US 12,285,230 B2
Surgical tool end effectors with alignment arms
Eric Johnson, Maineville, OH (US); and Jason Alan Hill, Loveland, OH (US)
Assigned to Cilag GmbH International, Zug (CH)
Filed by Cilag GmbH International, Zug (CH)
Filed on Nov. 3, 2021, as Appl. No. 17/518,175.
Prior Publication US 2023/0139796 A1, May 4, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/00 (2016.01); A61B 17/00 (2006.01); A61B 34/30 (2016.01); A61B 34/37 (2016.01)
CPC A61B 34/37 (2016.02) [A61B 17/00234 (2013.01); A61B 34/25 (2016.02); A61B 34/71 (2016.02); A61B 2017/00296 (2013.01); A61B 2017/00314 (2013.01); A61B 2034/301 (2016.02); A61B 2034/306 (2016.02); A61B 2034/715 (2016.02)] 13 Claims
OG exemplary drawing
 
1. A robotic surgical tool, comprising:
an elongate shaft;
an end effector arranged at a distal end of the shaft and including a first jaw providing a first jaw extension and a second jaw providing a second jaw extension; and
an articulable wrist interposing the end effector and the distal end of the shaft, the wrist including:
a distal clevis;
first and second pulleys rotatably mounted to the distal clevis at a pivot axis, the first jaw extension being pinned to the first pulley and the second jaw extension being pinned to the second pulley;
a linkage mounted to the first and second jaws and defining a slot; and
an alignment arm rotatably mounted to the first pulley at the pivot axis and providing an alignment bar translatable within the slot.