US 12,419,702 B2
Mechanically decoupled closure subsystem
Seth Daniel Holdmeyer, Sharonville, OH (US); Jeffrey L. Clark, Maineville, OH (US); Eric William Brunner, Cincinnati, OH (US); Maria Lupp, Cincinnati, OH (US); Jalen Lee Wize, Cincinnati, OH (US); and Grant Wood Nair, Cincinnati, OH (US)
Assigned to Cilag GmbH International, Zug (CH)
Filed by Cilag GmbH International, Zug (CH)
Filed on Jun. 28, 2022, as Appl. No. 17/852,261.
Prior Publication US 2023/0414300 A1, Dec. 28, 2023
Int. Cl. A61B 34/30 (2016.01); A61B 34/00 (2016.01); B25J 9/10 (2006.01); B25J 17/02 (2006.01)
CPC A61B 34/30 (2016.02) [B25J 9/106 (2013.01); B25J 17/02 (2013.01); A61B 2034/301 (2016.02); A61B 2034/302 (2016.02); A61B 2034/303 (2016.02); A61B 2034/306 (2016.02); A61B 2034/715 (2016.02)] 21 Claims
OG exemplary drawing
 
1. A surgical tool, comprising:
an elongate shaft;
an end effector arranged at a distal end of the elongate shaft and including opposing first and second jaws;
an articulable wrist interposing the end effector and the elongate shaft and comprising a plurality of articulation links arranged in series along a longitudinal length of the articulable wrist; and
a closure redirect mechanism including:
first and second rigid links arranged proximal to the articulable wrist;
first and second transfer mechanisms pivotably mounted to the first and second rigid links, respectively;
first and second transfer links interposing the end effector and the articulable wrist; and
first and second tension members extending distally from the first and second transfer mechanisms, respectively, and being secured to the first and second transfer links, respectively,
wherein moving the first rigid link relative to the second rigid link, and vice versa, causes the first and second transfer links to correspondingly move and thereby open or close the opposing first and second jaws.