Source: http://www.google.de/patents/US9226761
Timestamp: 2017-11-24 02:09:47
Document Index: 411759500

Matched Legal Cases: ['§119', 'Application No. 61', 'Application No. 2012539035', 'Application No. 2013200054', 'Application No. 2013200053', 'Application No. 201080051475', 'Application No. 2013200054', 'Application No. 2012539033', 'Application No. 201080051059', 'Application No. 2012539037']

Patent US9226761 - End effector with redundant closing mechanisms - Google Patentsuche
End effectors with redundant closing mechanisms, and related tools and methods are disclosed. The disclosed end effectors may be particularly beneficial when used for minimally invasive surgery. An example surgical tool comprises an elongate shaft having a proximal end and a distal end, a tool body disposed...http://www.google.de/patents/US9226761?utm_source=gb-gplus-sharePatent US9226761 - End effector with redundant closing mechanisms
Veröffentlichungsnummer US9226761 B2
Anmeldenummer US 14/519,908
Eingetragen 21. Okt. 2014
Auch veröffentlicht unter CN102596058A, CN102596058B, CN105193469A, EP2467065A2, US8876857, US20110118778, US20150142047, US20160106429, WO2011060311A2, WO2011060311A3
Veröffentlichungsnummer 14519908, 519908, US 9226761 B2, US 9226761B2, US-B2-9226761, US9226761 B2, US9226761B2
Erfinder William Burbank
Patentzitate (125), Nichtpatentzitate (16), Referenziert von (1), Klassifizierungen (30)
US 9226761 B2
introducing a jaw of a tool to an internal surgical site within a patient through a minimally invasive aperture or natural orifice, the jaw being configured to open and close on a distal side of a jaw pivot point;
treating a target tissue at the internal surgical site using a clamping force by applying a force to the jaw of the tool at a proximal side of the jaw pivot point with a second actuation mechanism, the second actuation mechanism extending along the shaft from outside the patient to the jaw, the clamping force being greater than the grasping force.
4. The method of claim 2, wherein closing the jaw using rotation of the drive shaft comprises rotating a leadscrew.
5. The method of claim 4, wherein closing the jaw using rotation of the drive shaft comprises:
translating a leadscrew driven cam operatively coupled with the leadscrew; and
transferring the force applied to the jaw of the tool at the proximal side of the jaw pivot via contact between the leadscrew driven cam and an interfacing cam surface of the jaw.
6. The method of claim 5, comprising manipulating tissue with the leadscrew driven cam positioned along the leadscrew such that the jaw is articulated through a range of motion without contact between the leadscrew driven cam and the jaw.
7. The method of claim 1, wherein the clamping force is at least 20 lbs.
8. A method for actuating a moveable jaw of an end effector of a manipulator mounted tool, the method comprising:
releasably mounting a proximal chassis of a tool to a manipulator having a first drive;
supporting an instrument shaft of the tool via the proximal chassis, the instrument shaft having a proximal end and a distal end;
supporting an end effector via the distal end of the instrument shaft;
driving a first actuation mechanism with the first drive to articulate the moveable jaw between an open configuration and a closed configuration, wherein the moveable jaw is configured to open and close on a distal side of a jaw pivot and the first actuation mechanism applies force to the moveable jaw at a proximal side of the jaw pivot to vary position of the moveable jaw; and
operating a drive motor coupled with the proximal chassis and disposed adjacent to the tool chassis to apply force to the moveable jaw at the proximal side of the jaw pivot via a second actuation mechanism to hold the moveable jaw in the clamped configuration.
9. The method of claim 8, wherein driving a first actuation mechanism with the first drive to articulate the moveable jaw between an open configuration and a closed configuration comprises actuating cables extending within a bore of the instrument shaft and operatively coupling the moveable jaw to the first drive.
10. The method of claim 8, comprising back driving the first actuation mechanism with the second actuation mechanism so as to articulate the moveable jaw from the open configuration to the closed configuration.
