# US 11,896,255 B2 · End-effector jaw closure transmission systems for remote access tools > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,896,255 B2 - Document ID: US11896255B2 - Status: Granted - Kind: B2 - Application number: 17/084,615 - Filed: 2020-10-29 - Published: 2021-02-18 - Granted: 2024-02-13 - Earliest claimed: 2015-10-05 - Assignees: FlexDex, Inc. - Applicants: FlexDex, Inc. - Inventors: Zachary Zimmerman; Shorya Awtar; Bruce Johnson; Christopher K. Holmes; Peter F. Costa; Ryan Brook Rank; Deepak Sharma; Matthew P. Weber - Web page: https://patentgrep.com/patent/US11896255B2 ## CPC - A61B 17/2909: {Handles} - A61B 17/06066: {Needles, e.g. needle tip configurations} - A61B 17/062: Needle manipulators - A61B 17/29: Forceps for use in minimally invasive surgery - A61B 17/320016: {Endoscopic cutting instruments, e.g. arthroscopes, resectoscopes (A61B10/0233, A61B17/29, A61B17/3207 take precedence)} - A61B 34/71: {Manipulators operated by drive cable mechanisms} - A61B 90/03: {Automatic limiting or abutting means, e.g. for safety} - A61B 2017/00314: {Separate linked members} - A61B 2017/00424: {ergonomic, e.g. fitting in fist} - A61B 2017/00442: {connectable to wrist or forearm} - A61B 2017/0046: {with a releasable handle; with handle and operating part separable} - A61B 2017/00738: {part of the tool being offset with respect to a main axis, e.g. for better view for the surgeon} - A61B 2017/06071: {with an abrupt angle formed between two adjacent sections} - A61B 2017/0608: {J-shaped} - A61B 2017/291: {the position of the handle being adjustable with respect to the shaft} - A61B 2017/2913: {cams or guiding means} - A61B 2017/2919: {details of linkages or pivot points} - A61B 2017/2929: {with a head rotatable about the longitudinal axis of the shaft} - A61B 2017/2936: {Pins in guiding slots} - A61B 2017/2939: {Details of linkages or pivot points} - A61B 2017/2943: {Toothed members, e.g. rack and pinion} - A61B 2017/2944: {Translation of jaw members} - A61B 2017/2947: {Pivots} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract A jaw closure transmission system is presented comprising an input sub-system, output sub-system and a transmission sub-system. ## Claims ### Claim 1 A device having a jaw assembly actuated by a transmission cable, the device comprising: an elongate, flexible transmission guide, wherein the transmission cable is routed through the elongate, flexible transmission guide; an input assembly at a proximal end of the elongate, flexible transmission guide, the input assembly comprising an input body and an input member, the input member coupled to the proximal end of the transmission cable, wherein the input member has an input stroke relative to the input body, further wherein the input stroke includes a first part that corresponds to a displacement of 30% to 70% of the full displacement of the input member and a second part that corresponds to the remaining displacement of the input member; and wherein the jaw assembly is distal to the elongate, flexible transmission guide, the jaw assembly having a first jaw, a second jaw, and a jaw input coupling the transmission cable to the second jaw or the first and second jaw, wherein the jaw assembly has an open configuration when the first and second jaws are fully open relative to each other and a closed configuration when the first and second jaws are closed; further wherein displacement of the input member relative to the input body corresponding to the first part of the input stroke actuates the proximal end of the transmission cable which in turn actuates the jaw input, which in turn closes the first and second jaws until the first and second jaws reach a stop, and thereafter the displacement of the input member relative to the input body corresponding to the second part of the input stroke stretches the transmission cable, wherein the resulting tension in the transmission cable is converted by the jaw assembly to an increasing force between the first and second jaws. ### Claim 2 (depends on 1) The device of claim 1, further comprising one or more intermediate transmissions, wherein the one or more intermediate transmissions are configured to provide a first mechanical advantage during the first part of the input stroke and a second mechanical advantage that is greater than the first mechanical advantage during the second part of the input stroke. ### Claim 3 (depends on 1) The device of claim 1, wherein the input assembly comprises a handle assembly, and wherein the input body is formed by a handle body or is removably coupled to the handle body. ### Claim 4 (depends on 3) The device of claim 3, wherein the handle assembly includes an input lever coupled to the input member when the input body is removably coupled with the handle body. ### Claim 5 (depends on 1) The device of claim 1, wherein the input assembly comprises a linkage or a cam. ### Claim 6 (depends on 1) The device of claim 1, wherein the input assembly comprises a handle assembly and further wherein the input member comprises an input lever. ### Claim 7 (depends on 1) The device of claim 1, wherein the elongate transmission guide comprises a first region of conduit that is flexible in bending. ### Claim 8 (depends on 1) The device of claim 1, wherein the elongate transmission guide is stiff at least along a region through which the transmission cable is routed. ### Claim 9 (depends on 1) The device of claim 1, wherein the input assembly further comprises an input assembly output coupled to the proximal end of the transmission cable, further wherein the input assembly output comprises one or more of: a shuttle, a push rod, or a pull rod. ### Claim 10 (depends on 1) The device of claim 1, further comprising a jaw base to which