US 11,771,507 B2
Articulable wrist with flexible member and pivot guides
William George 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 Aug. 21, 2019, as Appl. No. 16/547,217.
Prior Publication US 2021/0052332 A1, Feb. 25, 2021
Int. Cl. A61B 17/00 (2006.01); A61B 17/29 (2006.01); A61B 34/30 (2016.01); A61B 34/00 (2016.01)
CPC A61B 34/30 (2016.02) [A61B 17/00234 (2013.01); A61B 17/2909 (2013.01); A61B 34/71 (2016.02); A61B 2017/00477 (2013.01); A61B 2017/2926 (2013.01); A61B 2034/301 (2016.02); A61B 2034/305 (2016.02); A61B 2034/715 (2016.02)] 22 Claims
OG exemplary drawing
 
1. An articulable wrist for an end effector, comprising:
a first linkage;
a second linkage rotatably coupled to the first linkage at a first articulation joint;
a flexible member extending at least partially through a central channel cooperatively defined by the first and second linkages; and
a first pivot guide rotatably coupled to the second linkage at the first articulation joint and rotatable about a first pivot axis extending through the first articulation joint, the first pivot guide defining a central aperture alignable with the central channel and sized to accommodate the flexible member therethrough,
wherein the first pivot guide is constrained to pivot only about the first pivot axis and comprises first and second matable members that cooperatively define the central aperture when mated, and
wherein the first pivot guide supports an outer diameter of the flexible member at the first articulation joint and thereby prevents the flexible member from flexing beyond the first pivot axis during articulation.