Methods, systems, and devices relating to surgical end effectors
First Claim
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1. An end effector for an in vivo device, the end effector comprising:
- (a) an actuator housing comprising at least one actuator, wherein the actuator housing is operably coupleable to an arm of an in vivo robotic device;
(b) an end effector housing operably coupled to the actuator housing;
(c) a first end effector rotatably coupled to the end effector housing such that the first end effector is independently rotatable relative to the end effector housing around a first axis parallel to a longitudinal axis of the actuator housing; and
(d) a second end effector rotatably coupled to the end effector housing such that the second end effector is independently rotatable relative to the end effector housing around a second axis parallel to the longitudinal axis of the actuator housing.
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Abstract
The embodiments disclosed herein relate to various medical device components, including components that can be incorporated into robotic and/or in vivo medical devices, and more specifically including end effectors that can be incorporated into such devices. Certain end effector embodiments include various vessel cautery devices that have rotational movement as well as cautery and cutting functions while maintaining a relatively compact structure. Other end effector embodiments include various end effector devices that have more than one end effector.
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Citations
19 Claims
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1. An end effector for an in vivo device, the end effector comprising:
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(a) an actuator housing comprising at least one actuator, wherein the actuator housing is operably coupleable to an arm of an in vivo robotic device; (b) an end effector housing operably coupled to the actuator housing; (c) a first end effector rotatably coupled to the end effector housing such that the first end effector is independently rotatable relative to the end effector housing around a first axis parallel to a longitudinal axis of the actuator housing; and (d) a second end effector rotatably coupled to the end effector housing such that the second end effector is independently rotatable relative to the end effector housing around a second axis parallel to the longitudinal axis of the actuator housing. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A end effector for an in vivo device, the end effector comprising:
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(a) an actuator housing comprising at least one actuator, wherein the actuator housing is operably coupleable to an arm of an in vivo robotic device; (b) an end effector housing operably coupled to the actuator housing; (c) a cautery component end effector rotatably coupled to the end effector housing such that the cautery component end effector is independently rotatable relative to the end effector housing around a first axis parallel to a longitudinal axis of the actuator housing; (d) a cautery component rotational gear operably coupled to the cautery component end effector; (e) a grasper end effector rotatably coupled to the end effector housing such that the grasper end effector is independently rotatable relative to the end effector housing around a second axis parallel to the longitudinal axis of the actuator housing; and (f) a grasper rotational gear operably coupled to the grasper end effector. - View Dependent Claims (12, 13, 14, 15)
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16. A end effector for an in vivo device, the end effector comprising:
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(a) an actuator housing comprising at least one actuator, wherein the actuator housing is operably coupleable to an arm of an in vivo robotic device; (b) an end effector housing operably coupled to the actuator housing; (c) a first end effector comprising a retractable cautery component, the retractable cautery component operably coupled to the end effector housing such that the retractable cautery component comprises a retracted position and an extended position; and (d) a second end effector rotatably coupled to the end effector housing such that the second end effector is independently rotatable relative to the end effector housing around a first axis parallel to a longitudinal axis of the actuator housing. - View Dependent Claims (17, 18, 19)
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Specification