US 11,944,337 B2
Surgical instrument with increased actuation force
Ricardo Daniel Rita Beira, Lausanne (CH)
Assigned to Distalmotion SA, Epalinges (CH)
Filed by Distalmotion SA, Epalinges (CH)
Filed on May 22, 2022, as Appl. No. 17/664,412.
Application 17/664,412 is a continuation of application No. 17/032,631, filed on Sep. 25, 2020, granted, now 11,337,716.
Application 17/032,631 is a continuation of application No. 15/756,037, granted, now 10,786,272, issued on Sep. 29, 2020, previously published as PCT/IB2016/001286, filed on Aug. 29, 2016.
Claims priority of provisional application 62/211,019, filed on Aug. 28, 2015.
Prior Publication US 2022/0280179 A1, Sep. 8, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 17/00 (2006.01); A61B 17/29 (2006.01); A61B 17/32 (2006.01); A61B 17/3201 (2006.01); A61B 17/34 (2006.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01)
CPC A61B 17/29 (2013.01) [A61B 17/320016 (2013.01); A61B 17/3201 (2013.01); A61B 17/3478 (2013.01); A61B 34/71 (2016.02); A61B 2017/00314 (2013.01); A61B 2017/00323 (2013.01); A61B 2017/00367 (2013.01); A61B 2017/2913 (2013.01); A61B 2017/2918 (2013.01); A61B 2017/2919 (2013.01); A61B 2017/2933 (2013.01); A61B 2017/2934 (2013.01); A61B 2017/2937 (2013.01); A61B 2034/305 (2016.02)] 19 Claims
OG exemplary drawing
 
1. An articulated surgical instrument comprising:
an end-effector comprising one or more end-effector links, the one or more end-effector links comprising first and second follower geometries, wherein a first end-effector link of the one or more end-effector links is rotatably coupled to a second end-effector link of the one or more end-effector links via an end-effector joint;
a first cam having a first spiral profile rotatably coupled to the first follower geometry;
a second cam having a second spiral profile rotatably coupled to the second follower geometry, wherein the end-effector joint is positioned distal to the first and second follower geometries and the first and second cams; and
flexible mechanical transmissions coupled to the first and second cams, the flexible mechanical transmissions configured to independently rotate the first and second cams in both directions about an axis of the first and second cams to thereby actuate the end-effector with the rotation of the first cam causing an increased actuation force via the one or more follower geometries.