Methods, Systems, and Devices Relating to Surgical End Effectors
AssigneeBoard of Regents of the Univeristy of Nebraska
InventorsShane Farritor, Tom Frederick, Joe Bartels
Life of this patent
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Abstract
The embodiments disclosed herein relate to various medical device components, including components that can be incorporated into robotic and/or in vivo medical devices, and more specifically including end effectors that can be incorporated into such devices. Certain end effector embodiments include various vessel cautery devices that have rotational movement as well as cautery and cutting functions while maintaining a relatively compact structure. Other end effector embodiments include various end effector devices that have more than one end effector.
Claims20
(canceled)
An end effector for an in vivo device, the end effector comprising:
- (a) an actuator housing comprising at least one actuator, wherein the actuator housing is operably coupleable to an arm of an in vivo robotic device, wherein the arm and the actuator housing are configured to be positioned entirely within a cavity of a patient;
- and
- (b) an end effector housing operably coupled to the actuator housing, the end effector housing comprising:
- (i) a first end effector rotationally coupled to the end effector housing such that the first end effector is rotatable in relation to the end effector housing around a first axis parallel to a longitudinal axis of the actuator housing;
- and
- (ii) a second end effector rotationally coupled to the end effector housing such that the second end effector is rotatable in relation to the end effector housing around a second axis parallel to the longitudinal axis of the actuator housing.
A end effector for an in vivo device, the end effector comprising:
- (a) an actuator housing comprising at least one actuator, wherein the actuator housing is operably coupleable to an arm of an in vivo robotic device, wherein the arm and the actuator housing are configured to be positioned entirely within a cavity of a patient;
- and
- (b) an end effector housing operably coupled to the actuator housing, the end effector housing comprising:
- (i) a cautery component end effector rotationally coupled to the end effector housing such that the cautery component end effector is rotatable in relation to the end effector housing around a first axis parallel to a longitudinal axis of the actuator housing;
- (ii) a cautery component rotational gear operably coupled to the cautery component end effector;
- (iii) a grasper end effector rotationally coupled to the end effector housing such that the grasper end effector is rotatable in relation to the end effector housing around a second axis parallel to the longitudinal axis of the actuator housing;
- and
- (iv) a grasper rotational gear operably coupled to the grasper end effector.
A end effector for an in vivo device, the end effector comprising:
- (a) an actuator housing comprising at least one actuator, wherein the actuator housing is operably coupleable to an arm of an in vivo robotic device, wherein the arm and the actuator housing are configured to be positioned entirely within a cavity of a patient;
- and
- (b) an end effector housing operably coupled to the actuator housing, the end effector housing comprising:
- (i) a first end effector comprising a retractable cautery component, the retractable cautery component operably coupled to the end effector housing such that the retractable cautery component comprises a retracted position and an extended position;
- and
- (ii) a second end effector rotationally coupled to the end effector housing such that the second end effector is rotatable in relation to the end effector housing around a first axis parallel to a longitudinal axis of the actuator housing.
Dependencies are inferred from the claim text.