# US 11,076,877 B2 · Surgical devices with articulating end effectors and methods of using surgical devices with articulating end effectors

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- Number: US 11,076,877 B2
- Document ID: US11076877B2
- Status: Granted
- Kind: B2
- Application number: 16/211,396
- Filed: 2018-12-06
- Published: 2019-04-11
- Granted: 2021-08-03
- Earliest claimed: 2014-03-31
- Assignees: Cilag GmbH International
- Applicants: Ethicon LLC
- Inventors: Frederick E. Shelton, IV; Chester O. Baxter, III; Charles J. Scheib; Gregory W. Johnson; John R. Dugan
- Web page: https://patentgrep.com/patent/US11076877B2

## CPC

- A61B 17/2909: {Handles}
- A61B 17/29: Forceps for use in minimally invasive surgery
- A61B 2017/00398: {using powered actuators, e.g. stepper motors, solenoids}
- A61B 2017/2903: {transferring rotary motion}
- A61B 2017/2916: {pins in guiding slots}
- A61B 2017/2919: {details of linkages or pivot points}
- A61B 2017/292: {connection of actuating rod to handle, e.g. ball end in recess}
- A61B 2017/2923: {Toothed members, e.g. rack and pinion}
- A61B 2017/2927: {the angular position of the head being adjustable with respect to the shaft}
- A61B 2017/2938: {Independently actuatable jaw members, e.g. two actuating rods}
- A61B 2017/2943: {Toothed members, e.g. rack and pinion}
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)

## Abstract

Methods and devices for using surgical devices with articulating end effectors are provided. Surgical devices with articulating end effectors can provide rotary driven pivoting of the end effector. In some embodiments, the device can include a handle, a first and a second tube extending from the handle, the second tube disposed within the first tube, and an end effector that includes a pair of distal jaws configured to move in response to rotation of the first tube about a longitudinal axis thereof and rotation of the second tube about a longitudinal axis thereof. The jaws can move in two different ways depending on whether the first and second tubes are rotating in a same direction as one another or in different ways than each other. The jaws can open/close and articulate using the same mechanical mechanism. The device can be powered, or the device can be non-powered.

## Claims

### Claim 1

A surgical device, comprising:
an elongate shaft with an end effector coupled to a distal end thereof;
a first gear operatively coupled to the end effector;
a second gear operatively coupled to the end effector;
a first actuator configured to be actuated to cause the first and second gears to rotate in opposite directions from one another such that the end effector articulates relative to a longitudinal axis of the elongate shaft; and
a second actuator configured to be actuated to cause the first and second gears to rotate in a same direction as one another such that the end effector moves from a closed position to an open position.

### Claim 2 (depends on 1)

The device of claim 1, further comprising a bushing threadably engaged with the first and second gears;
wherein the actuation of the second actuator is configured to cause the bushing to translate longitudinally and cause the rotation of the first and second gears in the same direction.

### Claim 3 (depends on 1)

The device of claim 1, further comprising a first elongate tube operatively coupled to the first gear such that rotation of the first gear cause rotation of the first elongate tube; and
a second tube operatively coupled with the second gear such that rotation of the second gear cause rotation of the second elongate tube.

### Claim 4 (depends on 1)

The device of claim 1, wherein the first actuator includes a knob configured to be actuated by being rotated, and the second actuator includes first and second handles configured to be actuated by moving relative to the elongate shaft.