Patent•
Working mechanism and manipulator
07 Aug 2007-
TL;DR: In this article, a gear body is disposed forwardly of a tubular member around which a wire is wound and having a rotational axis disposed substantially parallel to the tubular part, and a first gear and a second gear for transmitting rotation of a gearbody to another gear body.
Abstract: A working unit includes a gear body disposed forwardly of a tubular member around which a wire is wound and having a rotational axis disposed substantially parallel to the tubular member, and a first gear and a second gear for transmitting rotation of a gear body to another gear body. The numbers of turns of wires, the size of a main shaft, and the size of a gear body, which are positioned forwardly of the tubular member, have no adverse effect on the manner in which a wire is wound around the tubular member. The wire can be wound around the tubular member over a wide region thereof for increasing the angular displacement of the gear body. The increased angular displacement of the gear body makes it possible to increase the angular displacement and rotational torque of the gear body.
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Patent•
14 Jun 2016
TL;DR: Newness and distinctiveness is claimed in the features of ornamentation as shown inside the broken line circle in the accompanying representation as discussed by the authors, which is the basis for the representation presented in this paper.
Abstract: Newness and distinctiveness is claimed in the features of ornamentation as shown inside the broken line circle in the accompanying representation.
1,500 citations
Patent•
21 Apr 2011TL;DR: In this paper, a surgical instrument can comprise a channel configured to support a staple cartridge and, in addition, an anvil pivotable between open and closed positions relative to the channel.
Abstract: A surgical instrument can comprise a channel configured to support a staple cartridge and, in addition, an anvil pivotable between open and closed positions relative to the channel. The surgical instrument can further comprise a cutting member configured to incise tissue positioned captured between the staple cartridge and the anvil and, in addition, means for stopping the cutting member prior to a distal end datum, wherein the distal end datum can be defined by the distal-most staple cavity in the staple cartridge. In such embodiments, the incision within the tissue may not extend beyond the portion of the tissue that has been stapled.
1,498 citations
Patent•
20 Sep 2016TL;DR: In this article, an E-beam firing bar is used to drive staples on each side of the cut in a surgical severing and stapling instrument, which is suitable for laparoscopic and endoscopic clinical procedures, clamps tissue within an end effector of an elongate channel pivotally opposed by an anvil.
Abstract: A surgical severing and stapling instrument, suitable for laparoscopic and endoscopic clinical procedures, clamps tissue within an end effector of an elongate channel pivotally opposed by an anvil. An E-beam firing bar moves distally through the clamped end effector to sever tissue and to drive staples on each side of the cut. The E-beam firing bar affirmatively spaces the anvil from the elongate channel to assure properly formed closed staples, especially when an amount of tissue is clamped that is inadequate to space the end effector. In particular, an upper pin of the firing bar longitudinally moves through an anvil slot and a channel slot is captured between a lower cap and a middle pin of the firing bar to assure a minimum spacing. Forming the E-beam from a thickened distal portion and a thinned proximal strip enhances manufacturability and facilitates use in such articulating surgical instruments.
1,384 citations
Patent•
27 Oct 2008
TL;DR: In this paper, a handle assembly, a first endoscopic portion, a motor, and a first effector are described, and the first end effector is configured to perform a first stapling function.
Abstract: A surgical instrument including a handle assembly, a first endoscopic portion, a motor, and a first end effector is disclosed. The first endoscopic portion is selectively connectable to a distal portion of the handle assembly and defines a longitudinal axis. The first endoscopic portion includes a housing adjacent its proximal portion and includes an actuation member. The motor is disposed in mechanical cooperation with the housing of the first endoscopic portion and is operatively connected to the actuation member for moving the actuation member substantially along the longitudinal axis. The first end effector is selectively connectable to a distal portion of the first endoscopic portion and is configured to perform a first stapling function.
1,339 citations
Patent•
30 Jan 2007TL;DR: In this article, a surgical cutting and fastening instrument is described, which includes an end effector comprising an elongate channel, a clamping member pivotably connected to the channel, and a moveable cutting instrument for traversing the channel to cut an object clamped in the end-effector by the clamped member when the member is in a clamped position.
Abstract: A surgical cutting and fastening instrument is disclosed. According to various embodiments, the instrument includes an end effector comprising an elongate channel, a clamping member pivotably connected to the channel, and a moveable cutting instrument for traversing the channel to cut an object clamped in the end effector by the clamping member when the clamping member is in a clamped position. The instrument may also comprise a main drive shaft assembly for actuating the cutting instrument in the end effector, a gear drive train connected to the main drive shaft assembly, and a motor for actuating the gear drive train. The instrument may also includes a closure trigger and a firing trigger, separate from the closure trigger, for actuating the motor when the firing trigger is retracted. Also, the instrument may comprise a mechanical closure system connected to the closure trigger and to the clamping member for causing the clamping member to pivot to the clamped position when the closure trigger is retracted.
