Wrist and jaw assemblies for robotic surgical systems

Description

BACKGROUND

Robotic surgical systems have been used in minimally invasive medical procedures. Some robotic surgical systems included a console supporting a robot arm, and at least one end effector such as forceps or a grasping tool that is mounted to the robot arm via a wrist assembly. During a medical procedure, the end effector and the wrist assembly were inserted into a small incision (via a cannula) or a natural orifice of a patient to position the end effector at a work site within the body of the patient.

Cables extended from the robot console, through the robot arm, and connected to the wrist assembly and/or end effector. In some instances, the cables were actuated by means of motors that were controlled by a processing system including a user interface for a surgeon or clinician to be able to control the robotic surgical system including the robot arm, the wrist assembly and/or the end effector.

In some instances, the wrist assembly provided three degrees of freedom for movement of the end effector through the use of three cables or cable pairs, one for each degree of freedom. For example, for grasping or cutting end effectors the wrist assembly provided the three degrees of freedom by allowing changes to a pitch, a yaw, and an opening and closing of the end effector.

As demand for smaller surgical tools increased, device manufacturers developed surgical tools such as grasping and cutting tools having smaller cross-sectional areas. These smaller cross-sectional areas reduced the total force that could be applied between two jaws at the end of the tools. Additionally, the use of three cables or cable pairs to provide three degrees of motion required a minimum cross-sectional area to implement and limit the ability to further reduce the cross sectional area of these tools. Finally, the force that was applied was not customizable to provide varying forces depending on the position of the jaws in relation to each other as the jaws are opened and closed.

There is a need for surgical tools having small cross-sectional areas that are able to provide high forces between end effector jaws, including customizable forces that vary depending on the position of the jaws in relation to each other.

SUMMARY

Jaws at the end of surgical robotics tools, such as forceps or scissor cutting tools, may be driven by a cable and pulley system that includes at least one cam. In some instances, the cable and pulley system may be driven directly so at least one cable controls a pitch, at least one cable controls a yaw, and at least one cable opens and closes the jaws. In other instances, the cable and pulley system may be differentially driven so that the ends of two cables may be used to control the pitch, yaw, and opening and closing of the jaws. Using a differential drive design may eliminate the need for one cable since only two cables are needed to provide three degrees of freedom (pitch, yaw, and opening and closing of the grasper). Eliminating one cable may therefore reduce the overall cross-sectional area of the tool that is needed to accommodate the cables.

In some instances, at least one of the pulleys may include a cam profile offset from a center of rotation of the pulley. A force may be applied to the pulley by a cable wrapped at least partially around the pulley. The applied force may cause the pulley to move and change a position of the cam profile. A pin or follower may pass through the cam profile and may couple both jaws to the cam profile in a way that enables the jaws to open and close in tandem as the cam profile position is changed and the follower traces the cam profile.

Offsetting the cam profile from the center of rotation of the pulley may increase the overall force applied to the jaws when opening and closing the jaws. As the distance from the center of rotation of the pulley increases, the amount of additional force that is applied to the jaws also increases. This allows higher forces to be applied to the jaws without necessitating a substantial increase to the overall cross-sectional area of the tool. Additionally, changing the shape and location of the cam profile may result in varying amounts of force being applied to the jaws depending on the current position of the follower in the cam profile. A user may select the forces applied to the jaws during different stages of opening and closing of the jaws by customizing the cam profile.

End effectors, including wrist assemblies and jaw assemblies, may be used with and actuated by robotic surgical systems. In some instances, an end effector may be controlled and/or articulated by at least one cable extending from a respective motor of a control device of the robot surgical system. The end effector may include a wrist assembly including a proximal hub defining a longitudinal axis. The end effector may also include a distal hub pivotally connected to the proximal hub. The distal hub may define a longitudinal axis, and the proximal hub and the distal hub may be pivotable about a first pivot axis that is oriented transverse to the longitudinal axis of the proximal hub. The end effector may further include a jaw assembly. The jaw assembly may include at least one support plate pivotally connected to the distal hub of the wrist assembly. The at least one support plate may be pivotable about a second pivot axis that is oriented transverse to the longitudinal axis of the distal hub of the wrist assembly. A pair of jaws may be pivotally supported on the at least one support plate. Each jaw may include a pivot point connected to the at least one support plate. A proximal portion of each jaw may extend proximally of the pivot point and a distal portion may extend distally of the pivot point. The jaw assembly may further include a cam pulley rotatably supported on the at least one support plate. The cam pulley may be operatively connected to the proximal end of each of the jaws such that rotation of the cam pulley may result in an opening or closing of the jaw assembly.

The cam pulley may be pivotally supported, on the at least one support plate, at the second pivot axis. The cam pulley may define at least one arcuate slot formed in a surface thereof. Each arcuate slot may include a first end spaced a first radial distance from a pivot axis of the cam pulley; and a second end spaced a second radial distance from the pivot axis of the cam pulley. The proximal portion of each jaw may be in sliding and camming connection with a respective arcuate slot of the cam pulley.

The pair of jaws of the jaw assembly may share a common pivot point.

The pivot point of each of the pair of jaws may be spaced a lateral distance from the second pivot axis.

At least one cable may be connected to the cam pulley at a location off-set a radial distance from the second pivot axis. At least one cable may be connected to the at least one support plate at a location off-set a radial distance from the second pivot axis. At least one cable may be connected to the distal hub of the wrist assembly at a location off-set a radial distance from the first pivot axis.

In an aspect of the present disclosure, at least one cable may be connected to the cam pulley at a location off-set a radial distance from the second pivot axis. At least one cable may be connected to the at least one support plate at a location off-set a radial distance from the second pivot axis. At least one cable may be connected to the distal hub of the wrist assembly at a location off-set a radial distance from the first pivot axis.

In another aspect of the present disclosure, at least one cable may be connected to the cam pulley at a location off-set a radial distance from the second pivot axis. At least one cable may be connected to the at least one support plate at a location off-set a radial distance from the second pivot axis. At least one cable may be connected to the distal hub of the wrist assembly at a location off-set a radial distance from the first pivot axis.

The cam pulley may define a single arcuate slot formed therein. The proximal end of each jaw may define an angled slot formed therein, wherein the angled slots may diverge from one another in a proximal direction. The jaw assembly may include a cam pin slidably disposed within the arcuate slot of the cam pulley and the angled slot of each jaw.

The at least one support plate may define an axially extending slot formed therein, and wherein the cam pin may be slidably disposed within the axially extending slot formed in the at least one support plate.

The cam pulley of the jaw assembly may include at least one cam plate, and wherein the jaw assembly further includes a cam link pivotally connected to a respective one cam plate and a respective one support plate.

The respective one support plate may define a longitudinally extending slot formed therein. The cam link may include a first end pivotally connected to the respective one cam plate, and a second end pivotably and slidably connected to the longitudinally extending slot formed in the respective one support plate.

The proximal end of each jaw may define an angled slot formed therein, wherein the angled slots diverge from one another in a proximal direction. The jaw assembly may include a cam pin slidably disposed within the axial slot of each support plate and the angled slot of each jaw.

At least one cable may be connected to the at least one cam plate at a location off-set a radial distance from the second pivot axis. At least one cable may be connected to the at least one support plate at a location off-set a radial distance from the second pivot axis. At least one cable may be connected to the distal hub of the wrist assembly at a location off-set a radial distance from the first pivot axis.

The cam pulley of the jaw assembly may include at least one cam plate. The jaw assembly may further include at least one cam linkage pivotally connected to a respective one cam plate and a respective proximal portion of a respective jaw of the jaw assembly.

The cam pulley may include a pivot pin disposed along the second pivot axis. The pivot pin may non-rotatably support the cam plate. The at least one cam linkage may include a first cam linkage having a proximal link non-rotatably extending from the pivot pin of the cam pulley, and a distal link pivotably interconnecting the proximal link of the first cam linkage and the proximal portion of a first jaw of the jaw assembly. A second cam linkage may have a proximal link non-rotatably extending from the pivot pin of the cam pulley, and a distal link pivotably interconnecting the proximal link of the second cam linkage and the proximal portion of a second jaw of the jaw assembly. The proximal link of the second cam linkage may be radially offset from the proximal link of the first cam linkage.

At least one cable may be connected to the cam plate at a location off-set a radial distance from the second pivot axis. At least one cable may be connected to the at least one support plate at a location off-set a radial distance from the second pivot axis. At least one cable may be connected to the distal hub of the wrist assembly at a location off-set a radial distance from the first pivot axis.

According to another aspect of the present disclosure, a method of actuating an end effector of a robotic surgical system is provided. The method includes providing a surgical tool including an end effector. The end effector includes a pair of jaws pivotable about a first axis; a first and a second cam pulley rotatable about a second axis parallel to the first axis and coupled to the pair of jaws; and a cam follower coupling the first and the second pulleys to each of the pair of jaws. The method further includes rotating the first cam pulley to open or close the pair of jaws about the first axis; and applying a force to the second cam pulley to rotate the pair of jaws about the second axis.

The first cam pulley may multiply a closure force of the pair of jaws during the rotation thereof.

The pair of jaws may be pivoted about a common first axis.

Each jaw of the pair of jaws may be pivoted about a respective first axis, wherein each first axis may be offset from one another.

Further details and aspects of exemplary embodiments of the present disclosure are described in more detail below with reference to the appended figures.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments of the present disclosure are described herein with reference to the accompanying drawings, wherein:

FIG. 1A is a schematic illustration of a medical work station and operating console in accordance with the present disclosure;

FIG. 1B is a schematic, perspective view of a motor of a control device of the medical work station of FIG. 1A;

FIG. 2 is a perspective view of an end effector, according to an embodiment of the present disclosure, for use in the medical work station of FIG. 1A, illustrating a jaw assembly thereof in a closed condition;

FIG. 3 is a perspective view of the end effector of FIG. 2 illustrating the jaw assembly thereof in an open condition;

FIG. 4 is a perspective view of the end effector of FIG. 2 illustrating the jaw assembly thereof in an open and articulated condition;

FIG. 5 is a perspective view of the end effector of FIG. 2 illustrating the jaw assembly thereof in an open and articulated condition, and illustrating a wrist assembly thereof in an articulated condition;

FIG. 6 is a perspective view, with parts separated, of the end effector of FIG. 2;

FIG. 7 is a cross-sectional view of the end effector of FIG. 2, as taken through section line 7-7 of FIG. 2;

FIG. 8 is a cross-sectional view of the end effector of FIG. 2, as taken through section line 7-7 of FIG. 2, illustrating the jaw assembly in an articulated condition;

FIG. 9 is a cross-sectional view of the end effector of FIG. 2, as taken through section line 9-9 of FIG. 2, illustrating the jaw assembly in the closed condition;

FIG. 10 is an enlarged view of the indicated area of detail of FIG. 9;

FIG. 11 is a cross-sectional view of the end effector of FIG. 2, as taken through section line 9-9 of FIG. 2, illustrating the jaw assembly in the open condition;

FIG. 12 is an enlarged view of the indicated area of detail of FIG. 11;

