Surgical end effectors and pulley assemblies thereof

• US 10,226,305 B2
• Filed: 11/05/2014
• Issued: 03/12/2019
• 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:
  US15/116,350
• Publication Number:
  US 20170007344A1
• Time in Patent Office: 1,588 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. An end effector of a surgical tool, the end effector comprising:

a first jaw and a second jaw each being pivotable about a first axis;

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 first axis, each driven pulley including a first radial side and a second radial side;

a driving pulley rotatable about a second axis;

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,

wherein a rotation of the driving pulley about the second axis rotates the first and second driven pulleys in opposite directions about the first axis to one of open and close the first and second jaws.

2. The end effector as recited in claim 1, wherein a rotation of the driving pulley in a first direction about the second axis rotates the first and second driven pulleys via the first cable, and a rotation of the driving pulley in a second direction, opposite the first direction, rotates the first and second driven pulleys via the second cable.

3. The end effector as recited in claim 2, wherein during rotation of the driving pulley in the first direction the first cable is in a tensioned condition and the second cable is in a slack condition, and during rotation of the driving pulley in the second direction the first cable is in a slack condition and the second cable is in a tensioned condition.

4. The end effector as recited in claim 1, wherein the intermediate portions of the first and second cables are connected to a common point of the driving pulley.

5. The end effector as recited in claim 1, wherein the intermediate portions of the first and second cables are crimped to the driving pulley.

6. The end effector as recited in claim 1, wherein the first end portion of the first cable and the second end portion of the second cable are parallel, and the first end portion of the second cable and the second end portion of the first cable cross.

7. The end effector as recited in claim 1, wherein a proximal end of the first jaw is fixedly attached to a circumferential edge of the first drive pulley and a proximal end of the second jaw is fixedly attached to a circumferential edge of the second drive pulley.

8. The end effector as recited in claim 1, wherein the first and second jaws include a toothed portion.

9. The end effector as recited in claim 1, wherein the first axis is spaced a lateral distance from the second axis.

10. The end effector as recited in claim 1, wherein the first and second cables are connected to the driving pulley at a location off-set a radial distance from the second axis.

11. The end effector as recited in claim 1, wherein the driving pulley supports an anchor member, and the intermediate portions of the first and second cables are each looped through the anchor member of the driving pulley.

12. The end effector as recited in claim 11, wherein the anchor member includes a hook that is attached to a circumferential edge of the driving pulley.