公开(公告)号：WO2019143605A1

公开(公告)日：2019-07-25

申请号：PCT/US2019/013632

申请日：2019-01-15

Applicant: MULTI SCOPIC INSTRUMENTS, LLC

Inventor： BERKELAAR, Gerald J.

IPC: A61B1/00 ,  A61B1/313 ,  A61B10/00 ,  A61B10/02 ,  A61B10/06 ,  A61B17/00

CPC classification number: A61B34/71 ,  A61B18/1445 ,  A61B2017/00398 ,  A61B2017/2212 ,  A61B2017/2927 ,  A61B2017/2936 ,  A61B2017/2939 ,  A61B2018/00595 ,  A61B2018/146

Abstract: An end effector has three degrees of freedom in operation: (1) opening and closing of the jaws, (2) adjustable articulation of the jaw plane relative to the longitudinal axis, and (3) rotation of the jaw assembly, regardless of its articulation, about the longitudinal axis. A split yoke assembly is coupled to rotatable jaw mounts, which in turn are coupled to the jaws. A pushrod is configured to open and close the jaws, and cables coupled to the rotatable jaw mounts cause articulation of the jaw plane.