FIG. 13 is a plan view of the end effector of FIG. 2, illustrating the jaw assembly in a non-articulated and open condition;

FIG. 14 is a plan view of the end effector of FIG. 2, illustrating the jaw assembly in an articulated and open condition;

FIG. 15 is a perspective illustration of an end effector, according to another embodiment of the present disclosure, for use in the medical work station of FIG. 1A, illustrating a jaw assembly thereof in a closed condition;

FIG. 16 is a perspective illustration of the end effector of FIG. 15 illustrating the jaw assembly thereof in an open and articulated condition, and illustrating a wrist assembly thereof in an articulated condition;

FIG. 17 is a perspective illustration of the jaw assembly of the end effector of FIG. 15;

FIG. 18 is a perspective illustration of a proximal hub of a wrist assembly of the end effector of FIG. 15;

FIG. 19 is a perspective illustration of a distal hub of the wrist assembly of the end effector of FIG. 15;

FIG. 20 is a perspective illustration of a cam pulley of the jaw assembly of the end effector of FIG. 15;

FIGS. 21 and 22 are perspective illustrations of a first jaw and a second jaw of the jaw assembly of the end effector of FIG. 15;

FIG. 23 is a perspective view of an end effector, according to yet another embodiment of the present disclosure, for use in the medical work station of FIG. 1A, illustrating a jaw assembly thereof in a closed condition;

FIG. 24 is a perspective view of the end effector of FIG. 23 illustrating the jaw assembly thereof in an open condition;

FIG. 25 is a perspective view of the end effector of FIG. 23 illustrating the jaw assembly thereof in an open and articulated condition;

FIG. 26 is a perspective view of the end effector of FIG. 23 illustrating the jaw assembly thereof in an open and articulated condition, and illustrating a wrist assembly thereof in an articulated condition;

FIG. 27 is a perspective view, with parts separated, of the end effector of FIG. 23;

FIG. 28 is a rear, perspective view of the end effector of FIG. 23 illustrating the jaw assembly thereof in a closed and non-articulated condition, and illustrating the wrist assembly thereof in a non-articulated condition;

FIG. 29 is a cross-sectional view of the end effector of FIG. 28, as taken through section line 29-29 of FIG. 28;

FIG. 30 is a cross-sectional view of the end effector of FIG. 28, as taken through section line 29-29 of FIG. 28, illustrating the jaw assembly in an articulated condition;

FIG. 31 is a cross-sectional view of the end effector of FIG. 23, as taken through section line 31-31 of FIG. 29, illustrating the jaw assembly in the closed condition;

FIG. 32 is an enlarged view of the indicated area of detail of FIG. 31;

FIG. 33 is a cross-sectional view of the end effector of FIG. 23, as taken through section line 31-31 of FIG. 29, illustrating the jaw assembly in the open condition;

FIG. 34 is an enlarged view of the indicated area of detail of FIG. 33;

FIG. 35 is a cross-sectional view of the end effector of FIG. 23, as taken through section line 35-35 of FIG. 29, illustrating the jaw assembly in the closed and non-articulated condition;

FIG. 36 is an enlarged view of the indicated area of detail of FIG. 35;

FIG. 37 is a cross-sectional view of the end effector of FIG. 23, as taken through section line 35-35 of FIG. 29, illustrating the jaw assembly in the closed and articulated condition;

FIG. 38 is an enlarged view of the indicated area of detail of FIG. 37;

FIG. 39 is a perspective view of an end effector, according to still another embodiment of the present disclosure, for use in the medical work station of FIG. 1A, illustrating a jaw assembly thereof in a closed condition;

FIG. 40 is a perspective view of the end effector of FIG. 39 illustrating the jaw assembly thereof in an open condition;

FIG. 41 is a perspective view of the end effector of FIG. 39 illustrating the jaw assembly thereof in an open and articulated condition;

FIG. 42 is a perspective view of the end effector of FIG. 39 illustrating the jaw assembly thereof in an open and articulated condition, and illustrating a wrist assembly thereof in an articulated condition;

FIG. 43 is a perspective view, with parts separated, of the end effector of FIG. 39;

FIG. 44 is a rear, perspective view of the end effector of FIG. 39 illustrating the jaw assembly thereof in a closed and non-articulated condition, and illustrating the wrist assembly thereof in a non-articulated condition;

FIG. 45 is a cross-sectional view of the end effector of FIG. 44, as taken through section line 45-45 of FIG. 44;

FIG. 46 is a cross-sectional view of the end effector of FIG. 44, as taken through section line 45-45 of FIG. 44, illustrating the jaw assembly in an articulated condition;

FIG. 47 is a rear, perspective view of the jaw assembly of the end effector of FIG. 39, illustrating the jaw assembly in the closed condition;

FIG. 48 is a side elevational view of the jaw assembly of FIG. 47;

FIG. 49 is a rear, perspective view of the jaw assembly of the end effector of FIG. 39, illustrating the jaw assembly in the open condition;

FIG. 50 is a side elevational view of the jaw assembly of FIG. 49;

FIG. 51 is a perspective view of an end effector, according to a further embodiment of the present disclosure, for use in the medical work station of FIG. 1A, illustrating a jaw assembly thereof in a closed condition;

FIG. 52 is a perspective view of the end effector of FIG. 51 illustrating the jaw assembly thereof in an open condition;

FIG. 53 is a perspective view of the end effector of FIG. 51 illustrating the jaw assembly thereof in an open and articulated condition;

FIG. 54 is a perspective view of the end effector of FIG. 51 illustrating the jaw assembly thereof in an open and articulated condition, and illustrating a wrist assembly thereof in an articulated condition;

FIG. 55 is a perspective view, with parts separated, of the end effector of FIG. 51;

FIG. 56 is a rear, perspective view of the jaw assembly of the end effector of FIG. 51, illustrating the jaw assembly in the closed condition;

FIG. 57 is a perspective view of the jaw assembly of the end effector of FIG. 51 with a jaw removed therefrom;

FIG. 58 is a cross-sectional view of the end effector of FIG. 51, as taken through section line 58-58 of FIG. 51, illustrating the end effector in a non-articulated condition;

FIG. 59 is a cross-sectional view of the end effector of FIG. 51, as taken through section line 59-59 of FIG. 53, illustrating the end effector in an articulated condition;

FIG. 60 is a cross-sectional view of the end effector of FIG. 51, as taken through section line 60-60 of FIG. 51, illustrating the jaw assembly in a closed condition;

FIG. 61 is a cross-sectional view of the end effector of FIG. 52, as taken through section line 61-61 of FIG. 52, illustrating the jaw assembly in an open condition; and

FIG. 62 is a perspective view of the jaw assembly of the end effector of FIG. 51 shown in an open condition.

DETAILED DESCRIPTION

Embodiments of the presently disclosed jaw assemblies and/or wrist assemblies are described in detail with reference to the drawings, in which like reference numerals designate identical or corresponding elements in each of the several views. As used herein the term “distal” refers to that portion of the jaw assembly and/or wrist assembly that is farther from the user, while the term “proximal” refers to that portion of the jaw assembly and/or wrist assembly that is closer to the user.

Referring initially to FIGS. 1A and 1B, a medical work station is shown generally as work station 1 and generally includes a plurality of robot arms 2, 3; a control device 4; and an operating console 5 coupled with control device 4. Operating console 5 includes a display device 6, which is set up in particular to display three-dimensional images; and manual input devices 7, 8, by means of which a person (not shown), for example a surgeon, is able to telemanipulate robot arms 2, 3 in a first operating mode, as known in principle to a person skilled in the art.

Each of the robot arms 2, 3 includes a plurality of members, which are connected through joints, and an attaching device 9, 11, to which may be attached, for example, a surgical tool “ST” supporting an end effector 100, in accordance with any one of several embodiments disclosed herein, as will be described in greater detail below.

Robot arms 2, 3 may be driven by electric drives (not shown) that are connected to control device 4. Control device 4 (e.g., a computer) is set up to activate the drives, in particular by means of a computer program, in such a way that robot arms 2, 3, their attaching devices 9, 11 and thus the surgical tool (including end effector 100) execute a desired movement according to a movement defined by means of manual input devices 7, 8. Control device 4 may also be set up in such a way that it regulates the movement of robot arms 2, 3 and/or of the drives.

Medical work station 1 is configured for use on a patient 13 lying on a patient table 12 to be treated in a minimally invasive manner by means of end effector 100. Medical work station 1 may also include more than two robot arms 2, 3, the additional robot arms likewise being connected to control device 4 and being telemanipulatable by means of operating console 5. A medical instrument or surgical tool (including an end effector 100) may also be attached to the additional robot arm.

Reference may be made to U.S. Patent Publication No. 2012/0116416, filed on Nov. 3, 2011, entitled “Medical Workstation,” the entire content of which is incorporated herein by reference, for a detailed discussion of the construction and operation of medical work station 1.

Control device 4 may control a plurality of motors (Motor 1 . . . n) with each motor configured to wind-up or let out a length of a cable “C” (FIG. 1B) extending through each robot arm to end effector 100 of the surgical tool. In use, as cables “C” are wound-up and let out, cables “C” effect operation and/or movement of each end effector 100 of the surgical tool. It is contemplated that control device 4 coordinates the activation of the various motors (Motor 1 . . . n) to coordinate a winding-up or letting out a length of a respective cable “C” in order to coordinate an operation and/or movement of a respective end effector. Although FIG. 1B shows a single cable “C” that is wound up or let out by a single motor, in some instances two or more cables or two ends of a single cable may be wound up or let out by a single motor. For example, in some instances, two cables or cable ends may be coupled in opposite directions to a single motor so that as the motor is activated in a first direction, one of the cables winds up while the other cable lets out. Other cable configurations may be used in different embodiments.

Turning now to FIGS. 2-14, an end effector for connection to robot arms 2, 3 and for manipulation by control device 4, is generally designated as 100. End effector 100 includes a wrist assembly 110, and a jaw assembly 150 pivotally connected to wrist assembly 110. Wrist assembly 110 includes a proximal hub 112, in the form of a distally extending clevis, defining a first longitudinal axis “X1-X1.” Proximal hub 112 defines a first pivot axis “A-A” that is oriented orthogonal to the first longitudinal axis “X1-X1.” In an embodiment, first pivot axis “A-A” may extend through the first longitudinal axis “X1-X1.” Proximal hub 112, being in the form of a clevis, includes a pair of spaced apart, opposed upright supports 112a, 112b through which first pivot axis “A-A” extends.

Wrist assembly 110 further includes a distal hub 114 pivotally connected to upright supports 112a, 112b of proximal hub 112. Distal hub 114 may be in the form of a distally extending clevis and defines a second longitudinal axis “X2-X2.” Distal hub 114 defines a second pivot axis “B-B” that is oriented orthogonal to the first pivot axis “A-A” and orthogonal to the first longitudinal axis “X1-X1.” In an embodiment, when the first longitudinal axis “X1-X1” is parallel with the second longitudinal axis “X2-X2” (i.e., end effector 100 is in an axially aligned orientation), second pivot axis “B-B” may extend through first longitudinal axis “X1-X1.” Distal hub 114, being in the form of a clevis, includes a pair of spaced apart, opposed upright supports 114a, 114b through which second pivot axis “B-B” extends.

