# Patent

## Title
Dexterous wrists for surgical intervention

## Abstract

A rotatable wrist connecting a gripper tool to the distal end of a continuum robot shaft. The rotatable wrist includes a wrist hub that is non-rotatably connected to the distal end of the shaft. A wrist capstan is rotatably connected to the wrist hub and non-rotatably connected to the gripper. A flexible wire loop extends through the wrist hub and partially contacts the wrist capstan. Linear movement of the flexible wire loop through the shaft of the continuum robot causes rotation of the wrist capstan due to friction between the flexible wire loop and the wrist capstan. The wrist also supports selective detachability and control of roll, pitch and roll, pitch yaw and roll according to different embodiments.

## Background
RELATED APPLICATIONS
This application claims priority to U.S. Provisional Application No. 61/636,001, filed on Apr. 20, 2012 and titled “DEXTEROUS WRISTS FOR SURGICAL INTERVENTION,” the entire contents of which are incorporated herein by reference.


STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT
This invention was made with government support under grant 7R21EB007779-04 awarded by National Institutes of Health. The government has certain rights in the invention.


FIELD OF THE INVENTION
The present invention relates to dexterous gripping devices and surgical wrists. In particular, the invention relates to gripper assemblies with integrated axial rotation capabilities, selective detachability, and roll-yaw-pitch wrist action for use with robotic systems during minimally invasive surgical procedures.
SUMMARY
In one embodiment, the invention provides a continuum robot including a plurality of controllably bending continuum robot segments, a gripper, and a wrist. The continuum robot has tubular shafts (backbones) that actuate its segments to cause it to bend and also provide an actuation pathway for the gripper and the wrist. The gripper is selectively connectable to the distal end of the continuum robot (hereafter referred to as the end disk). A rotatable wrist connects the gripper to the end disk. The rotatable wrist includes a hub that is selectively connectable to the end disk. A wrist capstan is rotatably connected to the wrist hub and non-rotatably connected to the gripper base. A flexible wire rope enters the wrist hub through one tubular shaft (backbone), wraps around the wrist capstan and then returns though a second tubular shaft (backbone) of the continuum robot. This wire rope makes a closed loop distally connected to the wrist capstan and proximally connected to an actuation unit with a linear actuator and a tensioning idler pulley. Linear movement of the actuator causes linear movement of the flexible wire loop through the shafts of the continuum robot and thus causes rotation of the wrist capstan due to friction between the flexible wire loop and the wrist capstan.
In some embodiments, the wrist capstan includes a grooved surface and the flexible wire loop includes a spherical feature that meshes inside a matching grooved surface in the wrist capstan. In some such embodiments, the wire does not make a full turn around the capstan and torque transmission to the capstan relies on the positive lock between the spherical feature and the capstan rather than on friction between the wire rope and the capstan.
In some embodiments the wire rope is routed on idler pulleys in the wrist hub. The wire rope enters the wrist hub through one continuum robot shaft, bends on the circumference of a first idler pulley tangentially oriented to the wrist capstan, wraps fully or partially around the capstan, and returns on a second idler pulley in a similar manner into a second continuum robot shaft (backbone).
In some embodiments the idler pulleys are replaced by curved surfaces in the wrist hub in order to reduce size and cost. The wire rope then slides on these curved surfaces and wraps around the capstan. The curved surfaces may be treated with friction reducing treatments such as PTFE coatings or hard anodize treatment. The curved surface geometry is uniquely determined such that the first curved surface where the wire rope enters the wrist hub is placed at a height difference compared to the second curved surface where the wire rope exits the wrist hub. This axial height difference is determined by the pitch of the helical path of the wire rope winding around the capstan.
In some embodiments, the wrist hub includes a first helical circumferential groove and a second helical circumferential groove in the wrist hub. These grooves replace the function of the idler pulleys and allow transmission of the wire rope from the entry point of the wrist hub along the first helical path to a point of tangency to the wrist capstan and then returning to the second helical groove to the exit shaft in the continuum robot
In some embodiments the wrist capstan is made of two parts comprising of a capstan shaft and a capstan ring. The capstan ring is attached to the capstan shaft in a manner that allows transmission of torque but does not allow transmission of axial motion. Such embodiment may include a spline shaft. In this design the capstan is allowed to move axially to conform with the movement of the helically wound wire rope loop.
In some embodiments the wrist base (hub) is attached to the end disk of the continuum robot through a revolute articulated joint (herein called pitch axis). Actuation of the wrist is achieved through a wire rope loop that passes through two backbones (shafts) of the continuum robot while bending of the pitch axis is achieved via a push-pull superelastic NiTi wire that passes through a third shaft of the continuum robot or via a wire rope loop that passes through two opposing shafts of the continuum robot.
In some embodiments the wrist base (hub) is attached to the end disk of the continuum robot through a universal (Cardan) articulated joint that provides bending in the yaw and pitch axes. Actuation of the wrist (roll axis) is achieved through a wire rope loop that passes through two backbones (shafts) of the continuum robot while bending of the pitch axis is achieved via a push-pull superelastic NiTi wire that passes through a third shaft of the continuum robot. Similarly, bending of the yaw axis is achieved via a push-pull superelastic NiTi wire that passes through a third shaft of the continuum robot.
Other aspects of the invention will become apparent by consideration of the detailed description and accompanying drawings.



BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is an exploded view of a rotatable gripper wrist according to one embodiment.
FIG. 2 is a view of a rotatable gripper wrist according to another embodiment.
FIG. 3 is a exploded, perspective, and cross-sectional view of a rotatable gripper wrist according to a third embodiment.
FIGS. 4A and 4B are detailed views of two examples of wrist hub components used with a rotatable gripper wrist.
FIG. 5 is a perspective view of a wrist and gripper assembly with a pivot (pitch) joint.
FIG. 6 is a perspective view of a wrist and gripper assembly with a gimbal (yaw and pitch) joint.
FIG. 7 is an exploded with of a rotatable gripper wrist according to a fourth embodiment.
FIG. 8A is a side view of the wrist hub component of the rotatable gripper wrist of FIG. 7 fitted with a flexible control wire.
FIG. 8B is a perspective view of the bottom of the wrist hub of FIG. 8A.
FIG. 8C is a side view of the assembled rotatable gripper wrist of FIG. 7 fitted with the flexible control wire.



DETAILED DESCRIPTION
Before any embodiments of the invention are explained in detail, it is to be understood that the invention is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the following drawings. The invention is capable of other embodiments and of being practiced or of being carried out in various ways.
Some surgical tools, such as described in U.S. Pub. No. 2011/0230894, which is incorporated herein by reference, include continuum robots with gripping tools connected to the distal end of the continuum robot. A continuum robot is a snake-like robot with a plurality of segments. The segments are controlled independently to adjust the shape and position of the continuum robot. Although some of these tools include articulated wrists for adjusting the position of the gripper, the existing tools are incapable of producing instrument roll about the gripper axis. This limits implementation of these devices for highly precise manipulations such as micro-surgery since very exact coordinated motion of several degrees of freedom is required.
FIG. 1 illustrates a first example of an articulated wrist 11 that is capable of rotating the gripper 13 relative to the shaft (or plurality of segments) of a continuum robot or other device. The example of FIG. 1 is achieved using micro-planetary gears. The sun gear 15 is actuated through a miniature torsional shaft and the planetary gears 17 amplify this torque and rotate the wrist about its axis.
FIG. 2 shows a different construction of a wrist assembly 20 that uses a miniature pulley with wire actuation to achieve rotation of the gripper. As illustrated, the ends of a wire loop 21 each pass across a pulley 22 extending into the shaft of the continuum robot. The wire loop is then positioned around a textured or grooved capstan assembly 23. As either end of the flexible wire loop 21 is inserted and retracted from the shaft of the continuum robot, the friction between the wire loop 21 and the capstan assembly 23 causes the capstan assembly to rotate relative to the shaft of the continuum robot. This rotation also causes the gripper to rotate. The ends of the wire loop extend through tubular structures in the shaft of the continuum robot called secondary backbones. The wire loop in the example of FIG. 2 includes a positive-locking, spherical shaped terminal 24 that is crimped on the flexible wire. The terminal 24 causes increased frictions between the flexible wire 21 and the capstan 23. The flexible wire in this example is a NiTi wire.
