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Wrist and jaw assemblies for robotic surgical systems

  • US 10,179,413 B2
  • Filed: 03/14/2018
  • Issued: 01/15/2019
  • Est. Priority Date: 12/11/2013
  • Status: Active Grant
First Claim
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1. A surgical tool comprising:

  • first and second jaws pivotable about a first axis;

    a first cam pulley and a second cam pulley rotatable about a second axis and coupled to the first and second jaws; and

    a cam follower coupling the first and the second pulleys to each of the first and second jaws;

    wherein;

    a rotation of the first cam pulley opens or closes the first and second jaws about the first axis; and

    a force applied to the second cam pulley rotates the first and second jaws about the second axis.

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