Turning now back to FIGS. 2-14, end effector 100 includes a jaw assembly 150 having a pair of spaced apart support or cam plates, or cam pulleys 152, 154 pivotally connected to respective upright supports 114a, 114b of distal hub 114 of wrist assembly 110, so as to be pivotable about second pivot axis “B-B.”

With reference to FIGS. 2-8, 13 and 14, a single first cable 122 is at least partially wrapped around cam plate 152 and secured to at least one point thereof, or that the single first cable 122 may be wrapped at least once around cam plate 152, in the manner of a capstan. Single first cable 122 may include proximal ends that extend through robot arm 2 or 3 and operatively associated with a respective first motor and second motor (not shown) of control device 4. While a single first cable 122 is shown and described, it is contemplated that a first pair of cables (not shown) including respective distal ends may be secured to opposed sides of cam plate 152, or wrapped at least 180° around cam plate 152 and secured thereto, and including respective proximal ends extending through robot arm 2 or 3 and operatively associated with a respective first motor and second motor (not shown) of control device 4.

A single second cable 124 is at least partially wrapped around cam plate 154 and secured to at least one point thereof, or that the single second cable 124 may be wrapped at least once around cam plate 154, in the manner of a capstan. Single second cable 124 may include proximal ends that extend through robot arm 2 or 3 and operatively associated with a respective first motor and second motor (not shown) of control device 4. While a single second cable 124 is shown and described, it is contemplated that a first pair of cables (not shown) including respective distal ends may be secured to opposed sides of cam plate 154, or wrapped at least 180° around cam plate 154 and secured thereto, and including respective proximal ends extending through robot arm 2 or 3 and operatively associated with a respective first motor and second motor (not shown) of control device 4.

Jaw assembly 150 further includes a cam pulley 160 also pivotally connected to upright supports 114a, 114b of distal hub 114 of wrist assembly 110, specifically, between upright supports 114a, 114b, so as to also be pivotable about second pivot axis “B-B.” Cam pulley 160 is substantially disc-shaped and defines a pair of opposed arcuate cam slots 162, 164 formed therein. Each cam slot 162, 164 includes a respective first end 162a, 164a spaced a first radial distance away from second pivot axis “B-B,” and a respective second end 162b, 164b spaced a second radial distance away from second pivot axis “B-B,” wherein the second radial distance is greater than the first radial distance. A shape or configuration of each cam slot 162, 164 may be modified or selected so as to vary or alter a closing/opening characteristic of jaw assembly 150, such as for example, to increase a clamping force (i.e., act as a force multiplier) of the jaw assembly 150 as the jaw assembly 150 is brought to a fully closed condition.

Jaw assembly 150 also includes a pair of jaws 172, 174 separately and independently pivotally connected to support plates 152, 154. Specifically, each jaw 172, 174 includes a pivot point 172c, 174c about which each jaw 172, 174 pivots. Pivot points 172c, 174c are spaced apart from one another, and spaced an orthogonal distance from first longitudinal axis “X1-X1,” when end effector 100 is in an axially aligned orientation (i.e., when the first longitudinal axis “X1-X1” is parallel with the second longitudinal axis “X2-X2”). Each pivot point 172c, 174c defines a pivot axis that is parallel to second pivot axis “B-B” of distal hub 114.

Each jaw 172, 174 includes a respective proximal end 172a, 174a, and a respective distal end 172b, 174b. Each proximal end 172a, 174a extends proximally of respective pivot point 172c, 174c, and each distal end 172b, 174b extends distally of respective pivot point 172c, 174c.

As shown in FIGS. 6, 10 and 12, a pin or the like 172d, 174d respectively pivotally and slidably connects each proximal end 172a, 174a of respective jaw 172, 174 to a respective cam slot 162, 164 formed in cam pulley 160. In use, as will be described in greater detail below, as cam pulley 160 is rotated in either a clockwise or counter clockwise direction, jaws 172, 174 will be caused to be opened or closed accordingly.

Each distal end 172b, 174b of jaws 172, 174 defines a grip or toothed portion in juxtaposed relation to one another.

With reference to FIG. 6, a single third cable 126 is at least partially wrapped around cam pulley 160 and secured to at least one point thereof, or that the single third cable 126 may be wrapped at least once around cam pulley 160, in the manner of a capstan. Single third cable 126 may include proximal ends 126a, 126b that extend through robot arm 2 or 3 and operatively associated with a respective fifth motor (Motor 5) and sixth motor (Motor 6) of control device 4. While a single third cable 126 is shown and described, it is contemplated that a third pair of cables (not shown) including respective distal ends may be secured to opposed sides of cam pulley 160, or wrapped at least 180° around cam pulley 160 and secured thereto, and including respective proximal ends extending through robot arm 2 or 3 and operatively associated with a respective fifth motor (Motor 5) and sixth motor (Motor 6) of control device 4.

In operation, as illustrated in FIGS. 7 and 8, in order to pivot end effector 100 about first pivot axis “A-A” of wrist assembly 110, it is contemplated that the proximal ends of first cable 122 are drawn in a proximal direction as a result of an input from control device 4 to activate a first motor (not shown), and optionally activate a second motor (not shown) to let out the proximal ends of second cable 124, or vice versa. Depending on which proximal ends of first cable 122 or second cable 124 are drawn in a proximal direction will determine which direction of pivot, about first pivot axis “A-A,” is achieved.

Additionally, in operation, as illustrated in FIGS. 13 and 14, in order to pivot jaws 172, 174 of end effector 100 about second pivot axis “B-B” of jaw assembly 150, it is contemplated that one of the proximal ends of first cable 122 and a corresponding one of the proximal ends of second cable 124 are drawn in a proximal direction as a result of an input from control device 4 to activate a third motor (not shown), and optionally activate a fourth motor (not shown) to let out the other of the proximal ends of first cable 122 and a corresponding other of the proximal ends of second cable 124, or vice versa. Depending on which one of the proximal ends of first cable 122 and second cable 124 are drawn in a proximal direction will determine which direction of pivot, about second pivot axis “B-B,” is transmitted to support plates 152 and 154 to thus pivot jaws 172, 174.

Also in operation, in order to open or close jaws 172, 174 of end effector 100, about respective pivot points 172c, 174c of jaws 172, 174, it is contemplated that one proximal end 126a or 126b of third cable 126 (FIG. 6) is drawn in a proximal direction as a result of an input from control device 4 to activate a fifth motor (Motor 5), and optionally activate a sixth motor (Motor 6) to let out the other proximal end 126a or 126b of third cable 126. Depending on which one of the proximal ends 126a, 126b of third cable 126 is drawn in a proximal direction will determine which direction cam pulley 160 is rotated (about pivot/rotation axis “B-B”) and thus whether jaws 172, 174 are opened or closed. Specifically, as cam pulley 160 is rotated in a first direction, the pins connecting jaws 172, 174 to cam pulley 160 are slid or cammed through respective cam slots 162, 164 and drawn radially inward to thereby open jaws 172, 174. Likewise, as cam pulley 160 is rotated in a second direction, the pins connecting jaws 172, 174 to cam pulley 160 are slid or cammed through respective cam slots 162, 164 and pushed radially outward to thereby close jaws 172, 174.

Turning now to FIGS. 15-22, an end effector for connection to robot arms 2, 3 and for manipulation by control device 4, in accordance with another embodiment of the present disclosure, is generally designated as 200. End effector 200 is substantially similar to end effector 100 and thus will only be described in detail herein to the extent necessary to describe differences in construction and/or operation from those of end effector 100.

End effector 200 includes a wrist assembly 210, and a jaw assembly 250 pivotally connected to wrist assembly 210. Wrist assembly 210 includes a proximal hub 212 defining a first longitudinal axis “X1-X1,” and a first pivot axis “A-A” that is oriented orthogonal to the first longitudinal axis “X1-X1.” Wrist assembly 210 further includes a distal hub 214 pivotally connected to proximal hub 212. Distal hub 214 defines a second longitudinal axis “X2-X2,” and a second pivot axis “B-B” that is oriented orthogonal to the first pivot axis “A” and orthogonal to the first longitudinal axis “X1-X1.” In an embodiment, when the first longitudinal axis “X1-X1” is parallel with the second longitudinal axis “X2-X2” (i.e., end effector 200 is in an axially aligned orientation), second pivot axis “B-B” may extend through first longitudinal axis “X1-X1.”

A single first cable (not shown) may be at least partially wrapped around distal hub 214 and secured to at least one point thereof, or that the single first cable may be wrapped at least once around distal hub 214, in the manner of a capstan. The single first cable may include proximal ends that extend through robot arm 2 or 3 and operatively associated with a respective first motor and second motor (not shown) of control device 4. While a single first cable is described, it is contemplated that a first pair of cables (not shown) including respective distal ends may be secured to opposed sides of distal hub 214, or wrapped at least 180° around distal hub 214 and secured thereto, and including respective proximal ends extending through robot arm 2 or 3 and operatively associated with a respective first motor and second motor (not shown) of control device 4.

With continued reference to FIGS. 17-22, end effector 200 includes a jaw assembly 250 having a pair of spaced apart support or cam plates, or cam pulleys 252, 254 pivotally connected to distal hub 214 of wrist assembly 210, so as to be pivotable about second pivot axis “B-B.”

Jaw assembly 250 further includes a cam pulley 260 also pivotally connected to upright supports of distal hub 214 of wrist assembly 210 so as to also be pivotable about second pivot axis “B-B.” Cam pulley 260 is substantially disc-shaped and defines a pair of opposed arcuate cam slots 262, 264 formed therein. Each cam slot 262, 264 includes a respective first end 262a, 264a spaced a first radial distance away from second pivot axis “B-B,” and a respective second end 262b, 264b spaced a second radial distance away from second pivot axis “B-B,” wherein the second radial distance is greater than the first radial distance. A shape or configuration of each cam slot 262, 264 may be modified or selected so as to vary or alter a closing/opening characteristic of jaw assembly 250, such as for example, to increase a clamping force (i.e., act as a force multiplier) of the jaw assembly 250 as the jaw assembly 250 is brought to a fully closed condition.

Jaw assembly 250 also includes a pair of jaws 272, 274 pivotally connected to support plates 252, 254 at a common pivot point 276 about which each jaw 272, 274 pivots. Pivot point 276 is spaced an axial distance distally of second pivot axis “B-B” when end effector 200 is in a axially aligned orientation (i.e., when the first longitudinal axis “X1-X1” is parallel with the second longitudinal axis “X2-X2”). Pivot point 276 defines a pivot axis that is parallel to second pivot axis “B-B” of distal hub 214.

Each jaw 272, 274 includes a respective proximal end 272a, 274a, and a respective distal end 272b, 274b. Each proximal end 272a, 274a extends proximally of pivot point 276, and each distal end 272b, 274b extends distally of pivot point 276.

