US 12,144,537 B2
End effector including wrist assembly and electrosurgical tool for robotic surgical systems
Zachary Traina, Verona, NJ (US)
Assigned to Covidien LP, Mansfield, MA (US)
Filed by Covidien LP, Mansfield, MA (US)
Filed on Jul. 8, 2022, as Appl. No. 17/860,160.
Application 17/860,160 is a continuation of application No. 16/636,247, granted, now 11,406,441, previously published as PCT/US2018/046619, filed on Aug. 14, 2018.
Claims priority of provisional application 62/546,066, filed on Aug. 16, 2017.
Prior Publication US 2022/0338916 A1, Oct. 27, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 18/14 (2006.01); A61B 18/12 (2006.01); A61B 34/00 (2016.01); A61B 34/37 (2016.01); A61B 18/00 (2006.01)
CPC A61B 18/14 (2013.01) [A61B 18/1206 (2013.01); A61B 34/37 (2016.02); A61B 34/71 (2016.02); A61B 2018/00208 (2013.01); A61B 2018/1253 (2013.01)] 18 Claims
OG exemplary drawing
 
1. An end effector for use with a robotic system, the end effector comprising:
a proximal hub defining a first pivot axis;
a distal hub pivotally coupled to the proximal hub about the first pivot axis, the distal hub defining a second pivot axis transverse to the first pivot axis;
a support hub pivotally coupled to the distal hub about the second pivot axis, the support hub including an electrosurgical tool;
a first drive member and a second drive member operably coupled to the support hub; and
a third drive member operably coupled to the distal hub,
wherein:
simultaneous proximal translation of the first drive member and the second drive member causes the distal hub to pivot about the first pivot axis; and
proximal translation of only one of the first drive member or the second drive member causes the support hub to pivot about the second pivot axis.