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Robot-controlled gripping with mechanical advantages

A clamp and end effector technology, applied in the field of robotics, can solve problems such as reducing the cross-sectional area of ​​the end effector

Active Publication Date: 2019-09-06
TYCO HEALTHCARE GRP LP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Each additional cable required further limits the ability to reduce the cross-sectional area of ​​these end effectors

Method used

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  • Robot-controlled gripping with mechanical advantages
  • Robot-controlled gripping with mechanical advantages
  • Robot-controlled gripping with mechanical advantages

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0037] A robotically controlled end effector according to the present disclosure enables cable-driven motion of a compact jaw assembly for enhanced mechanically advantageous grasping. The end effectors described herein include articulation members that provide for bilateral articulation of respective jaw assemblies up to about 90 degrees from a longitudinal axis of the end effector. At least one cam pulley of the end effectors can be rotated to position its jaw members in an open state such that the jaw members define a jaw angle of up to about 60 degrees.

[0038] Embodiments of the presently disclosed end effectors will now be described in detail with reference to the drawings, wherein like reference numerals indicate like or corresponding elements in each of the several views. As used herein, the term "distal" refers to the portion of the end effector that is further from the user, while the term "proximal" refers to the portion of the end effector that is closer to the use...

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PUM

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Abstract

An end effector of a surgical tool may include a housing, a jaw support shaft, a jaw member, an articulation member, and a cam pulley. The jaw member may be supported on a support shaft and may be pivotable about a pivot axis. The articulation member may have a slot and include an articulation pin extending therefrom coupled to the jaw member. The slot may be adapted to receive a jaw support shaft for supporting an articulation member between the jaw members. The articulation member is rotatable about the jaw support shaft for articulation of the jaw member relative to the longitudinal axis. The cam pulley may be mounted to the housing and coupled to the jaw member. The cam pulley is rotatable about a pivot axis to pivot the pair of jaw members between an open condition and a closed condition.

Description

[0001] Cross References to Related Applications [0002] This application claims the benefit and priority of US Provisional Patent Application No. 62 / 036,923, filed August 13, 2014, the entire disclosure of which is incorporated herein by reference. technical field [0003] The present disclosure relates to robotics and, more particularly, to a robotic surgical device and / or system for performing surgical procedures and methods of use thereof. Background technique [0004] Robotic surgical systems have been used in minimally invasive medical procedures. Some robotic surgery systems include a console supporting a robotic arm and at least one end effector, such as forceps or a grasping tool, mounted to the robotic arm. During a medical procedure, an end effector is inserted into a small incision (via a cannula) or natural orifice of a patient to position the end effector at a working site within the patient. [0005] Cables extend from the robot console, through the robot ar...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B34/30A61B17/00
CPCA61B34/30A61B2017/00323A61B2017/2936A61B2017/2938A61B34/71A61B2034/305A61B17/29A61B2017/2939A61B34/35A61B34/74A61B90/37A61B2017/00398
Inventor 海门·卡帕迪亚
Owner TYCO HEALTHCARE GRP LP