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US 10,124,493 B2Granted
End effector for an instrument
AssigneeABB gomtec GmbH
InventorsPatrick Rothfuss, Bernd Gombert
Life of this patent
Estimating the term…
Abstract
An end effector (60) comprises a base (63), a first gripper (64) connected with the base (63) so as to swivel around a gripper axis (68), and a positioning element (66) which is guided on the base displaceably along an end effector axis (76) and interacts with the gripper (64) via a guide slot system. The gripper axis (68) extends outside of a guide slot (70) of the guide slot system.
Claims12
An instrument (30) comprising:
- an end effector (60);
- an elongated shaft sleeve (44);
- a first shaft (42) guided within the elongated shaft sleeve (44), wherein the first shaft (42) is at least locally flexible and is guided so as to be longitudinally displaceable within the elongated shaft sleeve (44);
- a swivel mechanism (79) which connects the end effector (60) and the elongated shaft sleeve (44) and is driven by said first shaft (42), said swivel mechanism (79) having a proximal member (61) fixed to the elongated shaft sleeve (44) and a distal member (62) connected with the end effector (60) and the first shaft (42), which proximal and distal members (61, 62) are connected via two axially spaced guide slot systems and are configured so as to swivel relative to each other around a virtual swivel axis (78) extending outside of the swivel mechanism (79);
- and
- wherein a first one of the two axially spaced guide slot systems comprises a guide slot (75) on the distal member (62) and a bolt (74) on the proximal member (61), and a second one of the two axially spaced guide slot systems comprises a guide slot (72) on the proximal member (61) and a bolt (73) on the distal member (62);
- wherein said end effector (60) comprises a base (63), a first gripper (64) connected with the base (63) so as to swivel around a first gripper gripper axis (68), a positioning element (66) which is guided on the base displaceably along an end effector axis (76) and interacts with the gripper (64) via a guide slot system, wherein the positioning element (66) has an inner thread which engages with an outer thread of a rotatable drive element (77) and wherein the rotatable drive element (77) is mounted rotatably and immovably in the axial direction on the base (63), and wherein the gripper axis (68) extends outside of a guide slot (70) of a guide slot system.
4 more elements
An instrument (30) comprising:
- an end effector (60);
- an elongated shaft sleeve (44);
- a first shaft (42) guided within the elongated shaft sleeve (44), wherein the first shaft (42) is at least locally flexible and is guided so as to be longitudinally displaceable within the elongated shaft sleeve (44);
- a swivel mechanism (79) which connects the end effector (60) and the elongated shaft sleeve (44) and is driven by said first shaft (42), said swivel mechanism (79) having a proximal member (61) fixed to the elongated shaft sleeve (44) and a distal member (62) connected with the end effector (60) and the first shaft (42) and wherein the distal member (62) is connected rotatably and immovably in an axial direction with the base (63), and wherein the first shaft (42) is anchored non-rotatably on the base (63), which proximal and distal members (61, 62) are connected via two axially spaced guide slot systems and are configured so as to swivel relative to each other around a virtual swivel axis (78) extending outside of the swivel mechanism (79);
- and
- wherein a first one of the two axially spaced guide slot systems comprises a guide slot (75) on the distal member (62) and a bolt (74) on the proximal member (61), and a second one of the two axially spaced guide slot systems comprises a guide slot (72) on the proximal member (61) and a bolt (73) on the distal member (62).
3 more elements
An instrument (30) comprising:
- an end effector (60);
- an elongated shaft sleeve (44);
- a first shaft (42) guided within the elongated shaft sleeve (44), wherein the first shaft (42) is at least locally flexible and is guided so as to be longitudinally displaceable within the elongated shaft sleeve (44);
- a second shaft (41), disposed within the first shaft (42), and coupled to a positioning element (66);
- a swivel mechanism (79) which connects the end effector (60) and the elongated shaft sleeve (44) and is driven by said first shaft (42), said swivel mechanism (79) having a proximal member (61) fixed to the elongated shaft sleeve (44) and a distal member (62) connected with the end effector (60) and the first shaft (42), which proximal and distal members (61, 62) are connected via two axially spaced guide slot systems and are configured so as to swivel relative to each other around a virtual swivel axis (78) extending outside of the swivel mechanism (79);
- and
- wherein a first one of the two axially spaced guide slot systems comprises a guide slot (75) on the distal member (62) and a bolt (74) on the proximal member (61), and a second one of the two axially spaced guide slot systems comprises a guide slot (72) on the proximal member (61) and a bolt (73) on the distal member (62).
4 more elements
Dependencies are inferred from the claim text.