As shown in FIGS. 21 and 22, a pin or the like 272d, 274d pivotally and slidably connects each proximal end 272a, 274a of respective jaw 272, 274 to a respective cam slot 262, 264 formed in cam pulley 260. In use, as will be described in greater detail below, as cam pulley 260 is rotated in either a clockwise or counter clockwise direction, jaws 272, 274 will be caused to be opened or closed accordingly.

A single second cable (not shown) is at least partially wrapped around cam pulley 260 and secured to at least one point thereof, or that the single second cable may be wrapped at least once around cam pulley 260, in the manner of a capstan. The single second cable may include proximal ends that extend through robot arm 2 or 3 and operatively associated with a respective third motor and fourth motor (not shown) of control device 4. While a single second cable is described, it is contemplated that a second pair of cables (not shown) including respective distal ends may be secured to opposed sides of cam pulley 260, or wrapped at least 180° around cam pulley 260 and secured thereto, and including respective proximal ends extending through robot arm 2 or 3 and operatively associated with a respective third motor and fourth motor (not shown) of control device 4.

In operation, in order to pivot end effector 200 about first pivot axis “A-A” of wrist assembly 210, it is contemplated that one of the first pair of cables (not shown) is drawn in a proximal direction as a result of an input from control device 4. Depending on which one of the first pair of cables is drawn in a proximal direction will determine which direction of pivot, about first pivot axis “A-A,” is achieved.

Additionally, in operation, in order to pivot jaws 272, 274 of end effector 200 about second pivot axis “B-B” of jaw assembly 250, it is contemplated that one of the second pair of cables (not shown) is drawn in a proximal direction as a result of an input from control device 4. Depending on which one of the second pair of cables is drawn in a proximal direction will determine which direction of pivot, about second pivot axis “B-B,” is achieved.

Also in operation, in order to open or close jaws 272, 274 of end effector 200, about pivot point 276 of jaws 272, 274, it is contemplated that one of the second pair of cables is drawn in a proximal direction as a result of an input from control device 4. Depending on which one of the second pair of cables is drawn in a proximal direction will determine which direction cam pulley 260 is rotated (about pivot/rotation axis “B-B”) and thus whether jaws 272, 274 are opened or closed. Specifically, as cam pulley 260 is rotated in a first direction, the pins 272d, 274d connecting jaws 272, 274 to cam pulley 260 are slid or cammed through respective cam slots 262, 264 and drawn radially inward to thereby open jaws 272, 274. Likewise, as cam pulley 260 is rotated in a second direction, the pins 272d, 274d connecting jaws 272, 274 to cam pulley 260 are slid or cammed through respective cam slots 262, 264 and pushed radially outward to thereby close jaws 272, 274.

Turning now to FIGS. 23-38, an end effector for connection to robot arms 2, 3 and for manipulation by control device 4, in accordance with yet another embodiment of the present disclosure, is generally designated as 300. End effector 300 is substantially similar to end effectors 100 and 200 and thus will only be described in detail herein to the extent necessary to describe differences in construction and/or operation from those of end effectors 100 and 200.

End effector 300 includes a wrist assembly 310, and a jaw assembly 350 pivotally connected to wrist assembly 310. Wrist assembly 310 includes a proximal hub 312 defining a first longitudinal axis “X1-X1,” and a first pivot axis “A-A” that is oriented orthogonal to the first longitudinal axis “X1-X1.” Wrist assembly 310 further includes a distal hub 314 pivotally connected to proximal hub 312. Distal hub 314 defines a second longitudinal axis “X2-X2,” and a second pivot axis “B-B” that is oriented orthogonal to the first pivot axis “A-A” and orthogonal to the first longitudinal axis “X1-X1.” In an embodiment, when the first longitudinal axis “X1-X1” is parallel with the second longitudinal axis “X2-X2” (i.e., end effector 300 is in an axially aligned orientation), second pivot axis “B-B” may extend through first longitudinal axis “X1-X1.”

With reference to FIGS. 29 and 30, a single first cable 122 is at least partially wrapped around a cam plate 314c supported in distal hub 314 and secured to at least one point thereof, or that the single first cable 122 may be wrapped at least once around cam plate 314c, in the manner of a capstan. Single first cable 122 may include proximal ends that extend through robot arm 2 or 3 and operatively associated with a respective first motor and second motor (not shown) of control device 4. While a single first cable 122 is shown and described, it is contemplated that a first pair of cables (not shown) including respective distal ends may be secured to opposed sides of cam plate 314c, or wrapped at least 180° around cam plate 314c and secured thereto, and including respective proximal ends extending through robot arm 2 or 3 and operatively associated with a respective first motor and second motor (not shown) of control device 4.

With continued reference to FIGS. 23-38, end effector 300 includes a jaw assembly 350 having a pair of spaced apart support or cam plates, or cam pulleys 352, 354 pivotally connected to distal hub 314 of wrist assembly 310, so as to be pivotable about second pivot axis “B-B.” Each support plate 352, 354 defines a respective axially extending slot 352a, 354a formed therein.

Jaw assembly 350 further includes a first cam pulley 360 also pivotally connected to upright supports of distal hub 314 of wrist assembly 310 so as to also be pivotable about second pivot axis “B-B.” Cam pulley 360 is substantially disc-shaped and defines an arcuate cam slot 362 formed therein. Cam slot 362 includes a first end 362a spaced a first radial distance away from second pivot axis “B-B,” and a second end 362b spaced a second radial distance away from second pivot axis “B,” wherein the second radial distance is greater than the first radial distance. A shape or configuration of cam slot 362 may be modified or selected so as to vary or alter a closing/opening characteristic of jaw assembly 350, such as for example, to increase a clamping force (i.e., act as a force multiplier) of the jaw assembly 350 as the jaw assembly 350 is brought to a fully closed condition.

Jaw assembly 350 further includes a second cam pulley 361 also pivotally connected to upright supports of distal hub 314 of wrist assembly 310 so as to also be pivotable about second pivot axis “B-B.” Cam pulley 361 is substantially disc-shaped and defines a radially extending slot 361a formed therein.

Jaw assembly 350 also includes a pair of jaws 372, 374 pivotally connected to support plates 352, 354 at a common pivot point 376 about which each jaw 372, 374 pivots. Pivot point 376 is spaced an axial distance distally of second pivot axis “B-B” when end effector 300 is in a axially aligned orientation (i.e., when the first longitudinal axis “X1-X1” is parallel with the second longitudinal axis “X2-X2”).

Each jaw 372, 374 includes a respective proximal end 372a, 374a, and a respective distal end 372b, 374b. Pivot point 376 defines a pivot axis that is parallel to second pivot axis “B-B” of distal hub 314. Each proximal end 372a, 374a extends proximally of pivot point 376, and each distal end 372b, 374b extends distally of pivot point 376. Each proximal end 372a, 374a defines a respective angled cam slot 372c, 374c formed therein. Specifically, each angled cam slot 372c, 374c may include a distal end axially aligned or substantially axially aligned with pivot point 376, and a proximal end curving in opposite directions away from one another.

A pin or the like 356 pivotally and slidably connects each angled cam slot 372c, 374c of respective proximal end 372a, 374a of respective jaw 372, 374 to cam slot 362 formed in cam pulley 360, and to slot 361a of cam pulley 361. Pin 356 is also slidably disposed within axially extending slots 352a, 354a formed in support plates 352, 354. In use, as will be described in greater detail below, as cam pulleys 360, 361 are rotated in either a clockwise and/or counter clockwise direction, jaws 372, 374 will be caused to be opened, closed and/or pivoted accordingly.

A single second cable 124 is at least partially wrapped around cam pulley 360 and secured to at least one point thereof, or that the single second cable 124 may be wrapped at least once around cam pulley 360, in the manner of a capstan. Single second cable 124 may include proximal ends that extend through robot arm 2 or 3 and operatively associated with a respective third motor and fourth motor (not shown) of control device 4. While a single second cable 124 is shown and described, it is contemplated that a second pair of cables (not shown) including respective distal ends may be secured to opposed sides of cam pulley 360, or wrapped at least 180° around cam pulley 360 and secured thereto, and including respective proximal ends extending through robot arm 2 or 3 and operatively associated with a respective third motor and fourth motor (not shown) of control device 4.

Further, a single third cable 126 may be at least partially wrapped around cam pulley 361 and secured to at least one point thereof, or that the single third cable 126 may be wrapped at least once around cam pulley 361, in the manner of a capstan. The single third cable 126 may include proximal ends that extend through robot arm 2 or 3 and operatively associated with a respective fifth motor (not shown) and sixth motor (not shown) of control device 4. While a single third cable 126 is described, it is contemplated that a third pair of cables (not shown) including respective distal ends may be secured to opposed sides of cam pulley 361, or wrapped at least 180° around cam pulley 361 and secured thereto, and including respective proximal ends extending through robot arm 2 or 3 and operatively associated with a respective fifth motor (not shown) and sixth motor (not shown) of control device 4.

In operation, in order to pivot end effector 300 about first pivot axis “A-A” of wrist assembly 310, it is contemplated that one proximal end of first cable 122 is drawn in a proximal direction as a result of an input from control device 4 to activate a first motor (not shown), and optionally activate a second motor (not shown) to let out the other proximal end of first cable 122. Depending on which proximal end of first cable 122 is drawn in a proximal direction will determine which direction of pivot, about first pivot axis “A-A,” is achieved.

Additionally, in operation, in order to pivot jaws 372, 374 of end effector 300 about second pivot axis “B-B” of jaw assembly 350, it is contemplated that one proximal end of the third cable 126 is drawn in a proximal direction as a result of an input from control device 4 to activate a third motor (not shown), and optionally activate a fourth motor (not shown) to let out the other proximal end of the third cable 126. Depending on which proximal end of third cable 126 is drawn in a proximal direction will determine which direction of pivot, about second pivot axis “B-B,” is transmitted to cam pulley 361 to thus pivot jaws 272, 274.

Also in operation, in order to open or close jaws 372, 374 of end effector 300, about pivot point 376 of jaws 372, 374, it is contemplated that one proximal end the second cable 124 is drawn in a proximal direction as a result of an input from control device 4 to activate the third motor or a fifth motor (not shown), and optionally activate the fourth motor or a sixth motor (not shown) to let out the other proximal end of the second cable 124. Depending on which proximal end of the second cable 124 is drawn in a proximal direction will determine which direction cam pulley 360 is rotated (about pivot/rotation axis “B”) and thus whether jaws 372, 374 are opened or closed. Specifically, with cam pulley 361 held stationary, as cam pulley 360 is rotated in a first direction, the pin 356 connecting angled cam slot 372c, 374c of jaws 372, 374 to cam slot 362 of cam pulley 360 is slid or cammed proximally through cam slots 372c, 374c of jaws 372, 374 and drawn radially inward through cam slot 362 of cam pulley 360, and pulled or cammed proximally through axial slots 352a, 354a of support plate 352, 354, to thereby open jaws 372, 374. Likewise, with cam pulley 361 held stationary, as cam pulley 360 is rotated in a second direction, the pin 356 connecting arcuate cam slot 372c, 374c of jaws 372, 374 to cam slot 362 of cam pulley 360 is slid or cammed distally through cam slots 372c, 374c of jaws 372, 374 and pushed radially outward through cam slot 362 of cam pulley 360, and pushed or cammed distally through axial slots 352a, 254a of support plate 352, 354, to thereby close jaws 372, 374.

