Handle mechanism providing unlimited roll

Abstract

Devices having a handle that provides unlimited roll to an end-effector at the distal end of the device. For example, described herein are medical devices that have an elongate tool frame, an end-effector, and a handle that includes: a first portion, a second portion that rolls relative to the first portion, a push rod within the first portion connected to a control input, and a shuttle body within the second portion that rotates with the second portion but is axially driven by the push rod when the user actuates the control input. The device may include a proximal wrist/forearm attachment allowing one or more degrees of freedom in pitch, yaw or roll about the user's arm. The handle may articulate relative to the tool frame, and this articulation may be transmitted to the end-effector. The end-effector may be a jaw assembly.

1 - 53 . (canceled) 
     
     
         54 . An unlimited roll handle assembly apparatus, the apparatus comprising:
 a first handle portion,   a second handle portion coupled to the first handle portion so that the second handle portion has one rotational degree of freedom in a first axis relative to the first handle portion but is translationally constrained relative to the first handle portion along the first axis,   a push rod coupled to the first handle portion so that it has one degree of freedom along the first axis relative to the first handle portion but is rotationally constrained about the first axis relative to the first handle portion, and   a shuttle body coupled to the push rod so that it has one rotational degree of freedom about the first axis relative to the push rod but is translationally constrained along the first axis relative to the push rod, further wherein the shuttle body is coupled to the second handle portion so that it has one degree of freedom along the first axis relative to the second handle portion and is rotationally constrained about the first axis relative to the second handle portion.   
     
     
         55 . The apparatus of  claim 54 , further comprising an end-effector control input on the first handle portion configured to translate the push rod along the first axis. 
     
     
         56 . The apparatus of  claim 55  wherein the end-effector control input comprises a trigger, lever or button on the first handle portion configured for actuation by one or more of a user's fingers and thumb. 
     
     
         57 . The apparatus of  claim 54 , wherein the second handle portion comprises a knob or dial having a grip configured to be rotated by one or more of a user's fingers and thumb. 
     
     
         58 . The apparatus of  claim 54 , wherein the first handle portion comprises a palm grip configured to be held in a user's palm. 
     
     
         59 . The apparatus of  claim 54 , further comprising a tool frame and an input joint between the handle assembly and the tool frame. 
     
     
         60 . The apparatus of  claim 59 , wherein the input joint comprises a pitch motion path encoding a pitch motion of the handle assembly relative to the tool frame about a pitch axis of rotation and a yaw motion path, encoding a yaw motion of the handle assembly relative to the tool frame about a yaw axis of rotation, wherein the pitch axis of rotation and the yaw axis of rotation intersect in a center of rotation that is proximal to the handle assembly. 
     
     
         61 . The apparatus of  claim 60 , further wherein the center of rotation coincides with a center of rotation of a user's wrist, when the use is holding the device by the handle assembly. 
     
     
         62 . The apparatus of  claim 60 , wherein the pitch motion path is parallel with the yaw motion path so that the input joint is a parallel kinematic joint. 
     
     
         63 . The apparatus of  claim 59 , further comprising an elongate tool shaft extending from the tool frame and having an end-effector at a distal end of the elongate tool frame. 
     
     
         64 . The apparatus of  claim 59 , further comprising a cuff having a passage therethrough that is configured to hold a wrist or forearm of a user, wherein the cuff is configured to couple to the tool frame. 
     
     
         65 . The apparatus of  claim 63 , wherein the rotation of the second handle portion about the first axis is transmitted to the end-effector because the tool frame is rotationally constrained relative to the second handle portion and the end-effector is rotationally constrained relative to the tool frame. 
     
     
         66 . The apparatus of  claim 63 , further comprising an output joint between the tool frame and the end-effector, wherein the pitch motion path encodes pitch motion of the handle assembly relative to the tool frame for transmission to the output joint but does not encode yaw motion of the handle assembly relative to the tool frame for transmission to the output joint, and wherein the yaw motion path encodes yaw motion of the handle assembly relative to the tool frame for transmission to the output joint but does not encode pitch motion of the handle assembly relative to the tool frame for transmission to the output joint. 
     
     
         67 . The apparatus of  claim 63  wherein the end-effector is configured as a jaw assembly configured so that the actuation of the end-effector control input opens or closes the jaw assembly. 
     
     
         68 . An unlimited roll handle assembly apparatus, the apparatus comprising:
 a first handle portion;   a second handle portion coupled to the first handle portion so that the second handle portion has one rotational degree of freedom in a first axis relative to the first handle portion but is translationally constrained relative to the first handle portion along the first axis;   a push rod coupled to the first handle portion so that it has one degree of freedom along the first axis relative to the first handle portion but is rotationally constrained about the first axis relative to the first handle portion;   an end-effector control input on the first handle portion configured to translate the push rod along the first axis, wherein the end-effector control input comprises a trigger, lever or button on the first handle portion configured for actuation by one or more of a user's fingers and thumb; and   a shuttle body coupled to the push rod so that it has one rotational degree of freedom about the first axis relative to the push rod but is translationally constrained along the first axis relative to the push rod, further wherein the shuttle body is coupled to the second handle portion so that it has one degree of freedom along the first axis relative to the second handle portion and is rotationally constrained about the first axis relative to the second handle portion.   
     
     
         69 . The apparatus of  claim 68 , wherein the second handle portion comprises a knob or dial having a grip configured to be rotated by one or more of a user's fingers and thumb. 
     
     
         70 . The apparatus of  claim 68 , wherein the first handle portion comprises a palm grip configured to be held in a user's palm. 
     
     
         71 . The apparatus of  claim 68 , wherein the device further comprises a tool frame and an input joint between the handle assembly and the tool frame. 
     
     
         72 . The apparatus of  claim 71 , wherein the input joint comprises a pitch motion path encoding a pitch motion of the handle assembly relative to the tool frame about a pitch axis of rotation and a yaw motion path, encoding a yaw motion of the handle assembly relative to the tool frame about a yaw axis of rotation, wherein the pitch axis of rotation and the yaw axis of rotation intersect in a center of rotation that is proximal to the handle assembly. 
     
     
         73 . The apparatus of  claim 72 , further wherein the center of rotation coincides with a center of rotation of a user's wrist, when the use is holding the device by the handle assembly. 
     
     
         74 . The apparatus of  claim 72 , wherein the pitch motion path is parallel with the yaw motion path so that the input joint is a parallel kinematic joint.