US 12,114,946 B2
Tool gripper with integrated concentric shutter and methods for its use
Yossi Bar, Bern (CH); Lior Kimron, Bern (CH); and Gael Bornet, Bern (CH)
Assigned to LEM Surgical AG, Bern (CH)
Filed by LEM Surgical AG, Bern (CH)
Filed on Apr. 10, 2024, as Appl. No. 18/631,921.
Application 18/631,921 is a continuation in part of application No. PCT/IB2023/055047, filed on May 16, 2023.
Claims priority of provisional application 63/602,367, filed on Nov. 22, 2023.
Claims priority of provisional application 63/342,363, filed on May 16, 2022.
Prior Publication US 2024/0252265 A1, Aug. 1, 2024
Int. Cl. A61B 34/30 (2016.01); A61B 34/00 (2016.01)
CPC A61B 34/30 (2016.02) [A61B 2034/305 (2016.02)] 30 Claims
OG exemplary drawing
 
1. A gripper assembly for holding tools, said gripper assembly comprising: a housing configured for mounting on a robotic arm;
a gripper mechanism coupled to the housing and comprising at least one pair of opposed bodies each having a cylindrical peripheral surface with a circumferentially oriented tapered groove formed therein;
wherein the tapered grooves are shaped similarly and have partial circular cross-sections with radii that decrease from an initial end of the groove to a terminal end of the groove and wherein the opposed bodies are configured to rotate about their respective axes to orient the tapered grooves to form a gripping surface with a generally continuous circular periphery with (1) a diameter that depends on the rotational positions of the opposed bodies and (2) a center that remains fixed relative to the gripper mechanism regardless of the rotational positions of the opposed bodies.