ELECTROACTIVE POLYMER-BASED ARTICULATION MECHANISM FOR GRASPER
First Claim
1. A grasping device, comprising:
- a shaft;
an end effector movably coupled to the shaft by an articulation joint, the end effector having opposed first and second jaws formed on a distal end thereof and movable between an open and closed position; and
an electroactive polymer actuator coupled to the articulation joint and adapted to move the end effector about the articulation joint relative to the shaft when energy is delivered to the electroactive polymer actuator.
5 Assignments
0 Petitions
Accused Products
Abstract
Methods and devices are provided for actuating and/or articulating a grasping device. In one exemplary embodiment, a grasping device is provided having a shaft with an end effector having opposed jaws coupled to the shaft. An electrically expandable and contractible actuator, such as an electroactive polymer actuator, can be used to actuate the end effector to open and close the opposed jaws to grasp tissue or other objects. In another embodiment, an electroactive polymer actuator can be used to pivotally or angularly adjust a position of the end effector relative to the shaft by delivering energy to the electroactive polymer actuator.
126 Citations
15 Claims
-
1. A grasping device, comprising:
-
a shaft;
an end effector movably coupled to the shaft by an articulation joint, the end effector having opposed first and second jaws formed on a distal end thereof and movable between an open and closed position; and
an electroactive polymer actuator coupled to the articulation joint and adapted to move the end effector about the articulation joint relative to the shaft when energy is delivered to the electroactive polymer actuator. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
-
-
9. A method for grasping tissue, comprising:
-
inserting an elongate shaft of a grasping device into a body lumen to position opposed jaws of an end effector movably coupled to a distal end of the elongate shaft adjacent to tissue to be grasped;
delivering energy to an electroactive polymer actuator to angularly position the end effector relative to the elongate shaft and thereby position the tissue to be grasped between the opposed jaws; and
closing the opposed jaws to grasp the tissue. - View Dependent Claims (10, 11, 12, 13, 14, 15)
-
Specification