A plurality of ball bearings 25 are incorporated into the wrist assembly 200 to provide for smooth rotation of the capstan assembly 23 and, as a result, the gripper. The gripper is operated by a wire-based mechanism that extends through a channel 26 in the center of the capstan 23.
FIG. 3 illustrates another example of a rotating wrist assembly. This assembly has two main sub-assemblies: the wrist and the gripper. The wrist base 102 allows the wrist and gripper to be selectively detached from the shaft (e.g., the snake arm) of the continuum robot and also serves as the end disk of a multi-backbone continuum snake robot. The lock nut 101 serves as a means of locking the wrist assembly to the secondary backbones of the snake arm. The hollow screw shaft 103 is threaded into the wrist capstan 108 and is glued to it or attached by press-fit. This screw shaft serves as the shaft hub locking the rotatable wrist capstan 108 to the wrist hub 107. Once the capstan 108 and the screw shaft 103 are connected they are inserted into a bearing made of the wrist capstan 108, the bearing balls 106, the wrist hub 107, and then locked by the lower bearing brace/lock nut 104. The wrist hub 107 is coupled to the wrist base 102 using shear pins.
The gripper includes a fixed jaw 203, a moving jaw 204, a sliding block 202, and a guiding pin. The gripper attaches to the rotating wrist capstan 108 using shear pins 201. Actuation of the gripper is achieved using a superelastic NiTi wire that pushes the sliding block 202, which in turn rotates the moving jaw using a shear pin that passes in the slot openings in the fixed and moving jaws.
The example of FIG. 3 differs from the example of FIG. 2 in that the pulleys are replaced by a wrist hub 107 with sliding surfaces to guide the flexible wire. Also, the example of FIG. 3 eliminates the positive locking terminal. As such, the flexible wire loop can be extended and refracted further linearly through the shaft of the continuum robot and the rotation of the wrist is not limited by a physical structure on the wire. Another difference is that the design in FIG. 3 allows detaching the wrist from the backbones of the snake segment. The end disk of the snake segment, which serves as the wrist hub 102 includes a series of linear grooves allowing for the side insertion of the NiTi backbones of the snake robot. The backbones have enlarged features at their tip that match the grooves in 102. A rotation of lock disk 101 selectively locks the backbones into the wrist hub 102. This selective locking functionality allows for easy replacement of wrist modules.
FIG. 4A illustrates the wrist hub 107 in further detail. The wrist hub 107 includes an extrusion 401 that guides the flexible wire and pushes it against the surface of the rotating capstan 108. FIG. 4B shows the wrist hub 107 from a different perspective.
FIG. 5 illustrates a pivot joint 300 that can be included to provide an additional degree of freedom to the rotatable gripper of FIG. 3. The added capability is achieved using a revolute joint assembly including a base 301 and an output link 302 pivotably connected via a pin. There are at least four holes through the base link that provide access for superelastic NiTi wires that control the rotatable gripper assembly. In one example, two adjacent holes are used to pass either end of the flexible wire loop used to actuate the rotatable wrist and the other two holes are used to actuate the revolute joint using push-pull actuation through a wire rope connected to the output link 302. In another embodiment, the revolute joint is actuated through superelastic NiTi tubes connected to the output link 302 and passing through guide tubes in the base 301 and the wrist is actuated through wire ropes that pass through the NiTi tubes of the revolute joint.
