REPLACEABLE END-EFFECTOR CARTRIDGES WITH CAM MECHANISMS
First Claim
1. An electro surgical end effector cartridge to couple to a mechanical wrist of a surgical instrument for a robotic surgical system, the electrosurgical end effector cartridge comprising:
- two end effectors rotatably coupled together at least one of which is a moveable end effector, the at least one moveable end effector having a jaw portion, an off-center portion, and a base portion;
a fastener to rotatably couple the two end effectors together at the off-center portion of the at least one moveable end effector; and
a cam mechanism to couple to the base portion of the at least one moveable end effector and pivot the at least one moveable end effector about the fastener to open and close the jaw portion of the at least one moveable end effector with respect to the other end effector.
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Accused Products
Abstract
In one embodiment of the invention, a replaceable electrosurgical end effector cartridge is provided to couple to a mechanical wrist of a surgical instrument for a robotic surgical system. The replaceable electrosurgical end effector cartridge includes two end effectors, a fastener to rotatably couple the two end effectors together, and a cam mechanism. At least one of the two end effectors is a moveable end effector having a jaw portion, an off-center portion, and a base portion. The cam mechanism is coupled to the base portion of the at least one moveable end effector to pivot it about the fastener to open and close the jaw portion of the at least one moveable end effector with respect to the other.
145 Citations
12 Claims
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1. An electro surgical end effector cartridge to couple to a mechanical wrist of a surgical instrument for a robotic surgical system, the electrosurgical end effector cartridge comprising:
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two end effectors rotatably coupled together at least one of which is a moveable end effector, the at least one moveable end effector having a jaw portion, an off-center portion, and a base portion; a fastener to rotatably couple the two end effectors together at the off-center portion of the at least one moveable end effector; and a cam mechanism to couple to the base portion of the at least one moveable end effector and pivot the at least one moveable end effector about the fastener to open and close the jaw portion of the at least one moveable end effector with respect to the other end effector. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12-31. -31. (canceled)
Specification