US 11,969,182 B2
End effector and end effector drive apparatus
Daniel H. Kim, Houston, TX (US); Dong Suk Shin, Houston, TX (US); Taeho Jang, Houston, TX (US); Yongman Park, Houston, TX (US); Jeihan Lee, Houston, TX (US); Hongmin Kim, Houston, TX (US); Kihoon Nam, Gwangmyeong (KR); and Seokyung Han, Houston, TX (US)
Assigned to BOARD OF REGENTS OF THE UNIVERSITY OF TEXAS SYSTEM, Austin, TX (US); and ColubrisMX, Inc, Houston, TX (US)
Filed by BOARD OF REGENTS OF THE UNIVERSITY OF TEXAS SYSTEM, Austin, TX (US); and ColubrisMX, Inc, Houston, TX (US)
Filed on Sep. 4, 2020, as Appl. No. 17/013,334.
Application 17/013,334 is a division of application No. 16/495,038, granted, now 10,881,422, previously published as PCT/US2018/066828, filed on Dec. 20, 2018.
Claims priority of provisional application 62/612,220, filed on Dec. 29, 2017.
Prior Publication US 2020/0397457 A1, Dec. 24, 2020
Int. Cl. A61B 17/29 (2006.01); A61B 34/00 (2016.01); A61B 90/30 (2016.01); A61B 17/00 (2006.01); A61B 17/34 (2006.01)
CPC A61B 17/29 (2013.01) [A61B 34/71 (2016.02); A61B 90/30 (2016.02); A61B 2017/0034 (2013.01); A61B 2017/00477 (2013.01); A61B 2017/2905 (2013.01); A61B 2017/2906 (2013.01); A61B 2017/2939 (2013.01); A61B 2017/3445 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A surgical instrument, comprising:
a cap having a plurality of openings comprising a first opening and a second opening extending therethrough;
at least two flexible tubular members comprising a first and a second flexible tubular member;
the first flexible tubular member extendable from, and retractable inwardly of, the first opening in the cap, the first flexible tubular member having a distal end coupled to a first bendable coupling, the first flexible tubular member further including a controllable drive mechanism, the controllable drive mechanism rotatable about its length direction and movable along the length direction, and the first flexible tubular member is bendable by the controllable drive mechanism;
the first bendable coupling independently bendable in two directions orthogonal to one another;
the second flexible tubular member extendable from, and retractable inwardly of, the second opening in the cap, the second flexible tubular member having a distal end coupled to a second bendable coupling;
the second bendable coupling independently bendable in two directions orthogonal to one another;
a first end effector connected to a distal end of the first flexible tubular member; and
a second end effector operatively connected to a distal end of the second flexible tubular member;
each of the first and second end effectors further comprising a housing comprising an outer wall and an opening therein, and opposed first and second walls extending along opposite sides of the opening;
a first actuator pivotally coupled to the first wall of the housing;
a second actuator pivotally coupled to the second wall of the housing; and
a coupling link disposed within the opening of the housing and between at least a portion of the first and second actuators, the coupling link including opposed first and second ends, each end pivotally coupled to a different one of the first and second actuators, wherein the coupling link further comprises opposed first and second sides extending between the first and second ends thereof, and a first coupling pin extending from the first side adjacent to the first end thereof and inwardly of an opening in the first actuator;
wherein the housing further comprises a base and a wire guide extending inwardly of the opening from at least one of the first and second walls, wherein the coupling link is disposed between the base and the wire guide.