Medical instrument
First Claim
1. A hydraulically actuated end effector for an endoscopic medical instrument, the end effector comprising:
- a first hydraulic actuator responsive to changes in hydraulic actuation pressure to effect a first selected action and a second hydraulic actuator responsive to changes in hydraulic actuation pressure to effect a second selected action, said first or second hydraulic actuator comprising an extensible balloon to effect the selected action; and
a retraction member operably connected to the balloon and configured for movement by a biasing member in response to changes in hydraulic actuation pressure to move the balloon to a retracted position.
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Accused Products
Abstract
A hydraulically actuated medical instrument includes an elongated shaft having proximal and distal ends, a hydraulically actuated end effector at the distal end of the shaft and a fluid flow path extending through the shaft to the end effector. The end effector may be directly manually operated by way of a handle located at the proximal end of the shaft or remotely, for example, via robotic controller. Articulation joints may be provided along the shaft, between the shaft and end effector or handle, or elsewhere. The hydraulic actuation of the present invention permits multiple axis instrument articulation, miniaturization and simplified instrument fabrication.
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Citations
20 Claims
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1. A hydraulically actuated end effector for an endoscopic medical instrument, the end effector comprising:
- a first hydraulic actuator responsive to changes in hydraulic actuation pressure to effect a first selected action and a second hydraulic actuator responsive to changes in hydraulic actuation pressure to effect a second selected action, said first or second hydraulic actuator comprising an extensible balloon to effect the selected action; and
a retraction member operably connected to the balloon and configured for movement by a biasing member in response to changes in hydraulic actuation pressure to move the balloon to a retracted position. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
- a first hydraulic actuator responsive to changes in hydraulic actuation pressure to effect a first selected action and a second hydraulic actuator responsive to changes in hydraulic actuation pressure to effect a second selected action, said first or second hydraulic actuator comprising an extensible balloon to effect the selected action; and
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12. A hydraulically actuated end effector for an endoscopic medical instrument, the end effector comprising:
a first hydraulic actuator responsive to changes in hydraulic actuation pressure to effect a first selected action and a second hydraulic actuator responsive to changes in hydraulic actuation pressure to effect a second selected action, said first or second hydraulic actuator including an extensible balloon operably connected to a retraction member wherein the retraction member is movable from a retracted position to effect a selected action, wherein the retraction member is biased to the retracted position by a biasing member. - View Dependent Claims (13, 14, 15)
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16. A hydraulically actuated end effector for an endoscopic medical instrument, the end effector comprising:
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first and second relatively moveable jaws; a first hydraulic actuator responsive to changes in hydraulic actuation pressure to move the first and second jaws toward and away from one another; and a second hydraulic actuator including an extensible balloon positioned in one of said jaws, the balloon being operably connected to a retraction member and together the balloon and retraction member are movable in response to changes in hydraulic actuation pressure to effect a selected action and are biased to a retracted position by a biasing member. - View Dependent Claims (17, 18, 19, 20)
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Specification