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US 2019/0336199 A1Published application
Dual axle robotic end effector
AssigneeEthicon, Inc.
InventorsBarry Christian Worrell, Joseph Michael Mueller, Rudolph Henry Nobis
Life of this patent
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Abstract
An end effector includes a distal clevis, an axle mounted to the distal clevis, a first jaw holder and corresponding first jaw member rotatably mounted to the axle, and a second jaw holder and corresponding second jaw member rotatably mounted to the axle. A sleeve axle has a first end, a second end, and a central passageway that extends between the first and second ends. The axle is received within the central passageway and the sleeve axle is rotatable relative to the axle.
Claims20
An end effector, comprising:
- a distal clevis;
- an axle mounted to the distal clevis;
- a first jaw holder and corresponding first jaw member rotatably mounted to the axle;
- a second jaw holder and corresponding second jaw member rotatably mounted to the axle;
- and
- a sleeve axle having a first end, a second end, and a central passageway extending between the first and second ends, wherein the axle is received within the central passageway and the sleeve axle is rotatable relative to the axle.
3 more elements
A surgical tool, comprising:
- a drive housing;
- an elongate shaft that extends from the drive housing;
- a wrist operatively coupled to a distal end of the shaft and having a distal clevis and an axle mounted to the distal clevis;
- an end effector having a first jaw holder and corresponding first jaw member rotatably mounted to the axle and a second jaw holder and corresponding second jaw member rotatably mounted to the axle;
- and
- a sleeve axle radially interposing the first and second jaw holders and the axle and rotatable relative to the axle.
3 more elements
A method of operating a surgical tool, comprising:
- positioning the surgical tool adjacent a patient for operation, the surgical tool including:
- a drive housing;
- an elongate shaft that extends from the drive housing;
- a wrist operatively coupled to a distal end of the shaft and having a distal clevis and an axle mounted to the distal clevis;
- an end effector having a first jaw holder and corresponding first jaw member rotatably mounted to the axle and a second jaw holder and corresponding second jaw member rotatably mounted to the axle;
- and
- a sleeve axle radially interposing the first and second jaw holders and the axle and rotatable relative to the axle;
- articulating at least one of the first and second jaw members about the axle;
- and
- mitigating galling of the axle with the sleeve axle.
7 more elements
Dependencies are inferred from the claim text.