Electroactive polymer-based actuation mechanism for grasper
First Claim
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1. A grasping device, comprising:
- a shaft having opposed first and second jaws formed on a distal end thereof and movable between a closed position and an open position in which the first and second jaws can receive an object therebetween; and
at least one electroactive polymer actuator having a first terminal end coupled to the first jaw and a second terminal end coupled to one of the distal end of the shaft and the second jaw, the at least one electroactive polymer actuator effective to move the first and second jaws relative to each other between the open and closed positions.
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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.
1677 Citations
24 Claims
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1. A grasping device, comprising:
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a shaft having opposed first and second jaws formed on a distal end thereof and movable between a closed position and an open position in which the first and second jaws can receive an object therebetween; and at least one electroactive polymer actuator having a first terminal end coupled to the first jaw and a second terminal end coupled to one of the distal end of the shaft and the second jaw, the at least one electroactive polymer actuator effective to move the first and second jaws relative to each other between the open and closed positions. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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20. A grasping device, comprising:
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a shaft having an end effector with opposed jaws formed thereon and pivotally movable relative to one another, the shaft having an electrical cable extending therethrough; and at least one electroactive polymer actuator coupled to the end effector and effective to pivot the opposed jaws relative to each other when energy is delivered to the at least one electroactive polymer actuator through the electrical cable. - View Dependent Claims (21, 22, 23, 24)
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Specification