Reciprocating needle drive without cables
First Claim
Patent Images
1. An apparatus for operating on tissue, the apparatus comprising:
- (a) a housing defining a channel, wherein the channel is configured to receive a needle such that the needle is movable within the channel;
(b) a drive gear assembly positioned proximate to the needle, wherein the drive gear assembly comprises;
(i) a first gear, and(ii) a rack, wherein the rack is translatable relative to the housing, wherein the rack comprises a first arm, wherein the first arm comprises a longitudinal row of teeth on an interior wall of the first arm, wherein the longitudinal row of teeth are configured to engage the first gear such that the rack is operable translate to thereby rotate the first gear; and
(c) a drive arm coupled with the drive gear assembly, wherein the drive arm is configured to engage the needle to thereby cause orbital movement of the length of the needle along a circular path within the channel of the housing.
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Abstract
An apparatus includes a housing, a drive gear assembly, and a drive arm. The housing defines a channel that receives a needle such that the needle is movable within the channel. The drive gear assembly is positioned within the housing and includes a first gear, a second gear, and a rack. The rack is translatable relative to the housing and is coupled with the first and second gears to rotate the first and second gears. The drive arm is coupled with the drive gear assembly and engages the needle to move the needle within the channel of the housing.
321 Citations
20 Claims
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1. An apparatus for operating on tissue, the apparatus comprising:
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(a) a housing defining a channel, wherein the channel is configured to receive a needle such that the needle is movable within the channel; (b) a drive gear assembly positioned proximate to the needle, wherein the drive gear assembly comprises; (i) a first gear, and (ii) a rack, wherein the rack is translatable relative to the housing, wherein the rack comprises a first arm, wherein the first arm comprises a longitudinal row of teeth on an interior wall of the first arm, wherein the longitudinal row of teeth are configured to engage the first gear such that the rack is operable translate to thereby rotate the first gear; and (c) a drive arm coupled with the drive gear assembly, wherein the drive arm is configured to engage the needle to thereby cause orbital movement of the length of the needle along a circular path within the channel of the housing. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. An end effector comprising:
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(a) a cover defining a channel, wherein the channel is configured to receive a needle such that the needle is movable within the channel; and (b) a base couplable with the cover, wherein the base comprises; (i) a drive gear assembly, wherein the drive gear assembly comprises at least one gear, (ii) a rack, wherein the rack is translatable relative to the base, wherein the rack comprises a channel, wherein the at least one gear is positioned within the channel, wherein the channel comprises at least one row of teeth on an interior surface of the channel, wherein the at least one row of teeth is configured to engage the at least one gear such that the rack is operable translate to thereby rotate the at least one gear, and (iii) a drive arm coupled with of the at least one gear, wherein the drive gear assembly is operable to actuate the drive arm, wherein the drive arm is configured to engage the needle to thereby move the needle within the channel of the cover.
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20. An end effector comprising:
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(a) a housing defining a channel, wherein the channel is configured to receive a needle such that the needle is movable within the channel, wherein the channel is arcuate; (b) a drive gear assembly positioned proximate to the needle, wherein the drive gear assembly comprises; (i) a rack, wherein the rack is translatable within the housing from a first position to a second position, wherein the rack comprises an arm, wherein an interior wall of the arm comprises a longitudinal row of teeth, and (ii) a gear, wherein the gear comprises a plurality of teeth configured to engage the longitudinal row of teeth of the rack, wherein the rack is operable to rotate the gear when the rack is translated from the first position to the second position; and (c) a drive arm coupled with the gear of the drive gear assembly, wherein the drive arm is configured to engage a needle to thereby rotate the needle orbitally through the channel of the housing such that a sharp tip of the needle follows a circular path.
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Specification