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US 12,751,732 B2Granted
Surgical medical instrument and gripping device
AssigneeKawasaki Jukogyo Kabushiki Kaisha
InventorsToru Aibe, Takeshi Matsuura, Tamami Oryu, Eiji Sato, Yohei Murase
Life of this patent
Estimating the term…
Abstract
A surgical medical instrument (100) includes a first jaw (11) and a second jaw (12) operable to be rotated about a jaw rotation axis (A1) and about a wrist rotation axis (A2) by a first piston (31), a second piston (32), a third piston (33), and a fourth piston (34).
Claims15
A surgical medical instrument comprising:
- a first jaw;
- a second jaw;
- a first piston and a second piston to rotate the first jaw;
- a third piston and a fourth piston to rotate the second jaw;
- a first link to connect the first jaw to the first piston;
- a second link to connect the first jaw to the second piston;
- a third link to connect the second jaw to the third piston;
- and
- a fourth link to connect the second jaw to the fourth piston;
- wherein
- the first to fourth pistons are placed in parallel in a direction intersecting with a longitudinal direction of the surgical medical instrument;
- and
- the first jaw and the second jaw are operable to be rotated both about a jaw rotation axis and about a wrist rotation axis by the first to fourth pistons.
10 more elements
A gripping device comprising:
- a first gripper;
- a second gripper;
- a first piston and a second piston to rotate the first gripper;
- a third piston and a fourth piston to rotate the second gripper;
- a first link to connect the first gripper to the first piston;
- a second link to connect the first gripper to the second piston;
- a third link to connect the second gripper to the third piston;
- and
- a fourth link to connect the second gripper to the fourth piston;
- wherein
- the first to fourth pistons are placed in parallel in a direction intersecting with a longitudinal direction of the gripping device;
- and
- the first gripper and the second gripper are operable to be rotated both about a gripper rotation axis and about a wrist rotation axis by the first to fourth pistons.
10 more elements
Dependencies are inferred from the claim text.