US 12,419,714 B2
Surgical 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 ENDOQUEST ROBOTICS, INC., Houston, TX (US); and BOARD OF REGENTS OF THE UNIVERSITY OF TEXAS SYSTEM, Austin, TX (US)
Filed by ColubrisMX, Inc, Houston, TX (US); and BOARD OF REGENTS OF THE UNIVERSITY OF TEXAS SYSTEM, Austin, TX (US)
Filed on May 20, 2021, as Appl. No. 17/325,495.
Application 17/325,495 is a division of application No. 16/495,028, filed on Sep. 17, 2019, granted, now 11,419,691, issued on Aug. 23, 2022.
Prior Publication US 2021/0267702 A1, Sep. 2, 2021
Int. Cl. A61B 34/00 (2016.01); A61B 17/295 (2006.01); A61B 17/32 (2006.01); A61B 34/30 (2016.01); A61B 17/00 (2006.01); A61B 17/29 (2006.01)
CPC A61B 34/71 (2016.02) [A61B 17/295 (2013.01); A61B 17/320016 (2013.01); A61B 34/30 (2016.02); A61B 34/74 (2016.02); A61B 2017/00309 (2013.01); A61B 2017/00314 (2013.01); A61B 2017/00327 (2013.01); A61B 2017/00477 (2013.01); A61B 2017/2906 (2013.01); A61B 2034/301 (2016.02); A61B 2034/715 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A surgical instrument, comprising:
a carriage mounted on a base, the carriage moveable linearly on the base;
at least one support extending from, and supported by, the carriage;
at least one frame supported on the carriage, the frame moveable linearly by linear movement of the carriage, and also moveable rotationally about an axis extending from the support, the carriage, the support and the at least one frame moveable linearly, along the base, by a first linear actuator and the at least one frame moveable rotationally by a rotational actuator interposed between the first linear actuator and the frame;
at least one robotic controller supported by the at least one frame, wherein the at least one robotic controller is linearly moveable inwardly and outwardly of the at least one frame, and the robotic controller includes a coupling face and at least one moveable member moveable toward and away from the coupling face;
a coupling configured to connect to a steerable member, the end of which is configured with an end effector, the steerable member actuable to bend by operation of the at least one robotic controller moveable inwardly and outwardly of the frame, the coupling further including at least one wire extending therefrom to the end effector and a wire connection releasably coupleable to the moveable member of the robotic controller; and
a flexible sheath coupling configured to connect to a flexible sheath.