US 12,433,624 B2
Actuation combiner mechanism for a surgical tool
Jose Luis de Cordoba Matilla, Malaga (ES)
Assigned to Verb Surgical Inc., Santa Clara, CA (US)
Filed by Verb Surgical Inc., Santa Clara, CA (US)
Filed on May 11, 2022, as Appl. No. 17/742,009.
Prior Publication US 2023/0363780 A1, Nov. 16, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 17/29 (2006.01); A61B 17/00 (2006.01); A61B 34/35 (2016.01)
CPC A61B 17/29 (2013.01) [A61B 34/35 (2016.02); A61B 2017/00473 (2013.01); A61B 2017/00477 (2013.01); A61B 2017/2903 (2013.01); A61B 2017/2925 (2013.01); A61B 2017/2929 (2013.01)] 21 Claims
OG exemplary drawing
 
1. A surgical tool for a surgical robotic system, the surgical tool comprising:
a surgical tool grasper having a jaw operable to perform a surgical procedure;
a handle coupled to the surgical tool grasper and having a lever operable to actuate the jaw; and
an actuation combiner mechanism coupled to the lever and having a combiner wheel operable to combine a first actuation force input of a lever input link from the lever coupled to the combiner wheel at a first pivot point with a second actuation force input of a mechanical input link from a mechanical actuator coupled to the combiner wheel at a second pivot point into an output link coupled to the combiner wheel at a center pivot point to control the operation of the jaw or the lever, and wherein at least one of the first pivot point or the second pivot point is at a fixed position on the combiner wheel.