Articulation mechanisms for robotic surgical tools
US-2024252025-A1 · Aug 1, 2024 · US
US9717518B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-9717518-B2 |
| Application number | US-201313773440-A |
| Country | US |
| Kind code | B2 |
| Filing date | Feb 21, 2013 |
| Priority date | Feb 22, 2012 |
| Publication date | Aug 1, 2017 |
| Grant date | Aug 1, 2017 |
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A medical device including an elongate member having a proximal end and a distal end and an end-effector disposed at the distal end of the elongate member is disclosed. The end-effector further includes a plurality of arms, which may pivot or move relative to one another. Further, each arm includes an inner edge defining a cutting edge, and an outer edge having at least one geometric feature for manipulating tissue.
Opening claim text (preview).
What is claimed is: 1. A medical device comprising: a member having a proximal end and a distal end; and an end-effector disposed at the distal end of the member, the end-effector including a plurality of arms, wherein at least one of the arms is configured to pivot relative to any other arm, each arm including a radially inward facing edge defining a cutting edge and a radially outward facing edge having at least one geometric feature for manipulating tissue, wherein the radially outward facing edge of each arm is configured to cauterize tissue, the radially inward facing edge of each arm is non-conductive, the radially outward facing edge of each arm defines a recess that extends radially inward toward a longitudinal axis of the member, and the recess of each arm is convex when viewed from the longitudinal axis, wherein an entirety of the radially inward facing edge of each arm is non-conductive. 2. The medical device of claim 1 , wherein the arms are blades. 3. The medical device of claim 1 , wherein the plurality of arms includes two arms, wherein the two arms are configured to pivot relative to one another. 4. The medical device of claim 1 , wherein the geometric feature comprises serrations for grasping tissue, and the radially outward facing edge of at least one of the arms includes blunt surfaces interspaced between the serrations. 5. The medical device of claim 1 , wherein the arms are curved relative to a longitudinal axis of the member. 6. The medical device of claim 1 , wherein the radially inward facing edge of at least one of the arms includes serrated teeth. 7. The medical device of claim 1 , further including an expandable element having a proximal end and a distal end, wherein the proximal end of the expandable element is coupled to a proximal end of the end-effector, wherein the expandable element is movable between a collapsed configuration and an expanded configuration, and wherein the expandable element has a plurality of legs circumferentially spaced from one another. 8. The medical device of claim 7 , wherein distal ends of the plurality of legs converge toward one another. 9. A medical device comprising: a member having a proximal end and a distal end; and an end-effector comprising two blades disposed at the distal end of the member, wherein at least one of the blades is configured to pivot relative to the other blade, each blade having a radially inward facing edge and a radially outward facing edge, the radially inward facing edges cooperating for cutting tissue, wherein each radially outward facing edge includes a geometric feature configured to cut tissue, the radially outward facing edges are configured to cauterize tissue, the radially inward facing edges are non-conductive, the radially outward facing edge of each blade defines a recess that extends radially inward toward a longitudinal axis of the member, and the recess of each blade is convex when viewed from the longitudinal axis; and an expandable element having a proximal end and a distal end, wherein the proximal end of the expandable element is coupled to a proximal end of the end-effector, the expandable element is movable between a collapsed configuration and an expanded configuration, and the expandable element has a plurality of legs circumferentially spaced from one another. 10. The medical device of claim 9 , wherein the radially inward facing edge of at least one of the blades includes serrated teeth. 11. The medical device of claim 9 , wherein the two blades are configured to rotate relative to one another. 12. The medical device of claim 9 , wherein the radially outward facing edge of at least one of the blades includes a projection for cutting tissue. 13. The medical device of claim 9 , wherein the radially inward facing edge of one of the blades includes a relief curve. 14. The medical device of claim 9 , wherein distal ends of the plurality of legs converge toward one another. 15. A medical device comprising: a member having a proximal end and a distal end; an end-effector disposed at the distal end of the member, the end-effector including a first arm and a second arm, wherein the first arm is configured to pivot relative to the second arm, each arm including a radially inward facing edge defining a cutting edge and a radially outward facing edge having at least one geometric feature for cauterizing tissue, and wherein at least a portion of each of the first and second arms is curved relative to a longitudinal axis of the member, wherein the radially inward facing edges are non-conductive, the radially outward facing edge of each arm defines a recess that extends radially inward toward the longitudinal axis, and the recess of each arm is convex when viewed from the longitudinal axis; and an expandable element having a proximal end and a distal end, wherein the proximal end of the expandable element is coupled to a proximal end of the end-effector, wherein the expandable element is movable between a radially-collapsed configuration and a radially-expanded configuration, wherein the expandable element has a plurality of legs circumferentially spaced from one another, and wherein distal ends of the plurality of legs converge toward one another. 16. The medical device of claim 15 , wherein the radially inward facing edge of at least one of the first arm or the second arm includes serrated teeth. 17. The medical device of claim 15 , wherein each of the first arm and the second arm is coupled to a clevis. 18. The medical device of claim 15 , further including a pivot pin, wherein the first arm and the second arm are coupled to one another via the pivot pin, wherein the expandable element is coupled to the end-effector proximally of the pivot pin, and wherein the distal end of the expandable element is distal to distal ends of the first arm and the second arm.
Scissors · CPC title
Hook · CPC title
one mechanical instrument performing multiple functions, e.g. cutting and grasping · CPC title
combined with cutting implements · CPC title
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