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Ultrasonic robotic tool actuation

  • US 10,471,282 B2
  • Filed: 12/21/2016
  • Issued: 11/12/2019
  • Est. Priority Date: 12/21/2016
  • Status: Active Grant
First Claim
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1. A surgical tool, comprising:

  • a housing;

    a shaft assembly extending through the housing and extending distally from the housing, the shaft assembly having a distal end with a blade and a clamp arm pivotally coupled to the blade;

    an actuation assembly including a first actuator, and a second actuator, and a compound gear; and

    a yoke having an elongated body that is disposed within the housing, the yoke being operatively coupled between the clamp arm and the actuation assembly such that linear movement of the first actuator causes longitudinal translation of the yoke in a first direction and linear movement of the second actuator causes longitudinal translation of the yoke in a second direction that is opposite the first direction so as to move the clamp arm between the open and closed positions;

    wherein the compound gear operably couples the first and second actuators to the yoke, and wherein the compound gear includes a first gear and a second gear that is coupled to the first gear such that the first gear and the second gear rotate together, the first gear having a first diameter and the second gear having a second diameter that is less than the first diameter.

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