Universal joint for surgical robotics

Abstract

A joint device for a robotic surgery tool includes a yoke and two links movably coupled with the yoke. The yoke may include a circumferential base, forming a central opening and four cylindrical pivot bosses extending laterally from the base at ninety-degree intervals. A first link is movably coupled with a first set of two of the four cylindrical pivot bosses and extends from the yoke in a first direction, such that the first link pivots in a first plane relative to the yoke. A second link is movably coupled with a second set of two of the four cylindrical pivot bosses and extends from the yoke in a second direction, such that the second link pivots in a second plane orthogonal to the first plane. Thus, the joint device provides for movement in two opposed planes from one yoke.

1 - 17 . (canceled) 
     
     
         18 . A method for manufacturing a joint device for a robotic surgery tool, the method comprising:
 providing a first link and a second link, wherein each of the first link and the second link comprises;
 a ring; 
 a first set of arms extending vertically from the ring in a first direction; and 
 a second set of arms extending vertically from the ring in a second, opposite direction, wherein each arm of the first set of arms and the second set of arms comprises a circular hole; 
   manufacturing a yoke, wherein the yoke comprises;
 a circumferential base, forming a central opening; and 
 four cylindrical pivot bosses extending laterally from the base at ninety-degree intervals, wherein each of the four cylindrical pivot bosses is sized to fit within one of the holes of the arms of the first and second links; 
   coupling the first link with the yoke by sliding the holes of one of the sets of arms over a first set of two opposed pivot bosses of the four cylindrical pivot bosses; and   coupling the second link with the yoke by sliding the holes of one of the sets of arms over a first set of two opposed pivot bosses of the four cylindrical pivot bosses.   
     
     
         19 . The method of  claim 18 , wherein providing the first link and the second link comprises laser cutting the first link and the second link out of one or more hypotubes. 
     
     
         20 . The method of  claim 18 , wherein manufacturing the yoke comprises machining the yoke. 
     
     
         21 . The method of  claim 18 , wherein manufacturing the yoke comprises metal injection molding the yoke. 
     
     
         22 . The method of  claim 18 , wherein at least one of the first link, the second link or the yoke is manufactured by 3D printing. 
     
     
         23 . The method of  claim 18 , wherein the first link, the second link and the yoke are manufactured from one or more materials selected from the group consisting of stainless steel, titanium, Nitinol and aluminum. 
     
     
         24 . A method for manipulating a robotic surgery tool, the method comprising:
 applying tension to a first pull wire to cause a first link of a joint device of the tool to pivot in a first plane relative to a yoke attached to the first link; and   applying tension to a second pull wire to cause a second link attached to the yoke to pivot in a second plane orthogonal to the first plane.   
     
     
         25 . The method of  claim 24 , further comprising performing a function with an end effector of the robotic surgery tool. 
     
     
         26 . The method of  claim 25 , wherein the end effector extends from a distal end of the robotic surgery tool toward a proximal end through a central opening in the yoke. 
     
     
         27 . The method of  claim 25 , wherein the end effector is selected from the group consisting of a camera, a light emitter, an injection needle, a needle biopsy device, a brush biopsy device, forceps, a tissue debrider, scissors, a scalpel, a suture needle holder, an electrocautery device, a coagulation device, a radiofrequency device and a probe. 
     
     
         28 . The method of  claim 25 , wherein the first and second pull wires extend from the end effector to a pull wire manipulator at or near a proximal end of the robotic surgery device, and wherein applying tension to the first and second pull wires applies force to the end effector, which is transmitted to the joint device. 
     
     
         29 . The method of  claim 25 , wherein applying the tension to at least one of the first pull wire and the second pull wire causes at least a third link to pivot relative to at least one additional yoke. 
     
     
         30 . The method of  claim 25 , wherein manipulating the robotic surgery tool comprises performing part of a procedure selected from the group consisting of debrider tumor resection, shears tumor resection, delivery of biologics and medications, neural tumor resection, polyp resection or biopsy, breast biopsy, lung biopsy, minimal portal access heart bypass, endoscopic submucosal dissection, transurethral procedures, prostatectomy, hysterectomy, stem cell delivery, delivery of arthroscopic tools, and transnasal procedures.