Patent ID: 9610088
Date: 2017-04-04
CPC Classifications: A61B

Claim:
1. A manipulator adapted to grasp and draw tissue comprising: a first arm having a distal end and a proximal end; a second arm having a distal end and a proximal end; wherein the distal ends of the first and second arm are separated by a distance; a first grasping surface connected to and extending from the distal end of the first arm at a first pivot point; wherein the first grasping surface is rigid and cylindrical in shape; a second grasping surface connected to and extending from the distal end of the second arm at a second pivot point; wherein the second grasping surface is rigid and cylindrical in shape; wherein the first grasping surface and the second grasping surface are biased toward each other; wherein when the first arm and second arm are actuated to reduce the distance, the manipulator is adapted such that tissue, configured to be arranged between the first grasping surface and the second grasping surface, resists actuation of the first arm and the second arm; and wherein the first arm and second arm are further actuatable so that the first grasping surface and the second grasping surface pivot at respective first and second pivot points such that the distance between the distal ends of the first and second arms is reduced; and the manipulator is adapted such that tissue is configured to be drawn toward the proximal end of the first and second arms; wherein the entire first grasping surface and the entire second grasping surface are offset from a plane defined by the first arm and the second arm in order to avoid interference with said first and second arms, as the first and second arms are activated to reduce the distance; and wherein the first grasping surface is provided on a first disk and the second grasping surface is provided on a second disk.