Turning now to FIGS. 39-50, an end effector for connection to robot arms 2, 3 and for manipulation by control device 4, in accordance with yet another embodiment of the present disclosure, is generally designated as 400. End effector 400 is substantially similar to end effectors 100-300 and thus will only be described in detail herein to the extent necessary to describe differences in construction and/or operation over end effectors 100-300.

End effector 400 includes a wrist assembly 410, and a jaw assembly 450 pivotally connected to wrist assembly 410. Wrist assembly 410 includes a proximal hub 412 defining a first longitudinal axis “X1-X1,” and a first pivot axis “A-A” that is oriented orthogonal to the first longitudinal axis “X1-X1.” Wrist assembly 410 further includes a distal hub 414 pivotally connected to proximal hub 412. Distal hub 414 defines a second longitudinal axis “X2-X2,” and a second pivot axis “B-B” that is oriented orthogonal to the first pivot axis “A-A” and orthogonal to the first longitudinal axis “X1-X1.” In an embodiment, when the first longitudinal axis “X1-X1” is parallel with the second longitudinal axis “X2-X2” (i.e., end effector 400 is in an axially aligned orientation), second pivot axis “B-B” may extend through first longitudinal axis “X1-X1.”

With reference to FIGS. 45 and 46, a single first cable 122 is at least partially wrapped around a cam pulley 414c of distal hub 414 and secured to at least one point thereof, or that the single first cable 122 may be wrapped at least once around cam pulley 414c, in the manner of a capstan. Single first cable 122 may include proximal ends that extend through robot arm 2 or 3 and operatively associated with a respective first motor and second motor (not shown) of control device 4. While a single first cable 122 is shown and described, it is contemplated that a first pair of cables (not shown) including respective distal ends may be secured to opposed sides of cam pulley 414c, or wrapped at least 180° around cam pulley 414c and secured thereto, and including respective proximal ends extending through robot arm 2 or 3 and operatively associated with a respective first motor and second motor (not shown) of control device 4.

With continued reference to FIGS. 39-50, end effector 400 includes a jaw assembly 450 having a pair of spaced apart support or cam plates, or cam pulleys 452, 454 pivotally connected to respective spaced apart upright supports 414a, 414b of distal hub 414 of wrist assembly 410, so as to be pivotable about second pivot axis “B-B.” Each support plate 452, 454 defines a respective longitudinally extending slot 452a, 454a formed therein at a location proximal of second pivot axis “B-B.”

Jaw assembly 450 further includes a pair of cam pulley assemblies 460a, 460b each having a cam plate 462a, 462b pivotally supported on spaced apart upright supports 414a, 414b of distal hub 414 along second pivot axis “B-B,” and a respective cam link 464a, 464b pivotally interconnecting each cam plate 462a, 462b to a respective support plate 452, 454. Specifically, a distal end of each cam link 464a, 464b is pivotally connected to a respective cam plate 462a, 462b, and a proximal end of each cam link 464a, 464b is pivotally and slidably connected to slots 452a, 454a of support plates 452, 454 via a camming pin 466. A length of each cam link 464a, 464b may be modified or selected so as to vary or alter a closing/opening characteristic of jaw assembly 450, such as for example, to increase a clamping force (i.e., act as a force multiplier) of the jaw assembly 450 as the jaw assembly 450 is brought to a fully closed condition.

Jaw assembly 450 also includes a pair of jaws 472, 474 pivotally connected to support plates 452, 454, and to upright supports 414a, 414b of distal hub 414, at a common pivot point 476 about which each jaw 472, 474 pivots. Pivot point 476 is co-axial with second pivot “B-B”.

Each jaw 472, 474 includes a respective proximal end 472a, 474a, and a respective distal end 472b, 474b. Each proximal end 472a, 474a extends proximally of pivot point 476, and each distal end 472b, 474b extends distally of pivot point 476. Each proximal end 472a, 474a defines a respective angled cam slot 472c, 474c formed therein. Specifically, each angled cam slot 472c, 474c may include a distal end axially aligned or substantially axially aligned with pivot point 476, and a proximal end curving in opposite directions away from one another.

As described above, a pin or the like 466 pivotally and slidably connects each angled cam slot 472c, 474c of respective proximal end 472a, 474a of respective jaw 472, 474 with slots 452a, 454a of support plates 452, 454. In use, as will be described in greater detail below, as cam plates 462a, 462b are rotated in either a clockwise or counter clockwise direction, jaws 472, 474 will be caused to be opened or closed accordingly.

As illustrated in FIGS. 39-46, a single second cable 124 may be at least partially wrapped around cam plate 462a and secured to at least one point thereof, or that the single second cable may be wrapped at least once around cam plate 462a, in the manner of a capstan. Single second cable 124 may include proximal ends that extend through robot arm 2 or 3 and operatively associated with a respective third motor and fourth motor (not shown) of control device 4. While a single second cable 124 is described, it is contemplated that a second pair of cables (not shown) including respective distal ends may be secured to opposed sides of cam plate 462a, or wrapped at least 180° around cam plate 462a and secured thereto, and including respective proximal ends extending through robot arm 2 or 3 and operatively associated with a respective third motor and fourth motor (not shown) of control device 4.

A single third cable 126 may be at least partially wrapped around cam plate 462b and secured to at least one point thereof, or that the single third cable 126 may be wrapped at least once around cam plate 462b, in the manner of a capstan. The single third cable 126 may include proximal ends that extend through robot arm 2 or 3 and operatively associated with a respective fifth motor (not shown) and sixth motor (not shown) of control device 4. While a single third cable 126 is described, it is contemplated that a third pair of cables (not shown) including respective distal ends may be secured to opposed sides of cam plate 462b, or wrapped at least 180° around cam plate 462b and secured thereto, and including respective proximal ends extending through robot arm 2 or 3 and operatively associated with a respective fifth motor (not shown) and sixth motor (not shown) of control device 4.

In operation, as seen in FIGS. 45 and 46, in order to pivot end effector 400 about first pivot axis “A-A” of wrist assembly 410, it is contemplated that one proximal end of first cable 122 is drawn in a proximal direction as a result of an input from control device 4 to activate a first motor (not shown), and optionally activate a second motor (not shown) to let out the other proximal end of first cable 122. Depending on which proximal end of first cable 122 is drawn in a proximal direction will determine which direction of pivot, about first pivot axis “A-A,” is achieved.

Additionally, in operation, in order to pivot jaws 472, 474 of end effector 400 about second pivot axis “B-B” of jaw assembly 450, it is contemplated that one proximal end of the second cable 124, and one proximal end of the third cable 126, is drawn in a proximal direction as a result of an input from control device 4 to activate a third or a fifth motor (not shown), and optionally activate a fourth or a sixth motor (not shown) to let out the other proximal end of the second or third cable 124, 126. Depending on which proximal end of the second cable 124 and the third cable 126 is drawn in a proximal direction will determine which direction of pivot, about second pivot axis “B-B,” is transmitted to support plate 452 or 454 to thus pivot jaws 472, 474.

Also in operation, in order to open or close jaws 472, 474 of end effector 400, about pivot point 476 of jaws 472, 474, it is contemplated that one proximal end of one of the second cable and third cable 124, 126 is drawn in a proximal direction as a result of an input from control device 4 to activate a third motor or a fifth motor (not shown), and optionally activate a fourth motor or a sixth motor (not shown) to let out the other proximal end of the second cable 124 or third cable 126. Depending on which proximal end of the second cable 124 or third cable 126 is drawn in a proximal direction will determine which direction cam plates 462a, 462b of cam pulley assemblies 460a, 460b is rotated relative to one another (about pivot/rotation axis “B-B”) and thus whether jaws 472, 474 are opened or closed. Specifically, as cam plate 462a of cam plate 462b is rotated in a first direction, camming pin 466 (disposed within angled cam slot 472c, 474c of jaws 472, 474 and slots 452a, 454a of support plates 452, 454) interconnected to cam plates 462a, 462b by respective cam links 464a, 464b, is slid or cammed distally through angled cam slot 472c, 474c of jaws 472, 474 and drawn distally through slots 452a, 454a of support plates 452, 454, by cam links 464a, 464b, to thereby open jaws 472, 474.

Likewise, as cam plate 462a or cam plate 462b is rotated in a second direction, camming pin 466 is slid or cammed proximally through angled cam slot 472c, 474c of jaws 472, 474 and pushed proximally through slots 452a, 454a of support plates 452, 454, by cam links 464a, 464b, to thereby close jaws 472, 474.

Turning now to FIGS. 51-62, an end effector for connection to robot arms 2, 3 and for manipulation by control device 4, in accordance with yet another embodiment of the present disclosure, is generally designated as 500. End effector 500 is substantially similar to end effector 400 and thus will only be described in detail herein to the extent necessary to describe differences in construction and/or operation over end effector 400.

End effector 500 includes a wrist assembly 510, and a jaw assembly 550 pivotally connected to wrist assembly 510. Wrist assembly 510 includes a proximal hub 512 defining a first longitudinal axis “X1-X1,” and a first pivot axis “A-A” that is oriented orthogonal to the first longitudinal axis “X1-X1.” Wrist assembly 510 further includes a distal hub 514 pivotally connected to proximal hub 512. Distal hub 514 defines a second longitudinal axis “X2-X2,” and a second pivot axis “B-B” that is oriented orthogonal to the first pivot axis “A-A” and orthogonal to the first longitudinal axis “X1-X1.” In an embodiment, when the first longitudinal axis “X1-X1” is parallel with the second longitudinal axis “X2-X2” (i.e., end effector 500 is in an axially aligned orientation), second pivot axis “B-B” may extend through first longitudinal axis “X1-X1.”

With reference to FIGS. 58 and 59, a single first cable 122 is at least partially wrapped around a cam plate 514c of distal hub 514 and secured to at least one point thereof, or that the single first cable 122 may be wrapped at least once around cam plate 514c, in the manner of a capstan. Single first cable 122 may include proximal ends that extend through robot arm 2 or 3 and operatively associated with a respective first motor and second motor (not shown) of control device 4. While a single first cable 122 is shown and described, it is contemplated that a first pair of cables (not shown) including respective distal ends may be secured to opposed sides of cam plate 514c, or wrapped at least 180° around cam plate 514c and secured thereto, and including respective proximal ends extending through robot arm 2 or 3 and operatively associated with a respective first motor and second motor (not shown) of control device 4.

