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

• Current Assignee: Covidien LP (Medtronic Plc)
• Original Assignee: Covidien LP (Medtronic Plc)
• Inventors: Seow, Chi Min
• Primary Examiner(s): McEvoy, Thomas
• Application Number:
  US15/116,339
• Publication Number:
  US 20170014196A1
• Time in Patent Office: 1,581 Days
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 17/3201 Scissors for biopsy A61B10/02
• CPC Class Codes: A61B 2017/2932 Transmission of forces to jaw members
• CPC Class Codes: A61B 2017/2938 Independently actuatable jaw members, e.g. two actuating rods
• CPC Class Codes: A61B 2017/2944 Translation of jaw members
• CPC Class Codes: A61B 2034/715 Cable tensioning mechanisms for removing slack
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/35 for telesurgery
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: F16H 19/005 for conveying oscillating or limited rotary motion
• CPC Class Codes: F16H 19/08 for interconverting rotary motion and oscillating motion
• CPC Class Codes: F16H 2019/085 by using flexible members
• CPC Class Codes: F16H 35/18 Turning devices for rotatable members, e.g. shafts

Abstract

An end effector of a surgical tool includes a first jaw and a second jaw rotated by a driving pulley. A first driven pulley is attached to the first jaw and a second driven pulley is attached to the second jaw. A first end portion of a first cable is connected to a first radial side of the first driven pulley, a second end portion of the first cable is connected to a second radial side of the second driven pulley, and an intermediate portion of the first cable is connected to the driving pulley. A first end portion of a second cable is connected to a first radial side of the second driven pulley, a second end portion of the second cable is connected to a second radial side of the first driven pulley, and an intermediate portion of the second cable is connected to the driving pulley.

Claims

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.

2. The method as recited in claim 1, further comprising:

rotating the first and the second driven pulleys via the first cable responsive to rotating the driving pulley in the first direction; and

rotating the first and the second driven pulleys via the second cable responsive to rotating the driving pulley in the second direction.

3. The method as recited in claim 2, further comprising:

tensioning the first cable and slacking the second cable during rotation of the driving pulley in the first direction and the second cable is in a slack condition; and

tensioning the second cable and slacking the first cable during rotation of the driving pulley in the second direction.

4. The method as recited in claim 1, further comprising connecting the intermediate portions of the first and second cables to a common point of the driving pulley.

5. The method as recited in claim 1, further comprising crimping the intermediate portions of the first and second cables to the driving pulley.

6. The method as recited in claim 1, further comprising:

positioning the first end portion of the first cable parallel to the second end portion of the second cable; and

crossing the first end portion of the second cable and the second end portion of the first cable.

7. The method as recited in claim 1, further comprising fixedly attaching a proximal end of the first jaw to a circumferential edge of the first drive pulley and a proximal end of the second jaw to a circumferential edge of the second drive pulley.

8. The method as recited in claim 1, further comprising creating a toothed portion in the first and the second jaws.

9. The method as recited in claim 1, further comprising spacing the first axis a lateral distance from the second axis.

10. The method as recited in claim 1, further comprising connecting the first and second cables to the driving pulley at a location offset a radial distance from the second axis.

11. The method as recited in claim 1, further comprising looping the intermediate portions of the first and second cables through an anchor member on the driving pulley.

12. The method as recited in claim 1, further comprising attaching a hook to a circumferential edge of the driving pulley.