US 12,433,701 B2
Geared grip actuation for medical instruments
Bram Gilbert Antoon Lambrecht, Redwood City, CA (US); and Thomas G. Cooper, Menlo Park, CA (US)
Assigned to Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed by Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed on Jul. 18, 2023, as Appl. No. 18/223,324.
Application 18/223,324 is a continuation of application No. 17/242,918, filed on Apr. 28, 2021, granted, now 11,744,656.
Application 17/242,918 is a continuation of application No. 16/317,214, granted, now 11,007,024, issued on May 18, 2021, previously published as PCT/US2017/038343, filed on Jun. 20, 2017.
Claims priority of provisional application 62/362,365, filed on Jul. 14, 2016.
Prior Publication US 2023/0355328 A1, Nov. 9, 2023
Int. Cl. A61B 34/30 (2016.01); A61B 17/00 (2006.01); A61B 17/29 (2006.01); A61B 90/00 (2016.01)
CPC A61B 34/30 (2016.02) [A61B 17/00 (2013.01); A61B 2017/00477 (2013.01); A61B 2017/2943 (2013.01); A61B 2034/302 (2016.02); A61B 2090/031 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A medical instrument, comprising:
an instrument shaft;
an end effector coupled to a distal end portion of the instrument shaft; and
a mechanical structure coupled to a proximal end portion of the instrument shaft, the mechanical structure comprising:
a first driving element configured to be driven along a first displacement,
a second driving element coupled to the end effector, the second drive element configured to be driven along a second displacement different than the first displacement, and
a motion-transform assembly rotatably coupled between the first driving element and the second driving element, the motion-transform assembly being configured to transform the first displacement of the first driving element into the second displacement of the second driving element.