Wrist and jaw assemblies for robotic surgical systems
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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Abstract
An end effector for use and connection to a robot arm of a robotic surgical system, wherein the end effector is controlled and/or articulated by at least one cable extending from a respective motor of a control device of the robot surgical system, is provided. The end effector includes a wrist assembly, and a jaw assembly. The jaw assembly includes a cam pulley rotatably supported on at least one support plate of the jaw assembly, wherein the cam pulley is operatively connected to a proximal end of each of the jaws of the jaw assembly such that rotation of the cam pulley results in one of an opening and closing of the jaw assembly.
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Citations
20 Claims
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1. A surgical tool comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. An end effector for use and connection to a robot arm of a robotic surgical system, the end effector comprising:
a jaw assembly including; at least one cam plate; a pair of jaws pivotally supported on the at least one cam plate, wherein each jaw includes; a pivot point connected to the at least one cam plate; a proximal portion extending proximally of the pivot point thereof; and a distal portion extending distally of the pivot point thereof; and a cam pulley rotatably supported on the at least one cam plate, wherein the cam pulley is operatively connected to each of the jaws such that rotation of the cam pulley results in one of an opening and closing of the jaw assembly. - View Dependent Claims (12, 13, 14, 15, 16)
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17. A method of actuating an end effector of a robotic surgical system, comprising:
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coupling a first and a second cam pulley rotatable about a first axis to a pair of jaws pivotable about a second axis using a cam follower; rotating the first cam pulley about the first axis to open or close the pair of jaws of the end effector; and applying a force to the second cam pulley to rotate the pair of jaws about the second axis. - View Dependent Claims (18, 19, 20)
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Specification