US 12,186,047 B2
Compliant mechanisms having inverted tool members
Jason Dearden, Provo, UT (US); Jordan Tanner, Cypress, TX (US); Clayton Grames, East Palo Alto, CA (US); Bryce Edmondson, Provo, UT (US); Brian D. Jensen, Orem, UT (US); Spencer P. Magleby, Provo, UT (US); and Larry L. Howell, Orem, UT (US)
Assigned to Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed by Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed on Aug. 16, 2021, as Appl. No. 17/403,378.
Application 17/403,378 is a division of application No. 16/096,985, granted, now 11,123,145, previously published as PCT/US2017/028043, filed on Apr. 18, 2017.
Claims priority of provisional application 62/364,469, filed on Jul. 20, 2016.
Claims priority of provisional application 62/329,556, filed on Apr. 29, 2016.
Prior Publication US 2021/0369371 A1, Dec. 2, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/00 (2016.01); A61B 17/29 (2006.01); A61B 34/30 (2016.01); B25J 9/10 (2006.01); B25J 15/02 (2006.01)
CPC A61B 34/71 (2016.02) [A61B 17/29 (2013.01); A61B 34/30 (2016.02); B25J 9/1045 (2013.01); B25J 15/0233 (2013.01); A61B 2017/2902 (2013.01); A61B 2017/2937 (2013.01); A61B 2017/2939 (2013.01); A61B 2034/305 (2016.02)] 19 Claims
OG exemplary drawing
 
1. An apparatus, comprising:
a shaft comprising a distal end portion, a proximal end portion, and a longitudinal axis defined between the distal end portion and the proximal end portion, the distal end portion of the shaft comprising a ground portion;
a tool member comprising an engagement portion and an actuation portion, the engagement portion being configured to exert an engagement force on a target structure, the actuation portion being configured to receive an actuation force at an attachment point; and
a flexure being coupled to the ground portion of the shaft and the tool member, the flexure being configured to deform elastically when the actuation force is exerted on the actuation portion of the tool member such that the tool member rotates relative to the shaft about a pivot axis; and
an actuation cable coupled to the actuation portion of the tool member,
the entire flexure being between the engagement portion of the tool member and a proximal-most surface of the actuation portion of the tool member.