Asymmetric rolling joint device of surgical instrument

Patent metadata

Field	Value
Publication number	US-12465340-B2
Application number	US-202117406834-A
Country	US
Kind code	B2
Filing date	Aug 19, 2021
Priority date	Apr 5, 2021
Publication date	Nov 11, 2025
Grant date	Nov 11, 2025

Abstract

Disclosed herein is an asymmetric rolling joint device of a surgical instrument which increases traction force by asymmetrically forming rolling contact surfaces of joint links facing each other. The asymmetric rolling joint device includes: a first joint link part which forms a joint of the surgical instrument; and a second joint link part coming into rolling contact with the first joint link part, wherein rolling contact surfaces where the first joint link part and the second joint link part come into rolling contact with each other are formed asymmetrically so as to increase traction force more than rolling contact surfaces which are formed symmetrically.

First claim

What is claimed is:

1 . An asymmetric rolling joint device of a surgical instrument comprising:
a first joint link part; and a second joint link part, wherein, the first joint link part and the second joint link part are configured to come into rolling contact with each other asymmetrically to form a joint of the surgical instrument, the first joint link part comprises:
a bottom first rolling surface formed at one side on a basis of a first virtual central line of the first joint link part;
a bottom second rolling surface formed at another side on the basis of the first virtual central line; and
a bottom first driving wire hole and a bottom second driving wire hole disposed at both sides,
the second joint link part comprises:
a top first rolling surface formed at one side on a basis of a second virtual central line of the second joint link part;
a top second rolling surface at another side on the basis of the second virtual central line; and,
a top first driving wire hole and a top second driving wire hole disposed at both sides,
the bottom first rolling surface and the top first rolling surface directly contact at a first rolling contact surface or the bottom second rolling surface and the top second rolling surface directly contact at a second rolling contact surface, the bottom first driving wire hole and the top first driving wire hole are configured such that a first driving wire penetrates therethrough, the bottom second driving wire hole and the top second driving wire hole are configured such that a second driving wire penetrates therethrough, a radius of the top first rolling surface is equal to a radius of the bottom first rolling surface, a radius of the top second rolling surface is equal to a radius of the bottom second rolling surface, and the radius of the top first rolling surface and the radius of the top second rolling surface have different values such that the first rolling contact surface and the second rolling contact surface are formed asymmetrically, thereby increasing traction force more than when the first rolling contact surface and the second rolling contact surface are formed symmetrically, wherein, the top first rolling surface includes a top first circular segment having a top first radius and a top first tangent line meeting the top first circular segment having the top first radius, the top second rolling surface includes a top second circular segment having a top second radius and a top second tangent line meeting the top second circular segment having the top second radius, the bottom first rolling surface includes a bottom first circular segment having a bottom first radius and a bottom first tangent line meeting the bottom first circular segment having the bottom first radius, the bottom second rolling surface includes a bottom second circular segment having the bottom second radius and a bottom second tangent line meeting the bottom second circular segment having the bottom second radius, and the top first radius and the top second radius have different values, and the bottom first radius and the bottom second radius have different values such that the first rolling contact surface and the second rolling contact surface are formed asymmetrically, the top first driving wire hole and the top second driving wire hole are respectively formed on the top first and the top second tangent lines, and the bottom first driving wire hole and the bottom second driving wire hole are respectively formed on the bottom first and the bottom second tangent lines, the height of the top first driving wire hole is lower than that of the top second driving wire hole, and the height of the bottom first driving wire hole is lower than that of the bottom second driving wire hole such that the first rolling contact surface and the second rolling contact surface are formed asymmetrically.

2 . The asymmetric rolling joint device according to claim 1 ,
wherein a height of the top first driving wire hole and a height of the top second driving wire hole are different, and a height of the bottom first driving wire hole and a height of the bottom second driving wire hole are different such that the first rolling contact surface and the second rolling contact surface are formed asymmetrically in order to increase traction force.

3 . The asymmetric rolling joint device according to claim 2 ,
wherein, the height of the top first driving wire hole is lower than the height of the top second driving wire hole, and the height of the bottom first driving wire hole is lower than the height of the bottom second driving wire hole such that the first rolling contact surface and the second rolling contact surface are formed asymmetrically.

4 . The asymmetric rolling joint device according to claim 1 ,
wherein the radius of the top first rolling surface is larger than the radius of the top second rolling surface such that the first rolling contact surface and the second rolling contact surface are formed asymmetrically.

5 . The asymmetric rolling joint device according to claim 1 ,
wherein a circle formed on a basis of the radius of the top second rolling surface is inscribed in a circle formed on a basis of the radius of the top first rolling surface.

6 . The asymmetric rolling joint device according to claim 1 ,
wherein, the top first radius is larger than the top second radius, the bottom first radius is larger than the bottom second radius, a slope of the bottom second tangent line is larger than that of the bottom first tangent line, and a slope of the top second tangent line is larger than that of the top first tangent line such that the first rolling contact surface and the second rolling contact surface are formed asymmetrically.

7 . The asymmetric rolling joint device according to claim 1 ,
wherein, the top first rolling surface includes a top circular segment having a top first radius and a top first tangent line meeting the top first circular segment having the top first radius, the top second rolling surface includes a top second circular segment having a top second radius, the bottom first rolling surface includes a bottom first circular segment having a bottom first radius and a bottom first tangent line meeting the bottom first circular segment having the bottom first radius, the bottom second rolling surface includes a bottom second circular segment having the bottom second radius, and the top first radius and the top second radius have different values, and the bottom first radius and the bottom second radius have different values such that the first rolling contact surface and the second rolling contact surface are formed asymmetrically.

8 . The asymmetric rolling joint device according to claim 7 ,
wherein, the top first driving wire hole and the bottom first driving wire hole are formed on the top first tangent lineand the bottom first tangent line, respectively, the top second driving wire hole and the bottom second driving wire hole are formed on the top second circular segment and the bottom second circular segment, respectively, and the height of the top first driving wire hole is lower than that of the top second driving wire hole, and the height of the bottom first driving wire hole is lower than that of the bottom second driving wire hole such that the first rolling contact surface and the second rolling contact surface are formed asymmetrically.

9 . The asymmetric rolling joint device according to claim 7 ,
wherein the top first radius is larger than the top second radius, and the bottom first radius is larger than the bottom second radius such that the first rolling contact surface and the second rolling contact surface are fo

Assignees

• Roen Surgical Inc
• Korea Advanced Inst Sci & Tech

Inventors

• Kwon Dong-Soo
• Ahn Jeong-Do
• Kim Joon-Hwan
• You Jae-Min
• Kim Han-Soul
• Lee Dong-Geol
• Yi Ye-Sung
• Baek Dong-Hoon

Classifications

• F16C11/04

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• A61B2017/00323

  Cables or rods · CPC title

• A61B2017/00314

  Separate linked members · CPC title

• A61B2034/306

  Wrists with multiple vertebrae · CPC title

• A61B2017/2902

  characterized by features of the actuating rod · CPC title