US 12,441,010 B2
Apparatus and method for controlling an end-effector assembly
Eric Butt, Orange, CT (US); Jeff Ransden, Fairfield, CT (US); Alexander Shvartsberg, Oakville (CA); and Reiza Rayman, Toronto (CA)
Assigned to CONAVI MEDICAL INC., North York (CA)
Filed by CONAVI MEDICAL CORP., North York (CA)
Filed on Dec. 5, 2023, as Appl. No. 18/529,208.
Application 18/529,208 is a continuation of application No. 18/164,479, filed on Feb. 3, 2023, granted, now 11,872,694.
Application 18/164,479 is a continuation of application No. 16/676,311, filed on Nov. 6, 2019, granted, now 11,571,820, issued on Feb. 7, 2023.
Application 16/676,311 is a continuation of application No. 14/262,221, filed on Apr. 25, 2014, granted, now 10,471,607, issued on Nov. 12, 2019.
Application 14/262,221 is a continuation of application No. PCT/CA2011/001225, filed on Nov. 4, 2011.
Prior Publication US 2024/0173875 A1, May 30, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 18/00 (2006.01); A61B 17/00 (2006.01); A61B 17/29 (2006.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01); B25J 15/02 (2006.01)
CPC B25J 18/00 (2013.01) [A61B 34/70 (2016.02); A61B 2017/00309 (2013.01); A61B 2017/00314 (2013.01); A61B 2017/00526 (2013.01); A61B 2017/2905 (2013.01); A61B 2017/2908 (2013.01); A61B 2017/2927 (2013.01); A61B 2034/301 (2016.02); A61B 2034/305 (2016.02); B25J 15/0206 (2013.01); B25J 15/0213 (2013.01); Y10S 901/23 (2013.01); Y10T 74/20311 (2015.01); Y10T 74/20329 (2015.01)] 20 Claims
OG exemplary drawing
 
1. A robotic surgical instrument, comprising:
an end-effector;
a tube extending along an axis between a proximal end and a distal end, the end effector pivotably coupled to the distal end of the tube and configured to pivot about a second axis perpendicular to the axis, a gear fixed to an outer surface of the proximal end of the tube; and
a second tube extending between a second proximal end and a second distal end and nested coaxially with the tube, the second distal end coupled with the end effector,
wherein rotation of the gear rotates the tube about the axis and pivots a working member of the end effector about the second axis.