Articulation mechanisms for robotic surgical tools
US-2024252025-A1 · Aug 1, 2024 · US
US9333003B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-9333003-B2 |
| Application number | US-201514661588-A |
| Country | US |
| Kind code | B2 |
| Filing date | Mar 18, 2015 |
| Priority date | Jan 31, 2012 |
| Publication date | May 10, 2016 |
| Grant date | May 10, 2016 |
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A medical device including an elongate member having a proximal end, a distal end, and a lumen extending therebetween. The medical device may further include an end-effector disposed at the distal end of the elongate member. The end-effector may include a plurality of arms pivotally connected to one another, wherein each arm includes a tissue-contacting surface, a first portion of the tissue-contacting surface including a plurality of ridges configured to grasp tissue. Further, the tissue-contacting surface may include a channel oriented substantially parallel to a longitudinal axis of the medical device.
Opening claim text (preview).
What is claimed is: 1. A medical device comprising: an elongate member having a proximal end and a distal end; an end-effector disposed at the distal end of the elongate member, the end-effector including a first arm and a second arm connected at a proximal end of the end-effector to form a jaw-like structure, each of the first and second arms including an inner surface and an outer surface; wherein at least one of the first arm or the second arm includes a plurality of ridges, each ridge extending along the inner surface of the corresponding first arm or second arm in a direction substantially perpendicular to a longitudinal axis of the medical device; and wherein at least one of the first arm or the second arm defines an aperture extending from the inner surface to the outer surface of the corresponding first arm or second arm, and wherein a perimeter of the aperture is completely surrounded by material of the corresponding first arm or second arm. 2. The medical device of claim 1 , wherein at least one of the first arm or the second arm defines a plurality of apertures. 3. The medical device of claim 1 , wherein each of the first arm and the second arm defines at least one aperture. 4. The medical device of claim 3 , wherein the apertures of the first and second arms are aligned when the jaw-like structure is closed. 5. The medical device of claim 1 , wherein each of the first and second arms includes a plurality of ridges. 6. The medical device of claim 5 , wherein each of the first and second arms includes a groove disposed between adjacent ridges of the plurality of ridges, and each ridge of the first arm is aligned with a corresponding groove of the second arm when the jaw-like structure is closed. 7. The medical device of claim 1 , wherein first arm or the second arm includes at least one ridge having a plateau on a top surface of the at least one ridge. 8. The medical device of claim 1 , wherein the first arm or the second arm includes at least one ridge having a sharp surface. 9. The medical device of claim 1 , wherein the first arm pivots relative to the second arm. 10. The medical device of claim 9 , wherein the first arm and the second arm are coupled to a clevis, and wherein the second arm is fixed to the clevis and the first arm pivots relative to the second arm. 11. A medical device comprising: an elongate member having a proximal end and a distal end; an end-effector disposed at the distal end of the elongate member, the end-effector including a first arm and a second arm pivotally connected to the first arm at a proximal end of the end-effector to form a jaw-like structure, each of the first and second arms including an inner surface and an outer surface; wherein each of the first arm and the second arm defines a plurality of apertures extending from the inner surface to the outer surface of the corresponding first arm or second arm, and wherein a perimeter of each aperture of the plurality of apertures is completely surrounded by material of the corresponding first arm or second arm. 12. The medical device of claim 11 , wherein each aperture of the plurality of apertures of the first arm is aligned with an aperture of the plurality of apertures of the second arm when the jaw-like structure is closed. 13. The medical device of claim 11 , wherein at least one of the first arm or the second arm includes a plurality of ridges, each ridge extending along the inner surface of the corresponding first arm or second arm in a direction substantially perpendicular to a longitudinal axis of the medical device. 14. The medical device of claim 13 , wherein each of the first and second arms includes a plurality of ridges. 15. The medical device of claim 14 , wherein the first arm and the second arm are coupled to a clevis at the proximal end of the end-effector. 16. A medical device comprising: an elongate member having a proximal end and a distal end; and an end-effector disposed at the distal end of the elongate member, the end-effector including a first arm and a second arm pivotally connected to each other at a proximal end of the end-effector to form a jaw-like structure, an inner surface of the first arm including an unridged portion adjacent to a ridged portion, the ridged portion comprising a plurality of ridges, each ridge extending along the inner surface in a direction substantially perpendicular to a longitudinal axis of the medical device, the second arm including one or more staples, wherein when the first arm and the second arm move toward one another, free ends of at least one staple of the second arm fold upon themselves and detach from the second arm, after the free ends contact the unridged portion of the first arm. 17. The medical device of claim 16 , wherein the first arm and the second arm are coupled to a clevis at the proximal end of the end-effector. 18. The medical device of claim 16 , wherein the unridged portion is substantially flat. 19. The medical device of claim 16 , wherein each of the first and second arms includes at least one ridged portion comprising a plurality of ridges. 20. The medical device of claim 16 , wherein the first arm includes an unridged portion between two ridged portions.
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