US 12,268,406 B2
Actuation combiner mechanism and motor for a surgical tool
Jose Luis de Cordoba Matilla, Malaga (ES)
Assigned to Verb Surgical Inc., Santa Clara, CA (US)
Filed by Verb Surgical Inc., Santa Clara, CA (US)
Filed on May 11, 2022, as Appl. No. 17/742,052.
Prior Publication US 2023/0363782 A1, Nov. 16, 2023
Int. Cl. A61B 17/29 (2006.01); A61B 17/00 (2006.01); A61B 34/00 (2016.01); A61B 34/35 (2016.01)
CPC A61B 17/2909 (2013.01) [A61B 34/35 (2016.02); A61B 34/76 (2016.02); A61B 2017/00398 (2013.01); A61B 2017/2919 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A surgical tool for a surgical robotic system, the surgical tool comprising:
a surgical tool grasper having a jaw operable to perform a surgical procedure;
a handle coupled to the surgical tool grasper and having a lever operable to actuate the jaw; and
an actuation combiner mechanism comprising a rotatable member coupled to the lever by a first input link coupled to the rotatable member at a first pivot point, a motor by a second input link coupled to the rotatable member at a second pivot point, and a movable yoke by an output link to combine an actuation force output of the lever with an actuation force output of the motor to control the operation of the jaw using the yoke or the lever.