US 12,329,403 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 Endoquest Robotics, Inc., Houston, TX (US)
Filed by BOARD OF REGENTS OF THE UNIVERSITY OF TEXAS SYSTEM, Austin, TX (US); and Endoquest Robotics, Inc., Houston, TX (US)
Filed on Nov. 15, 2023, as Appl. No. 18/510,452.
Application 18/510,452 is a division of application No. 17/013,311, filed on Sep. 4, 2020, granted, now 12,011,188.
Application 17/013,311 is a division of application No. 16/495,038, granted, now 10,881,422, issued on Jan. 5, 2021, 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 2024/0081849 A1, Mar. 14, 2024
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)] 6 Claims
OG exemplary drawing
 
1. A mechanism to controllably move a plurality of wires within a flexible tubular member, each of the wires including a first wire end and a second wire end extending outwardly of a proximal end of the flexible tubular member, comprising:
a drive mechanism including a plurality of motors;
each of the first wire end and second wire end are individually coupled to a lead screw mechanism dedicated thereto and located in an outer housing, wherein each lead screw mechanism is configured to be dedicatedly driven by one of the motors and includes a lead screw mechanism housing, wherein each lead screw mechanism housing is fixed with respect to the outer housing;
a first lever assembly located between the drive mechanism and the first wire end and a second lever assembly located between the drive mechanism and the second wire end,
an adaptor coupling; and
a first wire actuation member at least partially disposed inwardly of a first bore extending inwardly of the adaptor coupling and moveable within the adaptor coupling in the direction toward, and away from, the first wire end, the first wire actuation member connected via the first lever assembly to the first wire end, and a second wire actuation member at least partially disposed inwardly of a second bore, different than the first bore, extending inwardly of the adaptor coupling and moveable within the adaptor coupling in the direction toward, and away from, the second wire end, the second wire actuation member connected via the second lever assembly to the second wire end, wherein movement of at least a portion of the first wire actuation member in a direction toward or away from the first wire end results in a movement in the opposite direction of the first wire end, wherein the first lever assembly is disposed in a location extended from the exterior of the adaptor coupling
wherein the first lever assembly comprises a first lever assembly first end, a first lever assembly second end, and a pivot located therebetween, and the adaptor coupling further comprises a plunger fixedly and hingedly pinned from the first lever assembly second end allowing the first lever assembly second end to swing from the plunger.