US 11,717,290 B2
End effector with redundant closing mechanisms
William A. Burbank, Sandy Hook, CT (US)
Assigned to Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed by Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed on Dec. 22, 2020, as Appl. No. 17/130,464.
Application 14/519,908 is a division of application No. 12/945,541, filed on Nov. 12, 2010, granted, now 8,876,857, issued on Nov. 4, 2014.
Application 17/130,464 is a continuation of application No. 16/141,663, filed on Sep. 25, 2018, granted, now 10,898,188.
Application 16/141,663 is a continuation of application No. 14/980,233, filed on Dec. 28, 2015, granted, now 10,098,635, issued on Oct. 16, 2018.
Application 14/980,233 is a continuation of application No. 14/519,908, filed on Oct. 21, 2014, granted, now 9,226,761, issued on Jan. 5, 2016.
Claims priority of provisional application 61/260,907, filed on Nov. 13, 2009.
Prior Publication US 2021/0106330 A1, Apr. 15, 2021
Int. Cl. A61B 17/072 (2006.01); A61B 34/30 (2016.01); A61B 34/00 (2016.01); A61B 50/10 (2016.01); A61B 50/13 (2016.01); A61B 50/15 (2016.01); A61B 34/37 (2016.01); A61B 17/29 (2006.01); A61B 17/285 (2006.01); A61B 17/32 (2006.01); A61B 17/00 (2006.01)
CPC A61B 17/072 (2013.01) [A61B 17/07207 (2013.01); A61B 17/285 (2013.01); A61B 17/29 (2013.01); A61B 17/320016 (2013.01); A61B 34/30 (2016.02); A61B 34/37 (2016.02); A61B 34/71 (2016.02); A61B 50/10 (2016.02); A61B 50/13 (2016.02); A61B 50/15 (2016.02); A61B 2017/00398 (2013.01); A61B 2017/00477 (2013.01); A61B 2017/07214 (2013.01); A61B 2017/2932 (2013.01); A61B 2017/2933 (2013.01); A61B 2017/2938 (2013.01); A61B 2017/2946 (2013.01); A61B 2017/2947 (2013.01); A61B 2017/320052 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A surgical instrument comprising:
an end effector comprising an end effector base and an articulated jaw rotatably mounted to the end effector base for rotation of the articulated jaw relative to the end effector base around an articulated jaw pivot axis that is fixed relative to the end effector base, wherein the end effector base comprises an opposing jaw; and
a first actuation mechanism comprising a first pulley and a first cable segment,
wherein the first pulley is mounted for rotation relative to the end effector base,
wherein the first cable segment is interfaced with a sector of the first pulley,
wherein the first cable segment has a distal end that is attached to the articulated jaw, and
wherein the first actuation mechanism is operable to retract the first cable segment to cause the articulated jaw to apply a grasping force to a tissue disposed between the articulated jaw and the opposing jaw.