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US 12,727,956 B2Granted
End tool for surgical instrument
AssigneeLivsmed Inc.
InventorsJaeyeong Lee, Jung Joo Lee, Heejin Kim, Dongkyu Jang
Life of this patent
Estimating the term…
Abstract
The present disclosure relates to an end tool of a surgical instrument, and more particularly, to an end tool of a surgical instrument that is mountable on a robotic arm or manually operable for use in laparoscopic surgery or various other surgeries.
Claims17
An end tool of a surgical instrument, the end tool comprising:
- a first jaw;
- a second jaw coupled to be rotatable with respect to the first jaw;
- an end tool hub formed to accommodate at least portions of the first jaw and the second jaw;
- a pitch hub axially coupled to the end tool hub to be rotatable with respect to the end tool hub;
- a first pin inserted through the end tool hub and extending in a first direction;
- a second pin inserted through the end tool hub and formed on one side of the first pin to be parallel to the first pin;
- a two-and-a-halfth pin inserted through the end tool hub, and formed on one side of the second pin to extend in a second direction that forms a predetermined angle with the first direction;
- a third pin inserted through the end tool hub and the pitch hub, and formed on one side of the two-and-a-halfth pin to be parallel to the two-and-a-halfth pin;
- a fourth pin inserted through the pitch hub, and formed on one side of the third pin to be parallel to the third pin;
- a first jaw pulley coupled to the first jaw and formed to be rotatable around the first pin;
- a second jaw pulley coupled to the second jaw and formed to be rotatable around the first pin;
- a first auxiliary pulley formed on one side of the first jaw pulley to be rotatable around the second pin;
- a second jaw auxiliary pulley formed on one side of the second jaw pulley to be rotatable around the second pin;
- one or more first jaw pitch redundant pulleys formed on one side of the first jaw auxiliary pulley to be rotatable around the two-and-a-halfth pin;
- one or more second jaw pitch redundant pulleys formed on one side of the second jaw auxiliary pulley to be rotatable around the two-and-a-halfth pin;
- a pair of first jaw pitch main pulleys formed on one side of the one or more first jaw pitch redundant pulleys to be rotatable around the third pin;
- a pair of second jaw pitch main pulleys formed on one side of the one or more second jaw pitch redundant pulleys to be rotatable around the third pin;
- one or more first jaw pitch sub-pulleys formed on one side of the pair of first jaw pitch main pulleys to be rotatable around the fourth pin;
- one or more second jaw pitch sub-pulleys formed on one side of the pair of second jaw pitch main pulleys to be rotatable around the fourth pin;
- a first jaw wire coupled to the first jaw pulley to rotate the first jaw pulley, and wound around at least portions of the pair of first jaw pitch main pulleys;
- and
- a second jaw wire coupled to the second jaw pulley to rotate the second jaw pulley, and wound around at least portions of the pair of second jaw pitch main pulleys.
19 more elements
Dependencies are inferred from the claim text.