Patent ID: 9333041
Filing Date: 2016-05-10
CPC Classification: A61B,B25J

Claim Text:
1. A surgical manipulator comprising: i) a serially jointed surgical manipulator arm, comprising; ii) a robotic wrist mounted on a last of said three or more consecutively coupled right-angle drive mechanisms so that when said last of said three or more consecutively coupled right-angle drive mechanisms output pulley is rotated, said robotic wrist rotates about said last mechanisms output axis, said robotic wrist including a wrist output shaft and a wrist-roll axis; and iii) an end-effector mounted to said wrist output shaft, said end-effector including gripping means for releasibly gripping a surgical tool wherein said end-effector is rotatable about said wrist-roll axis; wherein said end-effector includes a) an assembly including an interface configured to be attached to said serially jointed surgical manipulator arm, a tool-yaw motor, a tool-actuation motor; b) a magnetic tool holder mounted to said assembly and being detachable therefrom, said magnetic tool holder being configured to automatically engage and release a surgical tool; c) a tool-actuation mechanism mounted to said assembly and being detachable therefrom, said tool-actuation mechanism being configured to automatically engage and release a piston on the surgical tool, said tool-actuation mechanism being coupled to said tool-actuation motor; and d) a tool-yaw drive mechanism mounted to said assembly and being detachable therefrom, said tool-yaw drive mechanism being coupled to said tool-yaw motor, wherein upon activation of said tool-yaw drive mechanism the surgical tool engaged by said magnetic tool holder rotates about a tool-yaw axis and wherein upon activation of said tool-actuation mechanism the piston of the engaged surgical tool is linearly retracted or linearly extended with respect to said end-effector thereby activating a tool portion of the surgical tool.