US 11,992,287 B2
Articulable medical devices having flexible wire routing
Grant Duque, San Jose, CA (US); Lawrence Kerver, San Jose, CA (US); David I. Moreira Ridsdale, Saratoga, CA (US); Harsukhdeep Singh Ratia, Foster City, CA (US); Joseph P. Orban, III, Norwalk, CT (US); and Zhou Ye, Santa Clara, CA (US)
Assigned to Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Appl. No. 17/045,679
Filed by Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
PCT Filed Apr. 9, 2019, PCT No. PCT/US2019/026581
§ 371(c)(1), (2) Date Oct. 6, 2020,
PCT Pub. No. WO2019/199827, PCT Pub. Date Oct. 17, 2019.
Claims priority of provisional application 62/655,496, filed on Apr. 10, 2018.
Prior Publication US 2021/0022819 A1, Jan. 28, 2021
Int. Cl. A61B 18/12 (2006.01); A61B 18/14 (2006.01); A61B 34/00 (2016.01); A61B 34/35 (2016.01); A61B 17/00 (2006.01); A61B 17/29 (2006.01); A61B 17/32 (2006.01); A61B 18/00 (2006.01); A61B 34/30 (2016.01)
CPC A61B 34/71 (2016.02) [A61B 18/1445 (2013.01); A61B 34/35 (2016.02); A61B 2017/00323 (2013.01); A61B 2017/2903 (2013.01); A61B 2017/2908 (2013.01); A61B 17/320016 (2013.01); A61B 2018/00595 (2013.01); A61B 2034/301 (2016.02); A61B 2034/715 (2016.02)] 17 Claims
OG exemplary drawing
 
1. An apparatus, comprising:
a tension member, a link comprising a distal portion, a transfer member, a tool member, and a non-drive wire;
the transfer member being coupled to the distal portion of the link and coupled to the tension member such that the transfer member rotates relative to the link when the tension member is moved, the transfer member including a rotatable pulley;
the tool member comprising a base portion movably coupled to the transfer member, the tool member comprising a contact portion configured to engage a target tissue, and movement of the tension member urges the tool member to move relative to the link between a first orientation and a second orientation; and
the non-drive wire comprising a first end portion, a second end portion, and a central portion between the first end portion and the second end portion,
the first end portion being coupled to an energy source,
the second end portion being coupled to the contact portion of the tool member,
the central portion comprising a transition portion within a cavity defined within a portion of the rotatable pulley of the transfer member, the rotatable pulley including a guide portion defined by an outer wall, the outer wall having a first wall portion with a first height and a second wall portion with a second height, the first height being shorter than the second height, the first wall portion defining a wire entry sector at which the non-drive wire enters the cavity, and
the transition portion having a compact first configuration when the tool member is in the first orientation and an expanded second configuration when the tool member is in the second orientation.