US 11,872,694 B2
Apparatus and method for controlling an end-effector assembly
Eric Butt, Orange, CT (US); Jeff Ransden, Fairfield, CT (US); Alexander Shvartsberg, Oakville (CA); and Reiza Rayman, Toronto (CA)
Assigned to Titan Medical Inc., Toronto (CA)
Filed by Titan Medical Inc., Toronto (CA)
Filed on Feb. 3, 2023, as Appl. No. 18/164,479.
Application 18/164,479 is a continuation of application No. 16/676,311, filed on Nov. 6, 2019, granted, now 11,571,820.
Application 16/676,311 is a continuation of application No. 14/262,221, filed on Apr. 25, 2014, granted, now 10,471,607.
Application 14/262,221 is a continuation of application No. PCT/CA2011/001225, filed on Nov. 4, 2011.
Prior Publication US 2023/0256627 A1, Aug. 17, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 18/00 (2006.01); A61B 34/00 (2016.01); B25J 15/02 (2006.01); A61B 34/30 (2016.01); A61B 17/00 (2006.01); A61B 17/29 (2006.01)
CPC B25J 18/00 (2013.01) [A61B 34/70 (2016.02); A61B 2017/00309 (2013.01); A61B 2017/00314 (2013.01); A61B 2017/00526 (2013.01); A61B 2017/2905 (2013.01); A61B 2017/2908 (2013.01); A61B 2017/2927 (2013.01); A61B 2034/301 (2016.02); A61B 2034/305 (2016.02); B25J 15/0206 (2013.01); B25J 15/0213 (2013.01); Y10S 901/23 (2013.01); Y10T 74/20311 (2015.01); Y10T 74/20329 (2015.01)] 19 Claims
OG exemplary drawing
 
1. A robotic surgical instrument, comprising:
an end-effector assembly comprising a working member configured to pivot about a first axis;
an elongated element extending between a proximal end and a distal end, the distal end being affixed with respect to the end effector assembly to hold the first axis perpendicular to the elongated element; and
a second elongated element extending between a second proximal end and a second distal end, the second distal end of the second elongated element being coupled with the end effector assembly so that rotation of the second elongated element about a second axis pivots the working member about the first axis,
wherein the elongated element and second elongated element are nested together and rotatable, and wherein the elongated element is a first tube, the second elongated element is a second tube, and the elongated element and second elongated element are nested together so that one of the first tube and the second tube is disposed within the other of the first tube and the second tube.