Medical devices having three tool members

Patent metadata

Field	Value
Publication number	US-12458459-B2
Application number	US-202318113204-A
Country	US
Kind code	B2
Filing date	Feb 23, 2023
Priority date	Jul 19, 2018
Publication date	Nov 4, 2025
Grant date	Nov 4, 2025

Abstract

A medical device includes a link, a first tool member, a second tool member and a third tool member, which each have a proximal end portion movably coupled to the link and a distal end portion. The distal end portion of the first tool member can engage a first object and be associated with a first medical function, the distal end portion of the second tool member can engage a second object and be associated with a second medical function, and the distal end portion of the third tool member can engage the first object or the second object and be associated with the first and/or second medical function. Each of the first, second and third tool members can move relative to the link independent of movement of the each of the other tool members.

First claim

What is claimed is:

1 . A medical device, comprising:
an instrument shaft; a clevis assembly including a clevis pin; a first jaw piece including a portion associated with a first medical function; a second jaw piece including an obverse portion associated with the first medical function and a reverse portion associated with a second medical function; and a third jaw piece including a portion associated with the second medical function, wherein: one of the first or second jaw pieces is fixed with reference to the instrument shaft, the other of the first jaw piece or the second jaw piece rotates around the clevis pin, the other of the first jaw piece or the second jaw piece has a first elongate member that extends from a first proximal pulley portion, the third jaw piece has a second elongate portion that extends from a second proximal pulley portion and is configured to rotate about the clevis pin, the portion of the first jaw piece associated with the first medical function opposes the obverse portion of the second jaw piece associated with the first medical function, and the portion of the third jaw piece associated with the second medical function opposes the reverse portion of the second jaw piece associated with the second medical function.

2 . The medical device of claim 1 , wherein:
the clevis assembly is coupled to a distal end of the instrument shaft.

3 . The medical device of claim 2 , further comprising:
a first tension member extending through the instrument shaft, exiting the distal end of the instrument shaft and being routed through the clevis assembly and then coupling to the other of the first jaw piece or the second jaw piece; and a second tension member extending through the instrument shaft, exiting the distal end of the instrument shaft and being routed through the clevis assembly and then coupling to the third jaw piece.

4 . The medical device of claim 3 , further comprising:
a transmission assembly, the transmission assembly including a plurality of drive components, wherein: the instrument shaft includes a proximal end, the transmission assembly is coupled to the proximal end of the instrument shaft, and the first tension member and the second tension member are each coupled to a corresponding one of the plurality of drive components of the transmission assembly.

5 . The medical device of claim 3 , wherein:
the first proximal pulley portion is coupled to the first tension member; the other of the first jaw piece or the second jaw piece is movable relative to the clevis pin when the first tension member is moved; the first tension member is routed over a first pulley in the clevis assembly; the second proximal pulley portion of the third jaw piece is coupled to the second tension member; the third jaw piece is movable relative to the clevis pin when the second tension member is moved; and the second tension member is routed over a second pulley in the clevis assembly.

6 . The medical device of claim 1 , wherein:
the first and second jaw pieces are movably coupled relative to each other such that the portion of the first jaw piece associated with the first medical function and the obverse portion of the second jaw piece associated with the first medical function close together; and the third and second jaw pieces are movably coupled relative to each other such that the portion of the third jaw piece associated with the second medical function and the reverse portion of the second jaw piece associated with the second medical function close together.

7 . The medical device of claim 1 , wherein:
the clevis assembly is a first clevis assembly and the clevis pin is a first clevis pin; the medical device includes a second clevis assembly; the instrument shaft includes a distal end; the second clevis assembly includes a second clevis pin; the second clevis assembly is coupled to the distal end of the instrument shaft; and the first clevis assembly rotates around the second clevis pin.

8 . The medical device of claim 1 , wherein:
the first jaw piece includes a first elongate blade; the first elongate blade includes a first contact surface; the second jaw piece includes a second elongate blade; the second elongate blade includes a second contact surface; the third jaw piece includes a third elongate blade; and the third elongate blade includes a third contact surface.

9 . The medical device of claim 8 , wherein:
two of the first, second and third elongate blades are configured to rotate to an aligned orientation in which the first contact surface, the second contact surface, and the third contact surface are aligned with each other; and two of the first, second and third elongate blades are configured to rotate to a second expanded orientation in which the first contact surface, the second contact surface, and the third contact surface are rotated apart from each other.

10 . The medical device of claim 1 , wherein:
the second jaw piece is between the first jaw piece and the third jaw piece.

11 . The medical device of claim 1 , wherein:
a distal end portion of the first jaw piece has a first contact surface; a distal end portion of the second jaw piece has a second contact surface and a fourth contact surface; the first contact surface and the second contact surface are configured to manipulate a first object; a distal end portion of the third jaw piece has a third contact surface; and the third contact surface and the fourth contact surface are configured to manipulate a second object.

12 . The medical device of claim 11 , wherein:
the first contact surface and the second contact surface have a first grip pattern; the third contact surface and the fourth contact surface have a second grip pattern; and the second grip pattern is different from the first grip pattern.

13 . The medical device of claim 12 , wherein:
the second contact surface is on a first side of the second jaw piece; the first grip pattern on the first contact surface is aligned with the first grip pattern on the second contact surface when the first contact surface and the second contact surface manipulate the first object; the fourth contact surface is on a second side of the second jaw piece; and the second grip pattern on the third contact surface is aligned with the second grip pattern on the fourth contact surface when the third contact surface and the fourth contact surface manipulate the second object.

Assignees

• Intuitive Surgical Operations

Inventors

• Limon Timothy A
• Duque Grant

Classifications

• B25J17/02

  Wrist joints · CPC title

• A61B2034/302

  specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities · CPC title

• A61B2034/305

  Details of wrist mechanisms at distal ends of robotic arms · CPC title

• A61B2017/00367

  Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like · CPC title

• A61B34/70

  Manipulators specially adapted for use in surgery · CPC title