Medical instruments including wrists with hybrid redirect surfaces
US12138003B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Jun 23, 2020 |
| Grant date | Nov 12, 2024 |
| Priority date | — |
| Expiry date | Mar 31, 2043 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B2218/007
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
Certain aspects relate to medical instruments including wrists with hybrid redirect surfaces. Such medical instruments can include, for example, a shaft with a wrist positioned at a distal end. The wrist can include a proximal clevis connected to the shaft and a distal clevis pivotally connected to the proximal clevis. The wrist can also include a static redirect surface, such as a face of a clevis, and a dynamic redirect surface, such as a pulley. The instrument can include an end effector connected to the distal clevis. A plurality of pull wires can extend through the shaft and the wrist and engage with and actuate the wrist and the end effector. A first pull wire segment of the plurality of pull wires can engage the static redirect surface, and a second pull wire segment of the plurality of pull wires can engage the dynamic redirect surface.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.