With continued reference to FIGS. 51-62, end effector 500 includes a jaw assembly 550 having a pair of spaced apart support or cam plates, or cam pulleys 552, 554 pivotally connected to respective spaced apart upright supports 514a, 514b of distal hub 514 of wrist assembly 510, so as to be pivotable about second pivot axis “B-B.” Each support plate 552, 554 extends distally from a pivot pin 566 which defines second pivot axis “B-B.”

Jaw assembly 550 also includes a pair of jaws 572, 574 pivotally connected to support plates 552, 554, and to upright supports 514a, 514b of distal hub 514, at a common pivot point 576 about which each jaw 572, 574 pivots. Pivot point 576 is located distally of second pivot “B-B”. Each jaw 572, 574 includes a respective proximal end 572a, 574a, and a respective distal end 572b, 574b. Each proximal end 572a, 574a extends proximally of pivot point 576, and each distal end 572b, 574b extends distally of pivot point 576.

Jaw assembly 550 further includes at least one cam pulley assembly 560 having a cam plate 562a non-rotatably supported on a pivot pin 562b extending between spaced apart upright supports 514a, 514b of distal hub 514, wherein second pivot axis “B-B” extends along pivot pin 562b. Cam pulley assembly 560 further includes a pair of cam linkages 564, 566 interconnecting pivot pin 562b and the proximal end 572a, 574a of jaws 572, 574. Specifically, cam linkage 564 includes a proximal link 564a having a first end connected (e.g., fixedly, non-rotatably, keyed, etc.) to pivot pin 562b, and a distal link 564b pivotally interconnecting a second end of proximal link 564a and proximal end 574a of jaw 574. Likewise, cam linkage 566 includes a proximal link 566a having a first end connected (e.g., fixedly, non-rotatably, keyed, etc.) to pivot pin 562b, and a distal link 566b pivotally interconnecting a second end of proximal link 566a and proximal end 572a of jaw 572. In use, as will be described in greater detail below, as cam plate 562 is rotated in either a clockwise or counter clockwise direction, jaws 572, 574 will be caused to be opened or closed via first and second linkages 564, 566. The lengths of cam linkages 564, 566 may be modified or selected so as to vary or alter a closing/opening characteristic of jaw assembly 550, such as for example, to increase a clamping force (i.e., act as a force multiplier) of the jaw assembly 550 as the jaw assembly 550 is brought to a fully closed condition.

As illustrated in FIG. 55, a single second cable 124 may be at least partially wrapped around one of support plates 552, 554 and secured to at least one point thereof, or that the single second cable 124 may be wrapped at least once around one of support plates 552, 554, in the manner of a capstan. The single second cable 124 may include proximal ends (not shown) that extend through robot arm 2 or 3 and operatively associated with a respective third motor and fourth motor (not shown) of control device 4. While a single second cable 124 is described, it is contemplated that a second pair of cables (not shown) including respective distal ends may be secured to opposed sides of support plates 552, 554, or wrapped at least 180° around support plates 552, 554 and secured thereto, and including respective proximal ends extending through robot arm 2 or 3 and operatively associated with a respective third motor and fourth motor (not shown) of control device 4.

Additionally, a single third cable 126 may be at least partially wrapped around cam plate 562a and secured to at least one point thereof, or that the single third cable 126 may be wrapped at least once around cam plate 562a, in the manner of a capstan. Single third cable 126 may include proximal ends (not shown) that extend through robot arm 2 or 3 and operatively associated with a respective fifth motor (not shown) and sixth motor (not shown) of control device 4. While a single third cable 126 is described, it is contemplated that a third pair of cables (not shown) including respective distal ends may be secured to opposed sides of cam plate 562a, or wrapped at least 180° around cam plate 562a and secured thereto, and including respective proximal ends extending through robot arm 2 or 3 and operatively associated with a respective fifth motor (not shown) and sixth motor (not shown) of control device 4

In operation, in order to pivot end effector 500 about first pivot axis “A-A” of wrist assembly 510, it is contemplated that one proximal end of the first cable 122 is drawn in a proximal direction as a result of an input from control device 4 to activate a first motor (not shown), and optionally activate a second motor (not shown) to let out the other proximal end of the first cable 122. Depending on which proximal end of the cable 122 is drawn in a proximal direction will determine which direction of pivot, about first pivot axis “A-A,” is achieved.

Additionally, in operation, in order to pivot jaws 572, 574 of end effector 500 about second pivot axis “B-B” of jaw assembly 550, it is contemplated that one proximal end of the second cable 124 is drawn in a proximal direction as a result of an input from control device 4 to activate a third motor (not shown), and optionally activate a fourth motor (not shown) to let out the other proximal end of the second cable. Depending on which proximal end of the second cable is drawn in a proximal direction will determine which direction of pivot, about second pivot axis “B-B,” is transmitted to support plate 552 or 554 to thus pivot jaws 572, 574.

Also in operation, in order to open or close jaws 572, 574 of end effector 500, about pivot point 576 of jaws 572, 574, it is contemplated that one proximal end of the third cable 126 is drawn in a proximal direction as a result of an input from control device 4 to activate a fifth motor (not shown), and optionally activate a sixth motor (not shown) to let out the other proximal end of the third cable. Depending on which proximal end of the third cable is drawn in a proximal direction will determine which direction plate 562a of linkage assembly 562 is rotated (about pivot/rotation axis “B-B”) and thus whether jaws 572, 574 are opened or closed. Specifically, as plate 562a is rotated in a first direction, thus rotating pivot pin 562b in the first direction, proximal links 564a, 566a of linkages 564, 566 are caused to be rotated in the first direction about second pivot axis “B-B” to thereby draw distal links 564b, 566b of linkages 564, 566 radially inward and thus draw proximal ends 572a, 574a of jaws 572, 574 radially inward to thereby close jaws 572, 574.

Likewise, as plate 562a is rotated in a second direction, thus rotating pivot pin 562b in the second direction, proximal links 564a, 566a of linkages 564, 566 are caused to be rotated in the second direction about second pivot axis “B-B” to thereby push distal links 564b, 566b of linkages 564, 566 radially outward and thus push proximal ends 572a, 574a of jaws 572, 574 radially outward to thereby open jaws 572, 574.

It will be understood that various modifications may be made to the embodiments disclosed herein. For example, while the cam pulleys disclosed herein have been shown and described as being connected to the proximal ends of the jaws, it is contemplated and within the scope of the present disclosure, for the cam pulley to be operatively connected with the distal portion of the jaws. Therefore, the above description should not be construed as limiting, but merely as exemplifications of various embodiments. Those skilled in the art will envision other modifications within the scope and spirit of the claims appended thereto.

Claims

1. A surgical tool comprising: a first jaw;a second jaw;a first cam pulley positioned to open or close the first and second jaws about a first axis, wherein the first cam pulley defines at least one arcuate slot formed in a surface of the first cam pulley, wherein each jaw is in sliding and camming connection with a respective arcuate slot of the first cam pulley, each arcuate slot including: a first end portion spaced a first radial distance from a pivot axis of the first cam pulley; anda second end portion spaced a second radial distance from the pivot axis of the first cam pulley; anda second cam pulley positioned to rotate the first and second jaws about a second axis that is different from the first axis, the first and second cam pulleys coupled to the first and second jaws.
2. The surgical tool according to claim 1, further comprising a cam follower that couples the first and the second cam pulleys to the first and second jaws.
3. The surgical tool according to claim 2, wherein the first cam pulley multiplies a closure force acting on the first and second jaws as the first cam pulley is rotated to close the first and second jaws.
4. The surgical tool according to claim 3, wherein the first cam pulley defines a single arcuate slot formed therein, and wherein a proximal end portion of each jaw defines an angled slot formed therein, wherein the angled slots diverge from one another in a proximal direction, and wherein a cam pin is slidably disposed within the arcuate slot of the first cam pulley and the angled slot of each jaw.
5. The surgical tool according to claim 4, wherein the second cam pulley defines an axially extending slot formed therein, and wherein the cam pin is slidably disposed within the axially extending slot formed in the second cam pulley.
6. The surgical tool according to claim 3, wherein the first cam pulley includes at least one cam plate, and wherein a cam link is pivotally connected to the at least one cam plate and the second cam pulley.
7. The surgical tool according to claim 6, wherein the second cam pulley defines a longitudinally extending slot formed therein, and wherein the cam link includes a first end portion pivotally connected to the at least one cam plate, and a second end portion pivotably and slidably connected to the longitudinally extending slot formed in the second cam pulley.
8. The surgical tool according to claim 7, wherein a proximal end portion of each jaw defines an angled slot formed therein, wherein the angled slots diverge from one another in a proximal direction, and wherein a cam pin is slidably disposed within the axial slot of the second cam pulley and the angled slot of each jaw.
9. The surgical tool according to claim 3, wherein the first cam pulley includes at least one cam plate, and wherein at least one cam linkage is pivotally connected to the at least one cam plate and a proximal portion of a jaw.
10. The surgical tool according to claim 9, wherein the first cam pulley includes a pivot pin disposed along the second axis, and wherein the pivot pin non-rotatably supports the cam plate, and wherein the at least one cam linkage includes: a first cam linkage having a proximal link non-rotatably extending from the pivot pin of the first cam pulley, and a distal link pivotably interconnecting the proximal link of the first cam linkage and the proximal portion of the first jaw; anda second cam linkage having a proximal link non-rotatably extending from the pivot pin of the first cam pulley, and a distal link pivotably interconnecting the proximal link of the second cam linkage and the proximal portion of the second jaw, wherein the proximal link of the second cam linkage is radially offset from the proximal link of the first cam linkage.
11. An end effector connectable to a robot arm of a robotic surgical system, the end effector comprising: at least one cam plate;a pair of jaws supported on the at least one cam plate, wherein each jaw includes a pivot point connected to the at least one cam plate; anda cam pulley supported on the at least one cam plate, the cam pulley connected to the pair of jaws and rotatable to open or close the pair of jaws; anda wrist assembly supporting the pair of jaws, the wrist assembly including: a proximal hub defining a longitudinal axis; anda distal hub pivotally connected to the proximal hub, wherein the distal hub defines a longitudinal axis, and wherein the proximal hub and the distal hub are pivotable about a first pivot axis that is oriented transverse to the longitudinal axis of the proximal hub; andwherein the pair of jaws are pivotally connected to the distal hub of the wrist assembly, the at least one cam plate is pivotable about a second pivot axis that is oriented transverse to the longitudinal axis of the distal hub of the wrist assembly, the cam pulley includes a pivot pin disposed along the second pivot axis, and the pivot pin non-rotatably supports the at least one cam plate.
12. The end effector according to claim 11, wherein the cam pulley is pivotally supported, on the at least one cam plate, at the second pivot axis, the cam pulley defining at least one arcuate slot formed in a surface thereof, each arcuate slot including: a first end portion spaced a first radial distance from a pivot axis of the cam pulley; anda second end portion spaced a second radial distance from the pivot axis of the cam pulley, andwherein the proximal portion of each jaw is in sliding and camming connection with a arcuate slot of the cam pulley.
13. The end effector according to claim 11, further comprising: a first cam linkage having a proximal link non-rotatably extending from the pivot pin of the cam pulley, and a distal link pivotably interconnecting the proximal link of the first cam linkage and a proximal portion of a first jaw of the pair of jaws; anda second cam linkage having a proximal link non-rotatably extending from the pivot pin of the cam pulley, and a distal link pivotably interconnecting the proximal link of the second cam linkage and a proximal portion of a second jaw of the pair of jaws, wherein the proximal link of the second cam linkage is radially offset from the proximal link of the first cam linkage.
14. A surgical tool comprising: a first jaw;a second jaw, wherein a proximal end portion of each jaw defines an angled slot formed therein, and wherein the angled slots diverge from one another in a proximal direction;a first cam pulley positioned to open or close the first and second jaws about a first axis, the first cam pulley defining a single arcuate slot formed in the first cam pulley;a cam pin is slidably disposed within the single arcuate slot of the first cam pulley and the angled slot of each jaw; anda second cam pulley positioned to rotate the first and second jaws about a second axis that is different from the first axis, the first and second cam pulleys coupled to the first and second jaws.
15. The surgical tool of claim 14, wherein the second cam pulley defines an axially extending slot formed therein, and wherein the cam pin is slidably disposed within the axially extending slot formed in the second cam pulley.
16. A surgical tool comprising: a first jaw;a second jaw;a first cam pulley positioned to open or close the first and second jaws about a first axis, the first cam pulley including a first cam plate;a second cam pulley positioned to rotate the first and second jaws about a second axis that is different from the first axis, the first and second cam pulleys coupled to the first and second jaws, the second cam pulley defining a longitudinally extending slot formed therein; anda cam link pivotally connected to the first cam plate, the cam link including a first end portion pivotally connected to the first cam plate, and a second end portion pivotably and slidably connected to the longitudinally extending slot formed in the second cam pulley.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No. 15/921,093, filed Mar. 14, 2018, which is a continuation of U.S. patent application Ser. No. 15/102,081, filed Jun. 6, 2016, which is a U.S. National Stage Application filed under 35 U.S.C. § 371(a) of International Patent Application Serial No. PCT/US2014/061329, filed Oct. 20, 2014, which claims the benefit U.S. Provisional Patent Application Ser. No. 61/914,632, filed Dec. 11, 2013, the entire disclosure of each of which is incorporated by reference herein.

