US 12,137,926 B2
Direct pull surgical gripper
Thomas G. Cooper, Menlo Park, CA (US)
Assigned to Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed by Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed on Dec. 22, 2021, as Appl. No. 17/559,242.
Application 17/559,242 is a continuation of application No. 16/724,261, filed on Dec. 21, 2019, granted, now 11,241,246.
Application 16/724,261 is a continuation of application No. 15/157,308, filed on May 17, 2016, granted, now 10,512,481, issued on Dec. 24, 2019.
Application 15/157,308 is a continuation of application No. 12/702,200, filed on Feb. 8, 2010, granted, now 9,339,341, issued on May 17, 2016.
Prior Publication US 2022/0183711 A1, Jun. 16, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 17/29 (2006.01); A61B 18/14 (2006.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01); A61B 17/00 (2006.01); A61B 18/00 (2006.01)
CPC A61B 17/29 (2013.01) [A61B 18/1445 (2013.01); A61B 34/30 (2016.02); A61B 34/71 (2016.02); A61B 2017/003 (2013.01); A61B 2017/2932 (2013.01); A61B 2017/2933 (2013.01); A61B 2017/2938 (2013.01); A61B 2017/2939 (2013.01); A61B 2017/2945 (2013.01); A61B 2018/00077 (2013.01); A61B 2018/00083 (2013.01); A61B 2018/00595 (2013.01); A61B 2018/1432 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A surgical end effector, comprising:
a clevis;
a first jaw rotatably coupled to the clevis;
a second jaw rotatably coupled to the clevis;
a rocking pin having an axis of revolution that extends between a first end and an opposing second end, the rocking pin being pivotally supported by the clevis between the first and second ends, the first end pivotally engaging the first jaw and the second end pivotally engaging the second jaw;
a first electrically conductive wire coupled to the first jaw and positioned to transmit a first controller motion to the first jaw and to the second jaw;
a second electrically conductive wire coupled to the second jaw and positioned to transmit a second controller motion to the second jaw and to the first jaw,
the first electrically conductive wire supplying an electrical current to the first jaw, the second electrically conductive wire supplying an electrical current to the second jaw; and
a non-conductive liner coupled to one of the first jaw or the second jaw, the non-conductive liner configured to interrupt a conductive path between the first jaw and the second jaw.