Surgical end effectors and pulley assemblies thereof

Patent metadata

Field	Value
Publication number	US-10219869-B2
Application number	US-201415116339-A
Country	US
Kind code	B2
Filing date	Nov 5, 2014
Priority date	Feb 12, 2014
Publication date	Mar 5, 2019
Grant date	Mar 5, 2019

Abstract

An end effector of a surgical tool includes a first jaw and a second jaw rotated by a driving pulley. A first driven pulley is attached to the first jaw and a second driven pulley is attached to the second jaw. A first end portion of a first cable is connected to a first radial side of the first driven pulley, a second end portion of the first cable is connected to a second radial side of the second driven pulley, and an intermediate portion of the first cable is connected to the driving pulley. A first end portion of a second cable is connected to a first radial side of the second driven pulley, a second end portion of the second cable is connected to a second radial side of the first driven pulley, and an intermediate portion of the second cable is connected to the driving pulley.

First claim

What is claimed is:

1. A method of actuating an end effector, comprising:
rotating a driving pulley in an end effector of a surgical tool in a first direction about a first axis to open a first jaw and a second jaw each being pivotable about a second axis, the end effector including:
a first driven pulley attached to the first jaw and a second driven pulley attached to the second jaw, the first and second driven pulleys being rotatable about the second axis, each driven pulley including a first radial side and a second radial side;
a first cable having a first end portion, a second end portion, and an intermediate portion, the first end portion connected to the first radial side of the first driven pulley, the second end portion connected to the second radial side of the second driven pulley, and the intermediate portion connected to the driving pulley; and
a second cable having a first end portion, a second end portion, and an intermediate portion, the first end portion connected to the first radial side of the second driven pulley, the second end portion connected to the second radial side of the first driven pulley, and the intermediate portion connected to the driving pulley; and

rotating the driving pulley in a second direction about the first axis to close the first and second jaws about the second axis.

2. The method as recited in claim 1 , further comprising:
rotating the first and the second driven pulleys via the first cable responsive to rotating the driving pulley in the first direction; and
rotating the first and the second driven pulleys via the second cable responsive to rotating the driving pulley in the second direction.

3. The method as recited in claim 2 , further comprising:
tensioning the first cable and slacking the second cable during rotation of the driving pulley in the first direction and the second cable is in a slack condition; and
tensioning the second cable and slacking the first cable during rotation of the driving pulley in the second direction.

4. The method as recited in claim 1 , further comprising connecting the intermediate portions of the first and second cables to a common point of the driving pulley.

5. The method as recited in claim 1 , further comprising crimping the intermediate portions of the first and second cables to the driving pulley.

6. The method as recited in claim 1 , further comprising:
positioning the first end portion of the first cable parallel to the second end portion of the second cable; and
crossing the first end portion of the second cable and the second end portion of the first cable.

7. The method as recited in claim 1 , further comprising fixedly attaching a proximal end of the first jaw to a circumferential edge of the first drive pulley and a proximal end of the second jaw to a circumferential edge of the second drive pulley.

8. The method as recited in claim 1 , further comprising creating a toothed portion in the first and the second jaws.

9. The method as recited in claim 1 , further comprising spacing the first axis a lateral distance from the second axis.

10. The method as recited in claim 1 , further comprising connecting the first and second cables to the driving pulley at a location offset a radial distance from the second axis.

11. The method as recited in claim 1 , further comprising looping the intermediate portions of the first and second cables through an anchor member on the driving pulley.

12. The method as recited in claim 1 , further comprising attaching a hook to a circumferential edge of the driving pulley.

Assignees

• Covidien Lp

Inventors

• Seow Chi Min

Classifications

• A61B17/3201

  Scissors (for biopsy A61B10/02) · CPC title

• A61B2017/2938

  Independently actuatable jaw members, e.g. two actuating rods · CPC title

• F16H2019/085

  by using flexible members · CPC title

• A61B2017/2944

  Translation of jaw members · CPC title

• A61B34/30 Primary

  Surgical robots · CPC title