US 12,458,383 B2
Advanced minimally invasive multi-functional robotic surgical devices and methods
Eugene H Vetter, Portola Valley, CA (US); and James W Vetter, Portola Valley, CA (US)
Assigned to TransMed7, LLC, Portola Valley, CA (US)
Filed by TransMed7, LLC, Portola Valley, CA (US)
Filed on Apr. 28, 2023, as Appl. No. 18/141,100.
Application 18/141,100 is a continuation of application No. 15/433,115, filed on Feb. 15, 2017, granted, now 11,744,602.
Prior Publication US 2024/0090911 A1, Mar. 21, 2024
Int. Cl. A61B 17/29 (2006.01); A61B 17/3201 (2006.01); A61B 17/00 (2006.01); A61B 17/30 (2006.01)
CPC A61B 17/29 (2013.01) [A61B 17/3201 (2013.01); A61B 2017/00345 (2013.01); A61B 2017/00353 (2013.01); A61B 2017/00398 (2013.01); A61B 2017/2902 (2013.01); A61B 2017/2938 (2013.01); A61B 2017/2939 (2013.01); A61B 2017/305 (2013.01)] 6 Claims
OG exemplary drawing
 
1. A surgical forceps method, comprising:
providing an outer tube and a single-piece articulated work element disposed at least partially within the outer tube, the single-piece articulated work element consisting of material cut from a single open-ended tube of material and comprising an open hollow lumen centered on a longitudinal axis, a proximal end, a distal portion and a body portion therebetween, the distal portion defining at least one articulated beak having a radius of curvature that matches a radius of curvature of the single open-ended tube of material, the distal portion further comprising a respective extension having a flat surface extending distally from each of the at least one articulable beak, at least a portion of the flat surface having no radius of curvature along or perpendicular to the longitudinal axis, the respective extension of each of the at least one articulated beak being configured to grasp tissue or an object without cutting, the proximal end defining a work element actuation element comprising a first portion and a second portion;
inserting at least the distal end into a target area in tissue, a cavity or a biological conduit;
moving the first portion of the work element actuation element relative to the second portion of the work element actuation element, in a first direction parallel to the longitudinal axis, to at least partially open the at least one articulated beak within the target area; and
moving the first portion of the work element actuation element relative to the second portion of the work element actuation element, in a second direction parallel to the longitudinal axis, to at least partially close the at least one articulated beak and grasp the tissue or the object within the target area using the flat surface of each respective extension; and
retracting the at least distal end from the target area, along with the tissue or the object grasped by the work element.