US 12,245,830 B2
Articulable wrist with flexible member and pivot guides
William George Saulenas, Cincinnati, OH (US); and Tyler N. Brehm, Dayton, OH (US)
Assigned to Cilag GmbH International, Zug (CH)
Filed by Cilag GmbH International, Zug (CH)
Filed on Sep. 7, 2023, as Appl. No. 18/462,741.
Application 18/462,741 is a continuation of application No. 16/547,217, filed on Aug. 21, 2019, granted, now 11,771,507.
Prior Publication US 2023/0414302 A1, Dec. 28, 2023
Int. Cl. A61B 34/30 (2016.01); A61B 17/00 (2006.01); A61B 17/29 (2006.01); A61B 34/00 (2016.01)
CPC A61B 34/30 (2016.02) [A61B 17/00234 (2013.01); A61B 17/2909 (2013.01); A61B 34/71 (2016.02); A61B 2017/00477 (2013.01); A61B 2017/2926 (2013.01); A61B 2034/301 (2016.02); A61B 2034/305 (2016.02); A61B 2034/715 (2016.02)] 20 Claims
OG exemplary drawing
 
1. An articulable wrist for an end effector, comprising:
a first linkage providing a body and a pair of lobes extending from the body and laterally offset from each other;
a pivot guide defining a central aperture and providing opposing cylindrical heads rotatably received into corresponding apertures defined in each lobe, the pivot guide further including opposing pins extending radially outward from each cylindrical head;
a second linkage rotatably coupled to the first linkage at the opposing pins and thereby defining an articulation joint articulable about a pivot axis; and
a flexible member extending through the central aperture and a central channel cooperatively defined by the first and second linkages,
wherein the pivot guide supports an outer diameter of the flexible member at the articulation joint and thereby prevents the flexible member from flexing beyond the pivot axis during articulation.