Tool with end effector force limiter
First Claim
1. A surgical or diagnostic tool comprising:
- an end effector at a distal end of the tool;
an end effector actuator at a proximal end of the tool, the end effector actuator being rotatable about a rotation axis, the end effector actuator being operatively connected to the end effector through a linkage to deliver an actuation force from the end effector actuator to the end effector in response to movement of the end effector actuator, the linkage comprising a rod actuator, the rod actuator being independently rotatable about the same rotation axis as the end effector acuator; and
a force limiter using a leaf spring adapted to establish an upper limit on the actuation force delivered to the end effector by the end effector actuator, the leaf spring having a first end portion attached to one of the end effector actuator and the rod actuator and having a second end portion slidably engaged with and bendable away from an engagement surface at the other of the end effector actuator and the rod actuator.
2 Assignments
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Accused Products
Abstract
The invention provides surgical or diagnostic tools and associated methods that offer user control for operating remotely within regions of the body: In some embodiments these tools include a proximally-located actuator for the operation of a distal end effector, as well as proximally-located actuators for articulational and rotational movements of the end effector. Control mechanisms and methods refine operator control of end effector actuation and of these articulational and rotational movements. A force limiter mechanism protects the end effector and manipulated objects from the harm of potentially excessive force applied by the operator. A multi-state ratchet for end effector actuation provides enablement-disablement options with tactile feedback. An articulation lock allows the fixing and releasing of both neutral and articulated configurations of the tool and of consequent placement of the end effector. A rotation lock provides for enablement and disablement of rotatability of the end effector.
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Citations
26 Claims
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1. A surgical or diagnostic tool comprising:
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an end effector at a distal end of the tool; an end effector actuator at a proximal end of the tool, the end effector actuator being rotatable about a rotation axis, the end effector actuator being operatively connected to the end effector through a linkage to deliver an actuation force from the end effector actuator to the end effector in response to movement of the end effector actuator, the linkage comprising a rod actuator, the rod actuator being independently rotatable about the same rotation axis as the end effector acuator; and a force limiter using a leaf spring adapted to establish an upper limit on the actuation force delivered to the end effector by the end effector actuator, the leaf spring having a first end portion attached to one of the end effector actuator and the rod actuator and having a second end portion slidably engaged with and bendable away from an engagement surface at the other of the end effector actuator and the rod actuator. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 12, 13, 14, 15, 16)
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- 9. The tool of clam 1 wherein the end effector is operably connected to the end effector actuator at least in part through the force limiter.
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17. A method of operating a surgical or diagnostic tool, the tool comprising an end effector in a distal portion and an end effector actuator in a proximal portion, the method comprising:
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placing the end effector at a target site; applying an actuation force to the end effector actuator; delivering at least some of the actuation force through the end effector to the target site using a leaf spring; slidably engaging an end portion of the leaf spring with an engagement surface on one of the end effector actuator and the rod actuator; and limiting a magnitude of a delivered actuation force to an upper limit through the leaf spring by bending the leaf spring away from the engagement surface; wherein the limiting of the delivered actuation force comprises rotating the end effector actuator about a rotation axis and independently rotating a rod actuator about the same rotation axis as the end effector actuator. - View Dependent Claims (18, 19, 20, 21, 22, 24, 25, 26)
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23. The method of clam 17 wherein the delivering at least some of the actuation force comprises moving the end effector, and limiting the magnitude of the delivered actuation force comprises ceasing movement of the end effector despite continued movement of the end effector actuator.
Specification