Patent ID: 11957371
Assignee: COVIDIEN LP
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 7:
8. A robotically-controlled end effector comprising:
a housing;
a jaw support shaft secured to the housing and defining a pivot axis;
a pair of jaw members supported on the jaw support shaft and being pivotable about the pivot axis, the pair of jaw members including a first jaw member and a second jaw member, each of the pair of jaw members defining a support shaft slot therethrough and including a pulley pin and a jaw pin extending in opposite directions relative to a respective one of the pair of jaw members, the support shaft slot having a first end portion and a second end portion, the jaw members slidably movable through the support shaft slot from the first end portion to the second end portion as the pair of jaw members pivot about the pivot axis, each of the pair of jaw members defining a jaw pin slot positioned to receive an opposing one of the jaw pins of the pair of j aw members; and
a pair of cam pulleys secured to the jaw support shaft and the pair of jaw members, the pair of cam pulleys being rotatable about the pivot axis to effectuate at least one of: (1) an articulating movement or (2) a pivoting movement of the pair of jaw members about the jaw support shaft, the pair of cam pulleys including a first cam pulley and a second cam pulley, the first cam pulley coupled to the first jaw member, the second cam pulley coupled to the second jaw member, the first cam pulley and the first jaw member being configured to move relative to one another.