公开(公告)号：US20230355261A1

公开(公告)日：2023-11-09

申请号：US18029532

申请日：2021-09-30

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Raymond YU

IPC: A61B17/29 ,  A61B34/30 ,  A61B34/00

CPC classification number: A61B17/29 ,  A61B34/30 ,  A61B34/71 ,  A61B2017/2944

Abstract: An end effector drive mechanism has first and second pulleys and first and second jaws configured as a torque-amplifying tool assemblies. Each pulley jaw pair is configured as kinematic assembly having a compact footprint that can amplify outputs to increase the grip force applied by the jaws. The end effector drive mechanism is within a pulley envelope defined by the first and second pulleys. In certain configurations, the tool assemblies are configured to produce a grip force independent from a push-pull force that is exerted on (or by) the jaws. In certain configurations, the tool assemblies are configured to prevent undesirable reverse rotations and limit the range of travel of the jaws (or pulleys).