the rod against the pivot
`pin.
`FIG. 30 is a top perspective view ofthe tool base, including
`mechanisms to manipulate the rods to actuate the wrist
`mechanism.
`
`DETAILED DESCRIPTION OF THE INVENTION
`
`
`
`FIG. 1 illustrates a surgical tool 50 ofthe present invention
`which is used in robotic surgery systems. The surgical tool 50
`includes a rigid shaft 52 having a proxima end 54, a distal end
`56 and a longitudinal axis there