FIG. 6 illustrates an alternative joint assembly 310 for connecting the rotatable gripper to the shaft of the continuum robot. This example provides yet another degree of freedom (both yaw and pitch) in addition to the rotating capabilities. The added degree of freedom is achieved using a Cardan (Hooke) joint assembly. The joint assembly includes a base 311, a gimbal 312, and an output link 313. The gimbal is connected to the base and output links via pins. The base link again has at least four holes. In one example, two opposing holes are used to pass the actuation wires of the yaw degree of freedom while the other two holes are used to pass actuation wires of the pitch direction. The wrist actuation in a design using only four holes in the base 311 would require the use of a rotation tube and a gripper as illustrated in FIG. 1. In another embodiment, the base 311 has at least six holes and an additional center hole for actuating the gripper. Two holes are used to pass wires for actuating the pitch axis, two for actuating the yaw, and two to actuate the rotation of the gripper. In such constructions, a hole must also be provided through the center of gimbal 312 to allow the mechanism for actuating the gripper to pass through the joint 310. In some other constructions, gimbal 312 is replaced with a binary link having two axially offset pivots that are mutually perpendicular.
FIG. 7 illustrates another alternative rotatable wrist 700 for a gripper assembly. The wrist includes a snake end disk 741, a bearing nut 742, a vented screw 743, bearing balls 744, a wrist hub 745, a capstan 746, and a cover ring 747. When connected to the capstan assembly 746, the bearing nut 742 supports the bottom set of bearing balls 744 and locks the entire wrist structure around the wrist hub 745. The capstan 746 has locating pins for mounting the gripper jaw.
FIGS. 4A and 4B further illustrate the differences between the wrist hub 107 of the example of FIG. 3 and the wrist hub B45 of the example of FIG. 7. Wrist hub 107 includes two smooth extrusions 401 to allow routing of the wire rope loop that is used to control the rotation of the capstan and, thereby, the gripper. Wrist hub 745 includes a groove 403 that routes the wire rope to the correct position to wrap around the capstan 746. As the wire rope is inserted or retracted from the shaft of the continuum robot to control the rotation of the wrist, the wire rope move linearly through the grooves of the wrist hub 745.
FIGS. 8A, 8B, and 8C show various components of the wrist assembly of FIG. 7 fitted with a flexible wire loop. FIG. 8A shows the wrist hub 745 from the side and illustrates the ends of the wire loop running through the grooves 403 of the wrist hub 745 and extending out of the bottom of the wrist hub 745. FIG. 8B shows the same assembly from the bottom. In FIG. 8C, the entire rotatable wrist assembly is assembled and attached to the distal end of a continuum robot. The wire loop is visible in the groove 403 of the wrist hub B75 in FIG. 8C.
Thus, the invention provides, among other things, a rotatable wrist assembly for an articulable gripper tool. Various features and advantages of the invention are set forth in the following claims.

