US 5,490,861 AGranted

Track guided end effector assembly for use with endoscopic instruments

AssigneeSymbiosis Corporation

InventorsPeter K. Kratsch, Kevin F. Hahnen

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Abstract

An end effector assembly for use with an endoscopic instrument includes a clevis and first and second end effectors. The clevis has curved channels extending from a distal portion of the clevis towards the proximal portion of the clevis means. Each channel has first and second inner curved walls. The end effectors each have proximally extending tangs with first and second curved surfaces. The tangs of the end effectors are respectively disposed in the channels of the clevis, and are guided by the channels such that when they are moved forward by a control member of the endoscopic instrument first curved surfaces of the tangs engage said first inner curved walls of the clevis to cause the end effectors to open. When the control member moves the end effectors back, the second curved surfaces of the tang engage the second inner curved walls of the clevis which cause the end effector to close. The curvature and/or the angle of the curves in the tangs and/or the clevis grooves determine how fast the end effectors open and close relative to a given movement of the push rod, and how they decelerate or accelerate during closing and opening.

Claims24

Dependent claims

An end effector assembly for use with an endoscopic instrument having a tube member, a control member extending through the tube member, and an actuator mechanism coupled to the proximal ends of the tube member and the control member whereby reciprocal movement of the control member through the tube member is effected by the actuator mechanism, said end effector assembly comprising:

a) a clevis means having a proximal portion for coupling with a distal end of the tube member, and having first and second inner curved walls defining a first curved channel extending from a distal portion of said clevis means towards said proximal portion of said clevis means, and having a throughbore extending from a proximal end of said clevis means to said first curved channel, said throughbore for receiving the control member;
b) first and second end effectors, said first end effector having a first proximally extending tang with first and second curved surfaces, said tang having a first proximal coupling means for coupling to the control member, said tang being disposed in said first curved channel such that said tang is guided by said first curved channel and when it is moved forward by the control member, a first curved surface of said tang engages said first inner curved wall and causes said first end effector to open relative to said second end effector, and when it is moved backward by the control member, said second curved surface of said tang engages said second inner curved wall and causes said first end effector to close relative to said second end effector.

a) a cylindrical clevis formed from two semi-cylindrical halves, each clevis half having a proximal semi-cylindrical opening for receiving a distal end of the tube member, and a longitudinal groove which extends distally from said proximal semi-cylindrical opening, bends away from a longitudinal axis of the clevis half and exits said clevis half at a distal end thereof;
b) a pair of identical end effectors, each end effector having a working distal end with a working surface and a proximal tang extending proximally from said working distal end and curving in a plane which is substantially perpendicular to said working surface, each said tang being laterally offset from a longitudinal axis of said end effector and having a proximal hole for receiving the control member;
and
c) a cylindrical clevis sleeve for holding said two identical semi-cylindrical halves together, wherein
each tang is disposed in a respective longitudinal groove of a respective clevis half such that each said tang is guided by said groove when it is moved by the control member to thereby open and close said end effectors.

2 more elements

Dependencies are inferred from the claim text.