Tool exchange system for a surgical robot
AssigneeNUtech Ventures
InventorsCarl A. Nelson, Raul Gonzalo Garay Romero
Life of this patent
Estimating the term…
Abstract
A surgical tool exchanger includes an elongated base having a first end and a second end. The surgical tool exchanger also includes an end effector configured to receive a replaceable surgical tool and an elbow configured to allow the end effector to pivot with respect to the elongated base. The surgical tool exchanger further includes an actuator connected to the second end of the elongated base. The actuator is operatively connected to the end effector and is configured to cause the end effector to retain the replaceable surgical tool in a first actuation state and release the replaceable surgical tool in a second actuation state.
Claims7
A surgical tool exchanger comprising:
- an elongated base having a first end and a second end;
- an end effector configured to receive a replaceable surgical tool and comprising:
- a body;
- a plurality of jaws;
- a first beam holding a first jaw of the plurality of jaws and extending outwardly from the body;
- a second beam holding a second jaw of the plurality of jaws and extending outwardly from the body;
- a first intermediate portion disposed on the first beam between the first jaw and the body;
- a second intermediate portion disposed on the second beam between the second jaw and the body;
- a slider configured to slide within a cavity defined in the body between a first position and a second position;
- a first end effector actuator directly connected to the second jaw and the slider and passing through the first intermediate portion;
- a second end effector actuator directly connected to the first jaw and the slider and passing through the second intermediate portion;
- an elbow configured to allow the end effector to pivot with respect to the elongated base;
- and
- a main actuator connected to the second end of the elongated base and operatively connected to the end effector and configured to cause the end effector to retain the replaceable surgical tool in a first actuation state and release the replaceable surgical tool in a second actuation state.
A surgical tool exchanger comprising:
- an elongated base having a first end and a second end;
- an end effector connected to the elongated base configured to receive a replaceable surgical tool;
- a main actuator connected to the second end of the elongated base and operatively connected to the end effector and configured to cause the end effector to retain the replaceable surgical tool in a first actuation state and release the replaceable surgical tool in a second actuation state,
- wherein the end effector comprises:
- a body;
- a plurality of jaws connected to the body, wherein
- in the first actuation state, the main actuator causes the plurality of jaws to grip the replaceable surgical tool, and
- in the second actuation state, the main actuator causes the plurality of jaws to release the replaceable surgical tool;
- a first beam holding a first jaw of the plurality of jaws and extending outwardly from the body;
- a second beam holding a second jaw of the plurality of jaws and extending outwardly from the body;
- a first intermediate portion disposed on the first beam between the first jaw and the body;
- a second intermediate portion disposed on the second beam between the second jaw and the body;
- a slider configured to slide within a cavity defined in the body between a first position and a second position;
- a first end effector actuator directly connected to the second jaw and the slider and passing through the first intermediate portion;
- and
- a second end effector actuator directly connected to the first jaw and the slider and passing through the second intermediate portion, wherein:
- in the first actuation state, the main actuator causes the slider to move to the first position, and
- in the second actuation state, the main actuator causes the slider to move to the second position.
Dependencies are inferred from the claim text.