11. The method of claim 8, wherein the articulation of the second drive mechanism comprises rotating a leadscrew.
12. The method of claim 11, wherein the application of force to the moveable jaw via the second actuation mechanism comprises:
transferring the force applied to the moveable jaw of the tool at the proximal side of the jaw pivot via contact between the leadscrew driven cam and an interfacing cam surface of the moveable jaw.
13. The method of claim 12, wherein driving the first actuation mechanism to articulate the moveable jaw between the open configuration and the closed configuration is performed with the leadscrew driven cam positioned along the leadscrew such that the moveable jaw is articulated through a range of motion without contact between the leadscrew driven cam and the moveable jaw.
14. The method of claim 1, wherein the second actuation mechanism applies a force to the moveable jaw at the proximal side of the jaw pivot such that the movable jaw applies a clamping force at the distal side of the jaw pivot of at least 20 lbs.
introducing a jaw of a tool to a surgical site, the jaw being configured to open and close on a distal side of a jaw pivot point;
manipulating tissue at the surgical site with a grasping force by articulating the jaw with a first actuation mechanism, the first actuation mechanism extending along a shaft to the jaw; and
treating a target tissue at the surgical site using a clamping force by applying a force to the jaw of the tool at a proximal side of the jaw pivot point with a second actuation mechanism, the second actuation mechanism extending along the shaft to the jaw, the clamping force being greater than the grasping force.
16. The method of claim 15, wherein the manipulation of the tissue is performed by closing the jaw using tension in a first cable segment and by opening the jaw using tension in a second cable segment, the first actuation mechanism comprising the cable segments, and wherein the treatment of the tissue is performed by closing the jaw using rotation of a drive shaft within the shaft of the tool, the second actuation mechanism comprising the drive shaft.
17. The method of claim 16, wherein the second mechanism back-drives the first mechanism such that articulation of the second actuation mechanism to close the jaw will drive the cable segments toward a closed jaw configuration, wherein articulation of the second actuation mechanism toward an open jaw configuration will not back-drive the first mechanism or open the jaw if the cable segments remain in a closed jaw configuration.
18. The method of claim 16, wherein closing the jaw using rotation of the drive shaft comprises:
rotating a leadscrew;
19. The method of claim 18, comprising manipulating tissue with the leadscrew driven cam positioned along the leadscrew such that the jaw is articulated through a range of motion without contact between the leadscrew driven cam and the jaw.
20. The method of claim 15, wherein the clamping force is at least 20 lbs.
This application is a divisional of U.S. application Ser. No. 12/945,541, filed Nov. 12, 2010, which claims the benefit under 35 U.S.C. §119(e) of U.S. Provisional Application No. 61/260,907, filed Nov. 13, 2009, the disclosures of which are incorporated herein by reference. This application is also related to U.S. application Ser. No. 12/945,730, filed Nov. 12, 2010, U.S. application Ser. No. 12/945,740, filed Nov. 12, 2010, U.S. application Ser. No. 12/945,748, filed Nov. 12, 2010 and U.S. application Ser. No. 12/945,461, filed Nov. 12, 2010; the full disclosures of which are incorporated herein by reference.
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Internationale Klassifikation A61B17/072, A61B17/00, A61B17/29, A61B17/32
Unternehmensklassifikation A61B17/29, A61B17/285, A61B17/072, A61B17/320016, A61B34/30, A61B50/13, A61B50/15, A61B34/71, A61B34/37, A61B50/10, A61B2017/2933, A61B2017/2946, A61B2017/2932, A61B17/07207, A61B2017/2947, A61B2017/320052, A61B2017/00477, A61B2017/2938, A61B2017/00398, A61B2017/07214, A61B2019/2223, A61B19/2203, A61B2019/025, A61B2019/0255, A61B19/0248, A61B2019/2242