US 12,127,810 B2
Power axle wrist for robotic surgical tool
Michel Bruehwiler, Newton, MA (US); Cole Constantineau, Cambridge, MA (US); Andrew Ryan, Boston, MA (US); and Khodabakhsh Saeedi, Cambridge, MA (US)
Assigned to Cilag GmbH, Zug (CH)
Filed by Cilag GmbH International, Zug (CH)
Filed on Apr. 13, 2021, as Appl. No. 17/229,452.
Application 17/229,452 is a division of application No. 15/720,699, filed on Sep. 29, 2017, granted, now 10,973,600.
Prior Publication US 2021/0228297 A1, Jul. 29, 2021
Int. Cl. A61B 34/00 (2016.01); A61B 10/04 (2006.01); A61B 17/00 (2006.01); A61B 17/29 (2006.01); A61B 34/30 (2016.01); B25J 17/02 (2006.01); A61B 1/012 (2006.01)
CPC A61B 34/71 (2016.02) [A61B 10/04 (2013.01); A61B 17/00234 (2013.01); A61B 17/29 (2013.01); A61B 34/30 (2016.02); B25J 17/02 (2013.01); A61B 1/012 (2013.01); A61B 2017/2926 (2013.01); A61B 2017/2927 (2013.01); A61B 2034/302 (2016.02); A61B 2034/305 (2016.02)] 12 Claims
OG exemplary drawing
 
1. A method of operating an end effector of a surgical tool, comprising:
positioning the end effector adjacent a patient for operation, the end effector including:
opposing first and second jaws;
a distal clevis defining an inner pulley and having a first axle that rotatably mounts the first and second jaws to the distal clevis;
a proximal clevis having a second axle that rotatably mounts the distal clevis to the proximal clevis;
a plurality of drive cables extending to the end effector; and
a power axle cable mounted to the distal clevis at the inner pulley, wherein a power axle connector is secured to the power axle cable and received within a pocket defined in the distal clevis and a portion of the power axle connector protrudes from the pocket;
moving one or more of the plurality of drive cables and thereby causing the end effector to articulate about a first pivot axis extending through the first axle; and
moving the power axle cable and thereby pivoting the end effector about a second pivot axis extending through the second axle and perpendicular to the first pivot axis,
wherein a recess is defined on the end effector to accommodate the portion of the power axle connector such that the power axle connector does not obstruct movement of the end effector about the first pivot axis.