1,317 citations
References
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Patent•
TL;DR: An articulated surgical instrument for enhancing the performance of minimally invasive surgical procedures is presented in this article.The instrument has a high degree of dexterity, low friction, low inertia and good force reflection, and a cable and pulley drive system operates to reduce friction and enhance force reflection.
Abstract: An articulated surgical instrument for enhancing the performance of minimally invasive surgical procedures. The instrument has a high degree of dexterity, low friction, low inertia and good force reflection. A unique cable and pulley drive system operates to reduce friction and enhance force reflection. A unique wrist mechanism operates to enhance surgical dexterity compared to standard laparoscopic instruments. The system is optimized to reduce the number of actuators required and thus produce a fully functional articulated surgical instrument of minimum size.
1,668 citations
Patent•
21 Sep 1993
TL;DR: In this article, a surgical instrument is provided for use in endoscopic or laparoscopic procedures, which includes a handle portion, an endoscopic portion extending from the handle, an articulating section pivotably connected to a distal end portion of the endoscopic part, and a retractor assembly operatively associated with the articulating part.
Abstract: A surgical instrument is provided for use in endoscopic or laparoscopic procedures. The instrument includes a handle portion, an endoscopic portion extending from the handle portion, an articulating section pivotably connected to a distal end portion of the endoscopic portion, and a retractor assembly operatively associated with the articulating section. Structure is provided for manipulating the articulating section relative to the longitudinal axis of the endoscopic portion within an angular degree of rotation. An injection port may also be provided to deliver fluids through the endoscopic portion to the operative site.
1,493 citations
Patent•
11 Oct 1995
TL;DR: In this article, a surgical instrument with a handle, a barrel, and a detachable end effector is described. But the instrument is operated and controlled by a microprocessor and multidimensional controller or electrical contacts.
Abstract: A surgical instrument having a handle (4), barrel (6), and detachable end effector (8), is provided The barrel is generally tubular, with one end being connected to the handle The end effector is releasably attached to the other end of the barrel, with jaws which may be pivoted, rotated, and operated independently through multiple linkage members (28, 30, 70, 72) connected to a motive power source housed in or attached to the handle The instrument is operated and controlled by a microprocessor and multidimensional controller or electrical contacts included in the handle In the preferred embodiment, closing of jaws is manual with locking means; also, the end effector is scissor-like, but other end effectors such as graspers, clamps, dissectors or needle drivers, with appropriate operating and linkage members, may be attached to the handle
1,060 citations
Patent•
10 Jan 2003TL;DR: In this paper, the proximal portion of the wrist mechanism is connected to the distal end of the linking arm to rotate around a second pitch axis to produce rotation in second pitch.
Abstract: A robotic surgical tool includes an elongate shaft having a working end and a shaft axis, and a pair of linking arms each having a proximal end and a distal end. The proximal end is pivotally mounted on the working end of the shaft to rotate around a first pitch axis to produce rotation in first pitch. A wrist member has a proximal portion pivotally connected to the distal end of the linking arm to rotate around a second pitch axis to produce rotation in second pitch. An end effector is pivotally mounted on a distal portion of the wrist member to rotate around a wrist axis of the wrist member to produce rotation in distal roll. The wrist axis extends between the proximal portion and the distal portion of the wrist member. The elongate shaft is rotatable around the shaft axis to produce rotation in proximal roll. At about 90° pitch, the wrist axis is generally perpendicular to the shaft axis. The proximal roll around the shaft axis and the distal roll around the wrist axis do not overlap. The use of the linking arms allows the end effector to be bent back beyond 90° pitch. The ability to operate the end effector at about 90° pitch and to bend back the end effector renders the wrist mechanism more versatile and adaptable to accessing hard to reach locations, particularly with small entry points such as those involving spinal, neural, or rectal surgical sites.
806 citations
Patent•
30 Oct 2007TL;DR: In this paper, a power transmission mechanism consisting of a flexible power transmission element; a pair of a drive pulley and a driven pulley on which the flexible transmission element is wound, each pulley having a pin-embedding hole formed to extend from the outer circumferential thereof toward the center thereof, and a slit elongated in the circumferent direction of the pulley to extend to opposite sides of the embedding hole and communicating with the embedded hole.
Abstract: A power transmission mechanism comprising: a flexible power transmission element; a pair of a drive pulley and a driven pulley on which the flexible power transmission element is wound, each the pulley having a pin-embedding hole formed to extend from the outer circumferential thereof toward the center thereof, and a slit elongated in the circumferential direction of the pulley to extend to opposite sides of the embedding hole and communicating with the embedding hole; and a pair of columnar or tapered anchor pins each having a path hole penetrating the anchor pin across the lengthwise direction thereof to receive the flexible power transmission element inserted therein, wherein each the anchor pin receiving the flexible power transmission element in the path hole thereof is embedded in the embedding hole of the associated pulley under pressure, and the flexible power transmission element is thereby held on the pulley
513 citations