Patent ID: 11877754
Assignee: AURIS HEALTH, INC.
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 9:
10. A robotically controlled surgical instrument, comprising:
an elongate shaft;
a wrist arranged at a distal end of the elongate shaft and providing at least one degree of freedom of movement;
an end effector extending from the wrist and moveable with the wrist, the end effector comprising a cartridge for delivering a plurality of clips in succession without reloading; and
a plurality of clips arranged in a nested relationship within the cartridge to be delivered in succession without reloading, each clip comprising:
a first arm including a first distal portion that curves to form a first loop;
a second arm including a second distal portion that curves to form a second loop; and
a torsion spring coupling proximal ends of the first and second arms and biasing the first and second arms toward each other to a closed position,

wherein the first loop is received within the second loop when in the closed position.