## Claims

1. A continuum robot comprising:
a plurality of adjustable segments along a shaft of the continuum robot;
a gripper selectively connectable to a distal end of the shaft;
a rotatable wrist connecting the gripper to the distal end of the shaft, the rotatable wrist including
a wrist hub, the wrist hub being non-rotatably connected to the distal end of the shaft,
a wrist capstan rotatably connected to the wrist hub and non-rotatably connected to the gripper, and
a flexible wire loop extending through the wrist hub and partially contacting the wrist capstan, wherein linear movement of the flexible wire loop through the shaft causes rotation of the wrist capstan due to friction between the flexible wire loop and the wrist capstan,

wherein the wrist hub includes a first groove and a second groove, wherein the first groove is positioned at an angle relative to the shaft of the continuum robot, and wherein a first end of the flexible wire loop is positioned within the first groove such that the first groove guides linear movement of the first end of the flexible loop.

2. The continuum robot of claim 1, wherein the wrist capstan includes a grooved surface, and the flexible wire loop includes a spherical terminal that contacts the grooved surface of the wrist capstan.

3. The continuum robot of claim 1, wherein the second groove is positioned at an angle relative to the shaft of the continuum robot, and wherein a second end of the flexible wire loop is positioned within the second groove such that the second groove guides the linear movement of the second end of the flexible loop.

4. The continuum robot of claim 3, wherein a portion of the flexible wire loop extends from the first groove to the second groove and contacts the wrist capstan such that linear movement of the portion of the flexible wire loop that extends from the first groove to the second groove cause rotation of the wrist capstan.

5. The continuum robot of claim 1, further comprising a pivot joint connecting the rotatable wrist to the shaft of the continuum robot, wherein the pivot joint controllably adjusts an angle of the gripper relative to the shaft of the continuum robot.

6. The continuum robot of claim 1, further comprising a universal joint connecting the rotatable wrist to the shaft of the continuum robot, wherein the universal joint controllably adjusts yaw and pitch angles of the gripper relative to the shaft of the continuum robot and the wrist controls roll of the gripper.

7. The continuum robot of claim 1, further comprising an actuation channel extending through a center of the wrist capstan, wherein actuation of the gripper is controlled by at least one wire extending through the actuation channel.

8. The continuum robot of claim 1, further comprising a locking component for selectively attaching the rotatable wrist to the shaft of the continuum robot.

9. A rotatable wrist for placement and manipulation of an actuatable medical device, the rotatable wrist comprising:
a wrist hub, the wrist hub being non-rotatably coupled to a distal end of a positioning device, wherein the positioning device includes a continuum robot with a plurality of adjustable segments along a shaft of the continuum robot;
a wrist capstan rotatably connected to the wrist hub and non-rotatably connected to the actuatable medical device; and
a flexible wire loop extending through the wrist hub and partially contacting the wrist capstan, wherein linear movement of the flexible wire loop through the positioning device causes rotation of the wrist capstan due to friction between the flexible wire loop and the wrist capstan,
wherein the wrist hub includes a first groove and a second groove, wherein the first groove is positioned at an angle relative to the shaft of the continuum robot, and wherein a first end of the flexible wire loop is positioned within the first groove such that the first groove guides linear movement of the first end of the flexible loop.

10. The rotatable wrist of claim 9, wherein the actuatable medical device includes a gripper.

11. The rotatable wrist of claim 9, wherein the positioning device includes a positioning shaft for controlling a position of the actuatable medical device in a body cavity during minimally invasive surgical procedures.

12. The rotatable wrist of claim 9, wherein the wrist capstan includes a grooved surface, and the flexible wire loop includes a spherical terminal that contacts the grooved surface of the wrist capstan.

13. The rotatable wrist of claim 9, wherein the second groove is positioned at an angle relative to the shaft of the continuum robot, and wherein a second end of the flexible wire loop is positioned within the second groove such that the second groove guides the linear movement of the second end of the flexible loop.

14. The rotatable wrist of claim 13, wherein a portion of the flexible wire loop extends from the first groove to the second groove and contacts the wrist capstan such that linear movement of the portion of the flexible wire loop that extends from the first groove to the second groove cause rotation of the wrist capstan.

15. The rotatable wrist of claim 9, further comprising a pivot joint connecting the rotatable wrist to the positioning device, wherein the pivot joint controllably adjusts an angle of the actuatable medical device relative to the positioning device.

16. The rotatable wrist of claim 9, further comprising a universal joint connecting the rotatable wrist to the positioning device, wherein the universal joint controllably adjusts yaw and pitch angles of the actuatable medical device relative to the positioning device and the wrist controls roll of the actuatable medical device.

17. The rotatable wrist of claim 9, further comprising an actuation channel extending through a center of the wrist capstan, wherein actuation of the actuatable medical device is controlled by at least one wire extending through the actuation channel.

18. The rotatable wrist of claim 9, further comprising a locking component for selectively attaching the rotatable wrist to the positioning device.