Apparatus and method for controlling an end-effector assembly
AssigneeConavi Medical Inc.
InventorsEric Butt, Jeff Ransden, Alexander Shvartsberg, Reiza Rayman
Life of this patent
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Abstract
An apparatus for controlling an end-effector assembly is provided. The apparatus includes a elongated element configured to engage the end-effector assembly and a drive assembly. A first motion transfer mechanism is disposed at an end of the elongated element. The first motion transfer mechanism is configured to transfer a rotational motion of the elongated element to a motion of the end-effector assembly. A second motion transfer mechanism is disposed at the second end of the elongated element. The second motion transfer mechanism is configured to transfer a motion of the drive assembly to the rotational motion of the elongated element.
Claims20
A robotic surgical instrument, comprising:
- an end-effector;
- a tube extending along an axis between a proximal end and a distal end, the end effector pivotably coupled to the distal end of the tube and configured to pivot about a second axis perpendicular to the axis, a gear fixed to an outer surface of the proximal end of the tube;
- and
- a second tube extending between a second proximal end and a second distal end and nested coaxially with the tube, the second distal end coupled with the end effector,
- wherein rotation of the gear rotates the tube about the axis and pivots a working member of the end effector about the second axis.
A robotic surgical system, comprising:
- a support arm;
- and
- a surgical instrument coupled to the support arm, the surgical instrument comprising:
- an end-effector;
- a tube extending along an axis between a proximal end and a distal end, the end effector pivotably coupled to the distal end of the tube and configured to pivot about a second axis perpendicular to the axis, a gear fixed to an outer surface of the proximal end of the tube;
- and
- a second tube extending between a second proximal end and a second distal end and nested coaxially with the tube, the second distal end coupled with the end effector,
- wherein rotation of the gear rotates the tube about the axis and pivots a working member of the end effector about the second axis.
Dependencies are inferred from the claim text.