Robotically controlling mechanical advantage gripping
First Claim
1. An end effector of a surgical tool, the end effector comprising:
- a housing having proximal and distal ends, the housing defining a longitudinal axis that extends through the proximal and distal ends;
a jaw support shaft defining a pivot axis that extends therethrough;
a pair of jaw members supported on the jaw support shaft and being pivotable about the pivot axis;
an articulation member defining a slot therethrough and including a pair of articulation pins extending therefrom and coupled to the pair of jaw members, the slot adapted to receive the jaw support shaft to support the articulation member between the pair of jaw members, the articulation member being rotatable about the jaw support shaft to articulate the pair of jaw members relative to the longitudinal axis; and
a pair of cam pulleys mounted to the housing and coupled to the pair of jaw members, the pair of cam pulleys being rotatable about the pivot axis to pivot the pair of jaw members between open and closed conditions.
1 Assignment
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Accused Products
Abstract
An end effector of a surgical tool may include a housing, a jaw support shaft, jaw members, an articulation member, and cam pulleys. The jaw members may be supported on the support shaft and may be pivotable about a pivot axis. The articulation member may have a slot and include articulation pins extending from it that are coupled to the jaw members. The slot may be adapted to receive the jaw support shaft to support the articulation member between the jaw members. The articulation member may be rotatable about the jaw support shaft to articulate the jaw members relative to the longitudinal axis. The cam pulleys may be mounted to the housing and coupled to the jaw members. The cam pulleys may be rotatable about the pivot axis to pivot the pair of jaw members between open and closed conditions.
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Citations
20 Claims
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1. An end effector of a surgical tool, the end effector comprising:
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a housing having proximal and distal ends, the housing defining a longitudinal axis that extends through the proximal and distal ends; a jaw support shaft defining a pivot axis that extends therethrough; a pair of jaw members supported on the jaw support shaft and being pivotable about the pivot axis; an articulation member defining a slot therethrough and including a pair of articulation pins extending therefrom and coupled to the pair of jaw members, the slot adapted to receive the jaw support shaft to support the articulation member between the pair of jaw members, the articulation member being rotatable about the jaw support shaft to articulate the pair of jaw members relative to the longitudinal axis; and a pair of cam pulleys mounted to the housing and coupled to the pair of jaw members, the pair of cam pulleys being rotatable about the pivot axis to pivot the pair of jaw members between open and closed conditions. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. An end effector for use and connection to a robot arm of a robotic surgical system, wherein the end effector is controlled by at least one cable extending from a motor of a control device of the robot surgical system, the end effector comprising:
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a housing having proximal and distal ends, the housing defining a longitudinal axis that extends through the proximal and distal ends; a jaw support shaft mounted to the housing and defining a pivot axis that extends therethrough; a pair of jaw members supported on the jaw support shaft and being pivotable about the pivot axis; an articulation member defining a slot therethrough and including a pair of articulation pins extending therefrom, the pair of articulation pins being adapted to couple to the pair of jaw members, the slot adapted to receive the jaw support shaft to support the articulation member between the pair of jaw members, the pivot axis of the jaw support shaft being longitudinally offset from at least one of the pair of articulation pins, the articulation member being rotatable about the jaw support shaft to articulate the pair of jaw members relative to the longitudinal axis; and a pair of cam pulleys mounted to the housing and coupled to the pair of jaw members, the pair of cam pulleys being rotatable about the pivot axis to pivot the pair of jaw members between open and closed conditions. - View Dependent Claims (15, 16, 17, 18, 19)
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20. A method of actuating an end effector of a robotic surgical system, comprising:
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rotating a cam pulley secured to a pair of jaw members to open or close the pair of jaw members about a pivot axis; and rotating an articulation member positioned between the pair of jaw members to articulate the pair of jaw members relative to a longitudinal axis of the end effector with a pair of articulation pins that extends from the articulation member, wherein at least one of the pair of articulation pins is at least partially longitudinally offset from the pivot axis.
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Specification