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公开(公告)号：US20230414300A1
公开(公告)日：2023-12-28
申请号：US17852261
申请日：2022-06-28
发明人： Seth Daniel HOLDMEYER , Jeffrey L. CLARK , Eric William BRUNNER , Maria LUPP , Jalen Lee WIZE , Grant Wood NAIR
CPC分类号： A61B34/30 , B25J17/02 , B25J9/106 , A61B2034/306 , A61B2034/301 , A61B2034/715
摘要： A surgical tool includes an elongate shaft, an end effector arranged at a distal end of the shaft and including opposing jaws, and an articulable wrist interposing the end effector and the shaft and comprising a plurality of articulation links arranged in series along a longitudinal length of the wrist. A closure redirect mechanism includes first and second rigid links arranged proximal to the wrist, first and second transfer mechanisms pivotably mounted to the first and second rigid links, respectively, first and second transfer links interposing the end effector and the wrist, and first and second tension members extending distally from the first and second transfer mechanisms, respectively, and being secured to the first and second transfer links, respectively. Moving the first rigid link relative to the second rigid link, and vice versa, causes the first and second transfer links to correspondingly move and thereby open or close the jaws.
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公开(公告)号：US20230414303A1
公开(公告)日：2023-12-28
申请号：US17852217
申请日：2022-06-28
IPC分类号： A61B34/35
CPC分类号： A61B34/35 , A61B2034/306
摘要： A robotic surgical tool includes a drive housing, an elongate shaft extending from the drive housing and having an end effector arranged at a distal end of the elongate shaft, and an articulable wrist interposing the end effector and the elongate shaft, the articulable wrist including a plurality of articulation links including at least a first articulation link, a second articulation link, and a third articulation link. The first articulation link is pivotably coupled to the second articulation link at a first coupling interface, the second articulation link is pivotably coupled to the third articulation link at a second coupling interface, and the first and third articulation links are pivotably coupled at a third coupling interface. The third coupling interface axially interposes the first and second coupling interfaces along a longitudinal length of the articulable wrist.
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