either or both the first and second jaws are pivotally coupled. ### Claim 11 (depends on 1) The device of claim 1, wherein the jaw input comprises a jaw pulley, and the jaw assembly comprises a cam surface between the jaw pulley and the second jaw. ### Claim 12 (depends on 1) The device of claim 1, further comprising a releasable latch configured to hold the input member locked in a closed position at the end of the input stroke. ### Claim 13 (depends on 1) The device of claim 1, wherein one or both of the jaw assembly and the input assembly are modularly connected to the elongate transmission guide and the transmission cable of the device. ### Claim 14 A device having a jaw assembly actuated by a transmission cable having a finite stiffness in a transmission direction, the device comprising: an elongate, flexible transmission guide, wherein the transmission cable is routed through the elongate, flexible transmission guide; an input assembly at a proximal end of the elongate, flexible transmission guide, the input assembly comprising an input body and an input member, the input member coupled to the proximal end of the transmission cable, wherein the input member has an input stroke relative to the input body, further wherein the input stroke includes a first part that corresponds to a displacement of 30% to 70% of the full displacement of the input member and a second part that corresponds to the remaining displacement of the input member; an intermediate transmission coupled to the transmission cable and configured to provide a first mechanical advantage during the first part of the input stroke and a second mechanical advantage that is greater than the first mechanical advantage during the second part of the input stroke; and wherein the jaw assembly is distal to the elongate, flexible transmission guide, the jaw assembly having a first jaw, a second jaw, and a jaw input coupling the transmission cable to the second jaw or the first and second jaw, wherein the jaw assembly has an open configuration when the first and second jaws are fully open relative to each other and a closed configuration when the first and second jaws are closed; further wherein the displacement of the input member relative to the input body corresponding to the first part of the input stroke actuates the proximal end of the transmission cable which in turn actuates the jaw input, which in turn closes the first and second jaws until the first and second jaws reach a stop, and thereafter the displacement of the input member relative to the input body corresponding to the second part of the input stroke stretches the transmission cable, wherein the resulting tension in the transmission cable is converted by the jaw assembly to an increasing force between the first and second jaws. ### Claim 15 (depends on 14) The device of claim 14, wherein the input assembly is configured to removably couple to a handle assembly so that the input body couples to a handle body and the input member couples to an input lever of the handle assembly. ### Claim 16 (depends on 14) The device of claim 14, wherein the input assembly comprises a linkage or a cam. ### Claim 17 (depends on 14) The device of claim 14, wherein the input assembly comprises a six-bar linkage. ### Claim 18 A method of operating a medical device to close a jaw assembly of the medical device, wherein the medical device comprises an elongate transmission guide, a transmission cable within the transmission guide, and an input assembly at the proximal end of the transmission cable, the input assembly having an input member coupled to the transmission cable, wherein the transmission cable is coupled to an input of the jaw assembly, wherein the jaw assembly is distal to the elongate transmission guide, the method comprising: actuating the input member to apply tension to the transmission cable during a first part of an input stroke of the input assembly to close a first and second jaw of the jaw assembly from an open configuration until the first and second jaws reach a stop; continuing to actuate the input member during a second part of the input stroke after the first and second jaws have reached the stop and stretching the transmission cable; wherein the input stroke consists of a displacement of the input member, and further wherein the input member transitions from the first part of the input stroke to the second part of the input stroke when the input member is between 30% and 70% displaced; and applying a first mechanical advantage to the first and second jaws during the first part of the input stroke and applying a second mechanical advantage to the first and second jaws that is greater than the first mechanical advantage during the second part of the input stroke. ### Claim 19 (depends on 18) The method of claim 18, wherein the first mechanical advantage and the second mechanical advantage are applied by an intermediate transmission coupled to the transmission cable between the input assembly and the jaw assembly. ### Claim 20 (depends on 18) The method of claim 18, further comprising grasping an object between the first and second jaws, wherein the first and second jaws reach the stop when the object is secured between the first and second jaws. ### Claim 21 (depends on 18) The method of claim 18, further comprising locking the input member in a fully closed position. ### Claim 22 (depends on 18) The method of claim 18, further comprising releasing the input member to transition from the second part of the input stroke to the first part of the input stroke, reducing the tension on the transmission cable and reducing the stretch of the transmission cable before translating the transmission cable at the distal end so that the first and second jaws open.