公开(公告)号：US09918731B2

公开(公告)日：2018-03-20

申请号：US13936077

申请日：2013-07-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas G. Cooper ,  Daniel Saraliev ,  Mathew R. Williams ,  William A. McDonald, III

IPC: A61B17/00 ,  A61B17/29 ,  A61B17/3201 ,  A61B34/30

CPC classification number: A61B17/29 ,  A61B17/3201 ,  A61B34/30 ,  A61B2017/2936 ,  A61B2017/2939

Abstract: A surgical end effector includes a clevis and one or more jaws pivotally coupled to the clevis. At least one jaw includes a slot. An axle assembly includes a bearing axle that rotatably supports a bearing, which may be a plain bearing. An actuator coupling is coupled to the bearing axle. The bearing engages the slot such that pushing and pulling on the actuator coupling causes one jaw to close against the other jaw. The bearing axle and the jaws may be made from materials that are prone to galling and the bearing may be made from a material that resists galling. The slot may include a lip that supports the bearings in a spaced apart relationship. The bearing axle may be less than 1.5 millimeters in diameter and each bearing may be less than 3.0 millimeters in diameter.

公开(公告)号：US20140012290A1

公开(公告)日：2014-01-09

申请号：US13936077

申请日：2013-07-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas G. Cooper ,  Daniel Saraliev ,  Mathew R. Williams ,  William A. McDonald, III

IPC: A61B19/00

CPC classification number: A61B17/29 ,  A61B17/3201 ,  A61B34/30 ,  A61B2017/2936 ,  A61B2017/2939

Abstract: A surgical end effector includes a clevis and one or more jaws pivotally coupled to the clevis. At least one jaw includes a slot. An axle assembly includes a bearing axle that rotatably supports a bearing, which may be a plain bearing. An actuator coupling is coupled to the bearing axle. The bearing engages the slot such that pushing and pulling on the actuator coupling causes one jaw to close against the other jaw. The bearing axle and the jaws may be made from materials that are prone to galling and the bearing may be made from a material that resists galling. The slot may include a lip that supports the bearings in a spaced apart relationship. The bearing axle may be less than 1.5 millimeters in diameter and each bearing may be less than 3.0 millimeters in diameter.

Abstract translation: 手术末端执行器包括U形夹和枢轴连接到U形夹的一个或多个钳口。 至少一个钳口包括槽。 轴组件包括可旋转地支撑轴承的轴承轴，轴承可以是滑动轴承。 致动器联接件联接到轴承轴。 轴承接合槽，使得推动和拉动致动器联接件使一个钳口相对于另一个颚关闭。 轴承轴和夹爪可以由易于磨损的材料制成，并且轴承可以由抗磨损的材料制成。 槽可以包括以间隔开的关系支撑轴承的唇缘。 轴承轴的直径可能小于1.5毫米，每个轴承的直径可能小于3.0毫米。