US 12,186,049 B2
Expandable instrument actuator
Matthew Robert Penny, Holly Springs, NC (US); Kevin Andrew Hufford, Durham, NC (US); and Paul Wilhelm Schnur, Pittsboro, NC (US)
Assigned to Asensus Surgical US, Inc., Durham, NC (US)
Filed by Asensus Surgical US, Inc., Durham, NC (US)
Filed on Aug. 22, 2023, as Appl. No. 18/454,043.
Application 18/454,043 is a continuation of application No. 16/932,654, filed on Jul. 17, 2020, granted, now 11,730,556.
Application 16/932,654 is a continuation in part of application No. 16/732,307, filed on Dec. 31, 2019, granted, now 11,690,688, issued on Jul. 4, 2023.
Claims priority of provisional application 62/875,003, filed on Jul. 17, 2019.
Claims priority of provisional application 62/874,982, filed on Jul. 17, 2019.
Claims priority of provisional application 62/874,988, filed on Jul. 17, 2019.
Claims priority of provisional application 62/874,985, filed on Jul. 17, 2019.
Claims priority of provisional application 62/787,254, filed on Dec. 31, 2018.
Prior Publication US 2023/0390016 A1, Dec. 7, 2023
Int. Cl. A61B 46/00 (2016.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01); A61B 90/98 (2016.01); B25J 9/12 (2006.01); B25J 15/00 (2006.01)
CPC A61B 46/30 (2016.02) [A61B 34/30 (2016.02); A61B 34/70 (2016.02); A61B 90/98 (2016.02); B25J 9/126 (2013.01); B25J 15/0028 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A method of actuating a surgical instrument using an actuator assembly of a robotic manipulator, the method comprising the steps of:
providing an actuator assembly having a first face and a second face;
providing a surgical instrument having a proximal body comprising a first control input and a second control input;
moving the actuator assembly from a first position in which the first face and the second face are spaced by a first distance, to a second position in which the first face and second face are spaced by a second, larger, distance;
with the actuator assembly in the second position, positioning the proximal body between the first face and the second face;
with the proximal body between the first face and the second face, moving the actuator assembly from the second position to the first position;
activating a first motor in the actuator assembly to advance a first drive element with respect to the first face, the first drive element advancing the first control input relative to the proximal body to cause at least one of j aw actuation or articulation of the surgical instrument;
activating a second motor in the actuator assembly to advance a second drive element with respect to the second face, second first drive element advancing the second control input relative to the proximal body to cause at least one of jaw actuation or articulation of the surgical instrument.