US Referenced Citations (814)

Number	Name	Date	Kind
2777340	Hettwer et al.	Jan 1957	A
2957353	Babacz	Oct 1960	A
3111328	Di Rito et al.	Nov 1963	A
3695058	Keith, Jr.	Oct 1972	A
3734515	Dudek	May 1973	A
3759336	Marcovitz et al.	Sep 1973	A
4162399	Hudson	Jul 1979	A
4606343	Conta et al.	Aug 1986	A
4705038	Sjostrom et al.	Nov 1987	A
4722685	de Estrada et al.	Feb 1988	A
4823807	Russell et al.	Apr 1989	A
4874181	Hsu	Oct 1989	A
5129118	Walmesley	Jul 1992	A
5129570	Schulze et al.	Jul 1992	A
5152744	Krause et al.	Oct 1992	A
5301061	Nakada et al.	Apr 1994	A
5312023	Green et al.	May 1994	A
5326013	Green et al.	Jul 1994	A
5350355	Sklar	Sep 1994	A
5383874	Jackson et al.	Jan 1995	A
5383880	Hooven	Jan 1995	A
5389098	Tsuruta et al.	Feb 1995	A
5395033	Byrne et al.	Mar 1995	A
5400267	Denen et al.	Mar 1995	A
5411508	Bessler et al.	May 1995	A
5413267	Solyntjes et al.	May 1995	A
5427087	Ito et al.	Jun 1995	A
5433721	Hooven et al.	Jul 1995	A
5467911	Tsuruta et al.	Nov 1995	A
5476379	Disel	Dec 1995	A
5487499	Sorrentino et al.	Jan 1996	A
5518163	Hooven	May 1996	A
5518164	Hooven	May 1996	A
5526822	Burbank et al.	Jun 1996	A
5529235	Boiarski et al.	Jun 1996	A
5535934	Boiarski et al.	Jul 1996	A
5535937	Boiarski et al.	Jul 1996	A
5540375	Bolanos et al.	Jul 1996	A
5540706	Aust et al.	Jul 1996	A
5542594	McKean et al.	Aug 1996	A
5549637	Crainich	Aug 1996	A
5553675	Pitzen et al.	Sep 1996	A
5562239	Boiarski et al.	Oct 1996	A
5564615	Bishop et al.	Oct 1996	A
5609560	Ichikawa et al.	Mar 1997	A
5626587	Bishop et al.	May 1997	A
5632432	Schulze et al.	May 1997	A
5645209	Green et al.	Jul 1997	A
5647526	Green et al.	Jul 1997	A
5653374	Young et al.	Aug 1997	A
5658300	Bito et al.	Aug 1997	A
5662662	Bishop et al.	Sep 1997	A
5667517	Hooven	Sep 1997	A
5693042	Boiarski et al.	Dec 1997	A
5704534	Huitema et al.	Jan 1998	A
5713505	Huitema	Feb 1998	A
5752973	Kieturakis	May 1998	A
5762603	Thompson	Jun 1998	A
5779130	Alesi et al.	Jul 1998	A
5782396	Mastri et al.	Jul 1998	A
5782397	Koukline	Jul 1998	A
5792573	Pitzen et al.	Aug 1998	A
5797536	Smith et al.	Aug 1998	A
5820009	Melling et al.	Oct 1998	A
5863159	Lasko	Jan 1999	A
5908427	McKean et al.	Jun 1999	A
5954259	Viola et al.	Sep 1999	A
5964774	McKean et al.	Oct 1999	A
5993454	Longo	Nov 1999	A
6010054	Johnson et al.	Jan 2000	A
6017354	Culp et al.	Jan 2000	A
6032849	Mastri et al.	Mar 2000	A
6045560	McKean et al.	Apr 2000	A
6090123	Culp et al.	Jul 2000	A
6126651	Mayer	Oct 2000	A
6129547	Cise et al.	Oct 2000	A
6132368	Cooper	Oct 2000	A
6165169	Panescu et al.	Dec 2000	A
6206903	Ramans	Mar 2001	B1
6239732	Cusey	May 2001	B1
6241139	Milliman et al.	Jun 2001	B1
6246200	Blumenkranz et al.	Jun 2001	B1
6264086	McGuckin, Jr.	Jul 2001	B1
6264087	Whitman	Jul 2001	B1
6302311	Adams et al.	Oct 2001	B1
6312435	Wallace et al.	Nov 2001	B1
6315184	Whitman	Nov 2001	B1
6321855	Barnes	Nov 2001	B1
6329778	Culp et al.	Dec 2001	B1
6331181	Tierney et al.	Dec 2001	B1
6343731	Adams et al.	Feb 2002	B1
6348061	Whitman	Feb 2002	B1
6368324	Dinger et al.	Apr 2002	B1
6371909	Hoeg et al.	Apr 2002	B1
6394998	Wallace et al.	May 2002	B1
6424885	Niemeyer et al.	Jul 2002	B1
6434507	Clayton et al.	Aug 2002	B1
6441577	Blumenkranz et al.	Aug 2002	B2
6443973	Whitman	Sep 2002	B1
6459926	Nowlin et al.	Oct 2002	B1
6461372	Jensen et al.	Oct 2002	B1
6488197	Whitman	Dec 2002	B1
6491201	Whitman	Dec 2002	B1
6491691	Morley et al.	Dec 2002	B1
6491701	Tierney et al.	Dec 2002	B2
6493608	Niemeyer	Dec 2002	B1
6533157	Whitman	Mar 2003	B1
6537280	Dinger et al.	Mar 2003	B2
6565554	Niemeyer	May 2003	B1
6610066	Dinger et al.	Aug 2003	B2
6611793	Burnside et al.	Aug 2003	B1
6645196	Nixon et al.	Nov 2003	B1
6645218	Cassidy et al.	Nov 2003	B1
6654999	Stoddard et al.	Dec 2003	B2
6659939	Moll et al.	Dec 2003	B2
6671581	Niemeyer et al.	Dec 2003	B2
6676684	Morley et al.	Jan 2004	B1
6685698	Morley et al.	Feb 2004	B2
6698643	Whitman	Mar 2004	B2
6699177	Wang et al.	Mar 2004	B1
6699235	Wallace et al.	Mar 2004	B2
6714839	Salisbury, Jr. et al.	Mar 2004	B2
6716233	Whitman	Apr 2004	B1
6728599	Wang et al.	Apr 2004	B2
6743240	Smith et al.	Jun 2004	B2
6746443	Morley et al.	Jun 2004	B1
6766204	Niemeyer et al.	Jul 2004	B2
6770081	Cooper et al.	Aug 2004	B1
6772053	Niemeyer	Aug 2004	B2
6783524	Anderson et al.	Aug 2004	B2
6783533	Green et al.	Aug 2004	B2
6792390	Burnside et al.	Sep 2004	B1
6793652	Whitman et al.	Sep 2004	B1
6793653	Sanchez et al.	Sep 2004	B2
6799065	Niemeyer	Sep 2004	B1
6817508	Racenet et al.	Nov 2004	B1
6830174	Hillstead et al.	Dec 2004	B2
6837883	Moll et al.	Jan 2005	B2
6839612	Sanchez et al.	Jan 2005	B2
6840938	Morley et al.	Jan 2005	B1
6843403	Whitman	Jan 2005	B2
6846308	Whitman et al.	Jan 2005	B2
6846309	Whitman et al.	Jan 2005	B2
6849071	Whitman et al.	Feb 2005	B2
6860892	Tanaka et al.	Mar 2005	B1
6866671	Tierney et al.	Mar 2005	B2
6871117	Wang et al.	Mar 2005	B2
6879880	Nowlin et al.	Apr 2005	B2
6899538	Matoba	May 2005	B2
6899705	Niemeyer	May 2005	B2
6902560	Morley et al.	Jun 2005	B1
6905057	Swayze et al.	Jun 2005	B2
6936042	Wallace et al.	Aug 2005	B2
6951535	Ghodoussi et al.	Oct 2005	B2
6959852	Shelton, IV et al.	Nov 2005	B2
6964363	Wales et al.	Nov 2005	B2
6969385	Moreyra	Nov 2005	B2
6974449	Niemeyer	Dec 2005	B2
6981628	Wales	Jan 2006	B2
6981941	Whitman et al.	Jan 2006	B2
6986451	Mastri et al.	Jan 2006	B1
6988649	Shelton, IV et al.	Jan 2006	B2
6991627	Madhani et al.	Jan 2006	B2
6994708	Manzo	Feb 2006	B2
7032798	Whitman et al.	Apr 2006	B2
7048745	Tierney et al.	May 2006	B2
RE39152	Aust et al.	Jun 2006	E
7055731	Shelton, IV et al.	Jun 2006	B2
7059508	Shelton, IV et al.	Jun 2006	B2
7066926	Wallace et al.	Jun 2006	B2
7077856	Whitman	Jul 2006	B2
7111769	Wales et al.	Sep 2006	B2
7118582	Wang et al.	Oct 2006	B1
7122029	Koop et al.	Oct 2006	B2
7125403	Julian et al.	Oct 2006	B2
7140528	Shelton, IV	Nov 2006	B2
7141049	Stern et al.	Nov 2006	B2
7143923	Shelton, IV et al.	Dec 2006	B2
7143925	Shelton, IV et al.	Dec 2006	B2
7143926	Shelton, IV et al.	Dec 2006	B2
7147138	Shelton, IV	Dec 2006	B2
7155315	Niemeyer et al.	Dec 2006	B2
7172104	Scirica et al.	Feb 2007	B2
7225964	Mastri et al.	Jun 2007	B2
7238021	Johnson	Jul 2007	B1
7239940	Wang et al.	Jul 2007	B2
7246734	Shelton, IV	Jul 2007	B2
7252660	Kunz	Aug 2007	B2
7306597	Manzo	Dec 2007	B2
7328828	Ortiz et al.	Feb 2008	B2
7357774	Cooper	Apr 2008	B2
