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Robotically controlling mechanical advantage gripping

  • US 10,258,359 B2
  • Filed: 07/21/2015
  • Issued: 04/16/2019
  • Est. Priority Date: 08/13/2014
  • Status: Active Grant
First Claim
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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.

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