Robotically controlled surgical instruments
First Claim
Patent Images
1. A robotically controlled medical instrument comprising:
- a first jaw;
a second jaw;
a drive mechanism including a linkage having a first end connected by a pivot joint to the first jaw and a second end provided with a pin positioned in a slot of the second jaw, the linkage providing increasing leverage to increase the force applied to an item grasped between the first and second jaws as the pin moves along the slot; and
an electronic controller that controls the operation of the drive mechanism.
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Abstract
A robotically controlled surgical instrument includes a first jaw and a second jaw used to grasp an item, and a drive mechanism that increases the force applied to the item grasped. The drive mechanism and the jaws can be provided with an accommodating mechanism that allows continued movement of the drive mechanism towards a locked position even after the jaws contact a larger item so that the drive mechanism can move to the locked position when grasping items of different sizes.
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Citations
29 Claims
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1. A robotically controlled medical instrument comprising:
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a first jaw; a second jaw; a drive mechanism including a linkage having a first end connected by a pivot joint to the first jaw and a second end provided with a pin positioned in a slot of the second jaw, the linkage providing increasing leverage to increase the force applied to an item grasped between the first and second jaws as the pin moves along the slot; and an electronic controller that controls the operation of the drive mechanism. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A robotically controlled medical instrument comprising:
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a first jaw; a second jaw; a drive mechanism which increases the force applied to an item grasped between the first and second jaws, the drive mechanism and the first and second jaws being provided with an accommodating mechanism that allows continued movement of the drive mechanism towards a locked position even after the first and second jaws contact a larger item so that the drive mechanism can move to the locked position when grasping items of different sizes, wherein the drive mechanism includes a linkage having a first end connected by a pivot joint to the first jaw and a second end provided with a pin positioned in a slot of the second jaw, the slot having a curved segment, a straight segment extending from the curved segment, and an extended end segment extending from the straight segment, the accommodating mechanism being the end segment, the pin residing in the end segment when the first and second jaws grasp an item, the extent to which being dependent upon the size of the item being grasped; and an electronic controller that controls the operation of the drive mechanism. - View Dependent Claims (13, 14, 15, 16, 17, 18)
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19. A robotically controlled medical instrument comprising:
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an instrument shaft having proximal and distal ends; a tool supported from the distal end of said instrument shaft and useable in performing a medical procedure on a subject, said tool constructed and arranged so to be capable of receiving different size items and including a pair of work members, a drive mechanism which increases the force applied to an item grasped between the pair of work members, and an accommodating mechanism interacting with said drive mechanism and the pair of work members and that allows the pair of work members to be closed beyond a maximum grasping position so that the pair of work members can grasp items of various sizes; a rotation piece coupling with one of said pair of work members and a pair of linkages one engaged with the rotating piece, and the other engaged with one of said pair of work members, said pair of linkages also pivotally supported relative to each other; a robotic controller coupled to said instrument shaft for remotely effecting control of said tool. - View Dependent Claims (20, 21, 22, 23, 24)
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25. A robotically controlled medical instrument comprising:
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an instrument shaft having proximal and distal ends; a tool supported from the distal end of said instrument shaft and useable in performing a medical procedure on a subject;
said tool constructed and arranged so to be capable of receiving different size items and including a pair of work members, a drive mechanism which increases the force applied to an item grasped between the pair of work members, and an accommodating mechanism interacting with said drive mechanism and pair of work members and that allows the pair of work members to be closed beyond a maximum grasping position so that the pair of work members can grasp items of various sizes, wherein the drive mechanism includes a linkage having a first end connected by a pivot joint to a first work member and a second end provided with a pin positioned in a slot of a second work member, the slot having a curved segment, a straight segment extending from the curved segment, and an extended end segment extending from the straight segment, the accommodating mechanism being the end segment, the pin residing in the end segment when the first and second work members grasp an item, the extent to which being dependent upon the size of the item being grasped; anda robotic controller coupled to said instrument shaft for remotely effecting control of said tool.
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26. A method of grasping an item with a robotically controlled surgical tool comprising:
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positioning the item between a first jaw and a second jaw of the tool, wherein the tool includes a drive mechanism, and wherein the drive mechanism includes a linkage having a first end connected by a pivot joint to the first jaw and a second end provided with a pin positioned in a slot of the second jaw, the slot having a curved segment, a straight segment extending from the curved segment, and an extended end segment extending from the straight segment that provides an accommodating mechanism, the pin residing in the end segment when the first and second jaws grasp an item, the extent to which being dependent upon the size of the item being grasped; moving the first and second jaws to an initial contact position for grasping the item; and increasing leverage to the first and second jaws beyond the initial contact position to increase the force applied to the item grasped between the first and second jaws with the magnitude of applied force being proportional to the size of the item being grasped. - View Dependent Claims (27, 28, 29)
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Specification