US 12,453,596 B2
Methods, systems, and devices relating to surgical end effectors
Shane Farritor, Lincoln, NE (US); Tom Frederick, Gretna, NE (US); and Joe Bartels, Pittsburgh, PA (US)
Assigned to Board of Regents of the University of Nebraska, Lincoln, NE (US)
Filed by Board of Regents of the University of Nebraska, Lincoln, NE (US)
Filed on Nov. 1, 2023, as Appl. No. 18/499,600.
Application 18/499,600 is a continuation of application No. 17/352,817, filed on Jun. 21, 2021, granted, now 11,832,871.
Application 17/352,817 is a continuation of application No. 16/512,510, filed on Jul. 16, 2019, granted, now 11,065,050, issued on Jul. 20, 2021.
Application 16/512,510 is a continuation of application No. 15/700,713, filed on Sep. 11, 2017, granted, now 10,350,000, issued on Jul. 16, 2019.
Application 15/700,713 is a continuation of application No. 14/745,587, filed on Jun. 22, 2015, granted, now 9,757,187, issued on Sep. 12, 2017.
Application 14/745,587 is a continuation of application No. 13/493,725, filed on Jun. 11, 2012, granted, now 9,060,781, issued on Jun. 23, 2015.
Claims priority of provisional application 61/498,919, filed on Jun. 20, 2011.
Claims priority of provisional application 61/495,487, filed on Jun. 10, 2011.
Prior Publication US 2024/0081893 A1, Mar. 14, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 18/18 (2006.01); A61B 17/32 (2006.01); A61B 18/14 (2006.01); A61B 18/00 (2006.01); A61B 34/30 (2016.01)
CPC A61B 18/1445 (2013.01) [A61B 2018/00345 (2013.01); A61B 2018/00595 (2013.01); A61B 2018/0063 (2013.01); A61B 2018/1455 (2013.01); A61B 34/30 (2016.02); A61B 2034/301 (2016.02)] 20 Claims
OG exemplary drawing
 
1. An in-vivo vessel sealing end effector, the end effector comprising:
(a) an in vivo end effector body coupleable to an arm of an in vivo robotic device, wherein the arm and the end effector body are configured to be positioned entirely within a cavity of a patient, the end effector body comprising at least one actuator and a cautery component shaft disposed within the body;
(b) a bipolar vessel cautery component operably coupled to the end effector body, the cautery component comprising:
(i) first and second jaws disposed at a distal end of the cautery component shaft; and
(ii) a cutting component moveably coupled to the cautery component shaft;
(c) an electrical connection disposed on the cautery component shaft, wherein the electrical connection is electrically coupled to one of the first and second jaws;
(d) a first slip ring disposed within the end effector body, wherein the first slip ring is electrically coupled with the electrical connection during rotation of the cautery component shaft;
(e) a second slip ring disposed within the end effector body, wherein the second slip ring is electrically coupled with the cautery component shaft during rotation of the cautery component shaft; and
(f) an external electrical source electrically coupled to the first and second slip rings;
wherein the at least one actuator comprises a cautery component rotation actuator operably coupled to the cautery component shaft.