Methods for Two-Piece End-Effectors of Robotic Surgical Tools
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Abstract
In one embodiment of the invention, a robotic surgical tool having opposing jaws, the working element of the robotic surgical tool is made of a different material from the drive element of the robotic surgical tool. The two elements may be manufactured independently and assembled together at a later stage. The material comprising each element may thus have properties more appropriate to the function each element plays in the robotic surgical tool. For example, the metal selected to comprise the blade of a surgical scissor may be corrosion resistant and capable of being sharpened to a high degree.
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Citations
25 Claims
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1-17. -17. (canceled)
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18. A method of assembly of a robotic surgical instrument, the method comprising:
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keying a first working element to a first drive element to form a first end effector; positioning a first washer into an opening of a clevis positioning the first end effector in the opening of the clevis; inserting a pivot pin into a first pin hole in the clevis, through pivot holes in the first washer, the first drive element and the first working element, and into a second pin hole in the clevis to pivotally couple the first drive element and the first working element together along a pivotal axis; and coupling a first drive cable to the first end effector without swaging any material of the first end effector to avoid stress corrosion. - View Dependent Claims (19, 20, 21, 22, 23, 24, 25)
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Specification