US 11,653,989 B2
Surgical instrument apparatus, actuator, and drive
Perry A. Genova, Chapel Hill, NC (US); and Aki Hannu Einari Laakso, Raleigh, NC (US)
Assigned to TITAN MEDICAL INC., Toronto (CA)
Filed by Titan Medical Inc., Toronto (CA)
Filed on Aug. 2, 2022, as Appl. No. 17/878,958.
Application 17/878,958 is a continuation of application No. 17/859,276, filed on Jul. 7, 2022.
Application 17/859,276 is a continuation of application No. 17/511,658, filed on Oct. 27, 2021, granted, now 11,382,708, issued on Jul. 12, 2022.
Application 17/511,658 is a continuation of application No. 17/406,147, filed on Aug. 19, 2021.
Application 17/406,147 is a continuation of application No. 16/427,164, filed on May 30, 2019, granted, now 11,123,146, issued on Sep. 21, 2021.
Prior Publication US 2022/0361973 A1, Nov. 17, 2022
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 17/29 (2006.01)
CPC A61B 34/71 (2016.02) [A61B 17/00234 (2013.01); A61B 17/29 (2013.01); A61B 34/30 (2016.02); A61B 2017/00314 (2013.01); A61B 2017/00327 (2013.01); A61B 2017/2908 (2013.01); A61B 2034/306 (2016.02)] 22 Claims
OG exemplary drawing
 
1. A surgical instrument apparatus for performing a surgical procedure within a body cavity of a patient, the apparatus comprising:
an elongate manipulator having a distal end configured to support an end effector and including a plurality of control links extending through the manipulator and operatively engaged with the end effector, the manipulator defining a longitudinal axis; and
an actuator chassis disposed at a proximal end of the manipulator, wherein the actuator chassis is substantially cylindrically shaped, the actuator chassis including a plurality of actuators slidingly mounted within the actuator chassis and configured to move linearly in a direction aligned with the longitudinal axis, each actuator being coupled to at least one of the plurality of control links, the actuators being adjacently radially arranged about a periphery of the actuator chassis, each actuator including an outwardly oriented portion configured to cause movement of the control link.