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Surgical end effectors and pulley assemblies thereof

  • US 10,219,869 B2
  • Filed: 11/05/2014
  • Issued: 03/05/2019
  • Est. Priority Date: 02/12/2014
  • Status: Active Grant
First Claim
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1. A method of actuating an end effector, comprising:

  • rotating a driving pulley in an end effector of a surgical tool in a first direction about a first axis to open a first jaw and a second jaw each being pivotable about a second axis, the end effector including;

    a first driven pulley attached to the first jaw and a second driven pulley attached to the second jaw, the first and second driven pulleys being rotatable about the second axis, each driven pulley including a first radial side and a second radial side;

    a first cable having a first end portion, a second end portion, and an intermediate portion, the first end portion connected to the first radial side of the first driven pulley, the second end portion connected to the second radial side of the second driven pulley, and the intermediate portion connected to the driving pulley; and

    a second cable having a first end portion, a second end portion, and an intermediate portion, the first end portion connected to the first radial side of the second driven pulley, the second end portion connected to the second radial side of the first driven pulley, and the intermediate portion connected to the driving pulley; and

    rotating the driving pulley in a second direction about the first axis to close the first and second jaws about the second axis.

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