US 12,029,520 B2
Articulate wrist with flexible central member having stiffening members
William G. Saulenas, Cincinnati, OH (US); and Tyler N. Brehm, Dayton, OH (US)
Assigned to CILAG GMBH INTERNATIONAL, Zug (CH)
Filed by CILAG GMBH INTERNATIONAL, Zug (CH)
Filed on Oct. 25, 2021, as Appl. No. 17/509,654.
Application 17/509,654 is a continuation of application No. 16/366,036, filed on Mar. 27, 2019, granted, now 11,166,777.
Prior Publication US 2022/0039894 A1, Feb. 10, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/00 (2016.01); A61B 17/29 (2006.01); A61B 18/14 (2006.01); B25J 9/10 (2006.01); B25J 17/02 (2006.01); A61B 18/00 (2006.01); A61B 34/30 (2016.01)
CPC A61B 34/71 (2016.02) [A61B 17/29 (2013.01); A61B 18/1445 (2013.01); B25J 9/104 (2013.01); B25J 17/0258 (2013.01); A61B 2017/2939 (2013.01); A61B 2018/00601 (2013.01); A61B 2018/0063 (2013.01); A61B 2018/1452 (2013.01); A61B 34/30 (2016.02); A61B 2034/305 (2016.02); A61B 2034/306 (2016.02)] 12 Claims
OG exemplary drawing
 
1. An articulable wrist for an end effector, comprising:
a distal linkage provided at a distal end of the articulable wrist;
a proximal linkage provided at a proximal end of the articulable wrist;
a central channel cooperatively defined at least in part by the distal and proximal linkages and extending between the distal and proximal ends;
a flexible member arranged within the central channel and providing one or more lobes arranged about a periphery of the flexible member; and
one or more stiffening members arranged within the flexible member and extending at least partially between the distal and proximal ends, wherein at least one of the one or more stiffening members is positioned within a corresponding one of the one or more lobes.