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    End effector and end effector drive apparatus
    2.
    发明授权
    End effector and end effector drive apparatus 有权

    公开(公告)号：US10881422B2

    公开(公告)日：2021-01-05

    申请号：US16495038

    申请日：2018-12-20

    Applicant: THE BOARD OF REGENTS OF THE UNIVERSITY OF TEXAS SYSTEM ,  COLUBRISMX, INC.

    Inventor： Daniel H. Kim ,  Dong Suk Shin ,  Taeho Jang ,  Yongman Park ,  Jeihan Lee ,  Hongmin Kim ,  Kihoon Nam ,  Seokyung Han

    IPC: A61B17/29 ,  A61B34/00 ,  A61B90/30 ,  A61B17/00 ,  A61B17/34

    Abstract: Provided herein as an end effector for a surgical apparatus including a housing having an outer wall and an opening therein, and opposed first and second walls extending along opposite sides of the opening, a first actuator pivotally coupled to the first wall of the housing, a second actuator pivotally coupled to the second wall of the housing, and a coupling disposed within the opening of the housing and between at least a portion of the first and second actuators, the coupling including opposed first and second ends, each end pivotally coupled to a different one of the first and second actuators. To operate the actuators, a mechanism to controllably move a wire within a flexible tubular member, the wire including opposed wire ends extending outwardly of a proximal end of a flexible tubular member and a portion therebetween end connected to a actuator of the end effector is provided, and it includes a drive mechanism and a coupler extending between the drive mechanism and the wire end, wherein movement of the coupling in the direction of the wire end results in opposed motion of the wire end.

    END EFFECTOR AND END EFFECTOR DRIVE APPARATUS
    3.
    发明申请
    END EFFECTOR AND END EFFECTOR DRIVE APPARATUS 审中-公开

    公开(公告)号：US20200315645A1

    公开(公告)日：2020-10-08

    申请号：US16495038

    申请日：2018-12-20

    Applicant: THE BOARD OF REGENTS OF THE UNIVERSITY OF TEXAS SYSTEM ,  COLUBRISMX, INC.

    Inventor： Daniel H. KIM ,  Dong Suk SHIN ,  Taeho JANG ,  Yongman PARK ,  Jeihan LEE ,  Hongmin KIM ,  Kihoon NAM ,  Seokyung HAN

    IPC: A61B17/29 ,  A61B34/00 ,  A61B90/30

    Abstract: Provided herein as an end effector for a surgical apparatus including a housing having an outer wall and an opening therein, and opposed first and second walls extending along opposite sides of the opening, a first actuator pivotally coupled to the first wall of the housing, a second actuator pivotally coupled to the second wall of the housing, and a coupling disposed within the opening of the housing and between at least a portion of the first and second actuators, the coupling including opposed first and second ends, each end pivotally coupled to a different one of the first and second actuators. To operate the actuators, a mechanism to controllably move a wire within a flexible tubular member, the wire including opposed wire ends extending outwardly of a proximal end of a flexible tubular member and a portion therebetween end connected to a actuator of the end effector is provided, and it includes a drive mechanism and a coupler extending between the drive mechanism and the wire end, wherein movement of the coupling in the direction of the wire end results in opposed motion of the wire end.

    Seven degree of freedom positioning device for robotic surgery
    4.
    发明授权
    Seven degree of freedom positioning device for robotic surgery 有权

    公开(公告)号：US12193770B2

    公开(公告)日：2025-01-14

    申请号：US17766720

    申请日：2020-01-17

    Applicant: BOARD OF REGENTS OF THE UNIVERSITY OF TEXAS SYSTEM ,  ColubrisMX, Inc

    Inventor： Daniel H. Kim ,  Dong Suk Shin ,  Taeho Jang ,  Yongman Park ,  Jeihan Lee ,  Kihoon Nam ,  Yongchul Shin

    IPC: A61B34/30 ,  A61B34/00 ,  A61B50/13

    Abstract: An instrument cart configured to position an instrument controller at a desired location and attitude pitch with respect to an incision location of a patient includes a base, a lift member moveable with respect to the base, a first planar translation member connected to the lift member and arcuately moveable with respect thereto, a second planar translation member connected to the first planar translation member and arcuately moveable with respect thereto, a third planar translation member connected to the second planar translation member and arcuately moveable with respect thereto, an arcuate slide base connected to the third planar translation member and moveable with respect thereto and an arcuate slide coupled to the arcuate slide base, and moveable with respect thereto; and an instrument controller coupling connected to the arcuate slide member, the instrument controller connected thereto and movable with respect thereto.

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