US 12,433,705 B2
Robotic surgical instrument including high articulation wrist assembly with torque transmission and mechanical manipulation
Zachary Traina, Verona, NJ (US)
Assigned to Covidien LP, Mansfield, MA (US)
Filed by Covidien LP, Mansfield, MA (US)
Filed on Jul. 18, 2024, as Appl. No. 18/776,487.
Application 18/776,487 is a continuation of application No. 18/449,892, filed on Aug. 15, 2023, granted, now 12,053,253, issued on Aug. 6, 2024.
Application 18/449,892 is a continuation of application No. 16/769,938, granted, now 11,730,552, issued on Aug. 22, 2023, previously published as PCT/US2019/012017, filed on Jan. 2, 2019.
Claims priority of provisional application 62/613,567, filed on Jan. 4, 2018.
Prior Publication US 2024/0366326 A1, Nov. 7, 2024
Int. Cl. A61B 17/064 (2006.01); A61B 17/072 (2006.01); A61B 34/00 (2016.01); A61B 34/35 (2016.01); A61B 17/00 (2006.01); A61B 17/29 (2006.01); A61B 34/30 (2016.01)
CPC A61B 34/35 (2016.02) [A61B 17/07207 (2013.01); A61B 34/71 (2016.02); A61B 2017/00367 (2013.01); A61B 2017/00398 (2013.01); A61B 2017/00477 (2013.01); A61B 2017/0069 (2013.01); A61B 2017/07257 (2013.01); A61B 2017/07271 (2013.01); A61B 2017/2927 (2013.01); A61B 2034/305 (2016.02)] 20 Claims
OG exemplary drawing
 
1. An electromechanical surgical instrument, comprising:
a housing;
an elongated shaft defining a longitudinal axis and extending distally from the housing;
a wrist assembly supported on the elongated shaft;
a rotatable drive shaft extending through the elongated shaft and through at least a portion of the wrist assembly;
an end effector removably coupled to the wrist assembly, the end effector including a lead screw rotatably supported in the end effector;
a universal joint assembly supported within the wrist assembly and operatively interconnecting the rotatable drive shaft and the lead screw, the universal joint assembly being rotatable by the rotatable drive shaft to actuate a function of the end effector; and
a plurality of cables coupled to the wrist assembly, the plurality of cables movable to manipulate the wrist assembly to articulate the end effector relative to the longitudinal axis.