7364061	Swayze et al.	Apr 2008	B2
7373219	Nowlin et al.	May 2008	B2
7379790	Toth et al.	May 2008	B2
7380695	Doll et al.	Jun 2008	B2
7380696	Shelton, IV et al.	Jun 2008	B2
7386365	Nixon	Jun 2008	B2
7391173	Schena	Jun 2008	B2
7398707	Morley et al.	Jul 2008	B2
7404508	Smith et al.	Jul 2008	B2
7407078	Shelton, IV et al.	Aug 2008	B2
7413565	Wang et al.	Aug 2008	B2
7416101	Shelton, IV et al.	Aug 2008	B2
7419080	Smith et al.	Sep 2008	B2
7422139	Shelton, IV et al.	Sep 2008	B2
7431189	Shelton, IV et al.	Oct 2008	B2
7441684	Shelton, IV et al.	Oct 2008	B2
7448525	Shelton, IV et al.	Nov 2008	B2
7453227	Prisco et al.	Nov 2008	B2
7464846	Shelton, IV et al.	Dec 2008	B2
7464847	Viola et al.	Dec 2008	B2
7464849	Shelton, IV et al.	Dec 2008	B2
7481347	Roy	Jan 2009	B2
7481824	Boudreaux et al.	Jan 2009	B2
7487899	Shelton, IV et al.	Feb 2009	B2
7524320	Tierney et al.	Apr 2009	B2
7549564	Boudreaux	Jun 2009	B2
7565993	Milliman et al.	Jul 2009	B2
7568603	Shelton, IV et al.	Aug 2009	B2
7574250	Niemeyer	Aug 2009	B2
7575144	Ortiz et al.	Aug 2009	B2
7588175	Timm et al.	Sep 2009	B2
7588176	Timm et al.	Sep 2009	B2
7594912	Cooper et al.	Sep 2009	B2
7607440	Coste-Maniere et al.	Oct 2009	B2
7637409	Marczyk	Dec 2009	B2
7641093	Doll et al.	Jan 2010	B2
7644848	Swayze et al.	Jan 2010	B2
7666191	Orban, III et al.	Feb 2010	B2
7670334	Hueil et al.	Mar 2010	B2
7673780	Shelton, IV et al.	Mar 2010	B2
7682357	Ghodoussi et al.	Mar 2010	B2
7689320	Prisco et al.	Mar 2010	B2
7695481	Wang et al.	Apr 2010	B2
7695485	Whitman et al.	Apr 2010	B2
7699835	Lee et al.	Apr 2010	B2
7699855	Anderson et al.	Apr 2010	B2
7713263	Niemeyer	May 2010	B2
7721931	Shelton, IV et al.	May 2010	B2
7725214	Diolaiti	May 2010	B2
7727244	Orban, III et al.	Jun 2010	B2
7738971	Swayze et al.	Jun 2010	B2
7740159	Shelton, IV et al.	Jun 2010	B2
7741802	Prisco et al.	Jun 2010	B2
7743960	Whitman et al.	Jun 2010	B2
7756036	Druke et al.	Jul 2010	B2
7757028	Druke et al.	Jul 2010	B2
7758613	Whitman	Jul 2010	B2
7762825	Burbank et al.	Jul 2010	B2
7766210	Shelton, IV et al.	Aug 2010	B2
7770773	Whitman et al.	Aug 2010	B2
7770775	Shelton, IV et al.	Aug 2010	B2
7778733	Nowlin et al.	Aug 2010	B2
7793812	Moore et al.	Sep 2010	B2
7799039	Shelton, IV et al.	Sep 2010	B2
7802712	Milliman et al.	Sep 2010	B2
7803151	Whitman	Sep 2010	B2
7806891	Nowlin et al.	Oct 2010	B2
7819859	Prisco et al.	Oct 2010	B2
7819885	Cooper	Oct 2010	B2
7822458	Webster, III et al.	Oct 2010	B2
7824401	Manzo et al.	Nov 2010	B2
7835823	Sillman et al.	Nov 2010	B2
7843158	Prisco	Nov 2010	B2
7845534	Viola et al.	Dec 2010	B2
7845537	Shelton, IV et al.	Dec 2010	B2
7857185	Swayze et al.	Dec 2010	B2
7865266	Moll et al.	Jan 2011	B2
7865269	Prisco et al.	Jan 2011	B2
7870989	Viola et al.	Jan 2011	B2
7886743	Cooper et al.	Feb 2011	B2
7899578	Prisco et al.	Mar 2011	B2
7900805	Shelton, IV et al.	Mar 2011	B2
7905897	Whitman et al.	Mar 2011	B2
7907166	Lamprecht et al.	Mar 2011	B2
7918230	Whitman et al.	Apr 2011	B2
7922061	Shelton, IV et al.	Apr 2011	B2
7922719	Ralph et al.	Apr 2011	B2
7935130	Williams	May 2011	B2
7947034	Whitman	May 2011	B2
7951071	Whitman et al.	May 2011	B2
7954682	Giordano et al.	Jun 2011	B2
7959051	Smith et al.	Jun 2011	B2
7963433	Whitman et al.	Jun 2011	B2
7963913	Devengenzo et al.	Jun 2011	B2
7967178	Scirica et al.	Jun 2011	B2
7967179	Olson et al.	Jun 2011	B2
7983793	Toth et al.	Jul 2011	B2
7992758	Whitman et al.	Aug 2011	B2
8002767	Sanchez et al.	Aug 2011	B2
8004229	Nowlin et al.	Aug 2011	B2
8011550	Aranyi et al.	Sep 2011	B2
8012170	Whitman et al.	Sep 2011	B2
8016178	Olson et al.	Sep 2011	B2
8016855	Whitman et al.	Sep 2011	B2
8020743	Shelton, IV	Sep 2011	B2
8025199	Whitman et al.	Sep 2011	B2
8035487	Malackowski	Oct 2011	B2
8052024	Viola et al.	Nov 2011	B2
8054752	Druke et al.	Nov 2011	B2
8062288	Cooper et al.	Nov 2011	B2
8079950	Stern et al.	Dec 2011	B2
8100133	Mintz et al.	Jan 2012	B2
8108072	Zhao et al.	Jan 2012	B2
8114118	Knodel et al.	Feb 2012	B2
8120301	Goldberg et al.	Feb 2012	B2
8127975	Olson et al.	Mar 2012	B2
8132705	Viola et al.	Mar 2012	B2
8142447	Cooper et al.	Mar 2012	B2
8147503	Zhao et al.	Apr 2012	B2
8151661	Schena et al.	Apr 2012	B2
8152516	Harvey et al.	Apr 2012	B2
8155479	Hoffman et al.	Apr 2012	B2
8157150	Viola et al.	Apr 2012	B2
8157151	Ingmanson et al.	Apr 2012	B2
8182469	Anderson et al.	May 2012	B2
8182494	Yencho et al.	May 2012	B1
8186555	Shelton, IV et al.	May 2012	B2
8186587	Zmood et al.	May 2012	B2
8202278	Orban, III et al.	Jun 2012	B2
8206406	Orban, III	Jun 2012	B2
8210413	Whitman et al.	Jul 2012	B2
8216250	Orban, III et al.	Jul 2012	B2
8220367	Hsu	Jul 2012	B2
8220468	Cooper et al.	Jul 2012	B2
8235273	Olson et al.	Aug 2012	B2
8241322	Whitman et al.	Aug 2012	B2
8256319	Cooper et al.	Sep 2012	B2
8272554	Whitman et al.	Sep 2012	B2
8285517	Sillman et al.	Oct 2012	B2
8292150	Bryant	Oct 2012	B2
8292888	Whitman	Oct 2012	B2
8315720	Mohr et al.	Nov 2012	B2
8335590	Costa et al.	Dec 2012	B2
8342379	Whitman et al.	Jan 2013	B2
8347757	Duval	Jan 2013	B2
8348130	Shah et al.	Jan 2013	B2
8348855	Hillely et al.	Jan 2013	B2
8353440	Whitman et al.	Jan 2013	B2
8357144	Whitman et al.	Jan 2013	B2
8365633	Simaan et al.	Feb 2013	B2
8365972	Aranyi et al.	Feb 2013	B2
8371492	Aranyi et al.	Feb 2013	B2
8372057	Cude et al.	Feb 2013	B2
8374723	Zhao et al.	Feb 2013	B2
8391957	Carlson et al.	Mar 2013	B2
8403926	Nobis et al.	Mar 2013	B2
8418073	Mohr et al.	Apr 2013	B2
8418904	Wenchell et al.	Apr 2013	B2
8419717	Diolaiti et al.	Apr 2013	B2
8423182	Robinson et al.	Apr 2013	B2
8424739	Racenet et al.	Apr 2013	B2
8452447	Nixon	May 2013	B2
8454585	Whitman	Jun 2013	B2
8499992	Whitman et al.	Aug 2013	B2
8505802	Viola et al.	Aug 2013	B2
8508173	Goldberg et al.	Aug 2013	B2
8517241	Nicholas et al.	Aug 2013	B2
8523043	Ullrich et al.	Sep 2013	B2
8528440	Morley et al.	Sep 2013	B2
8529582	Devengenzo et al.	Sep 2013	B2
8540748	Murphy et al.	Sep 2013	B2
8551076	Duval et al.	Oct 2013	B2
8551116	Julian et al.	Oct 2013	B2
8561871	Rajappa et al.	Oct 2013	B2
8561874	Scirica	Oct 2013	B2
8562594	Cooper et al.	Oct 2013	B2
8594841	Zhao et al.	Nov 2013	B2
8597182	Stein et al.	Dec 2013	B2
8597280	Cooper et al.	Dec 2013	B2
8600551	Itkowitz et al.	Dec 2013	B2
8602287	Yates et al.	Dec 2013	B2
8608773	Tierney et al.	Dec 2013	B2
8620473	Diolaiti et al.	Dec 2013	B2
8623000	Humayun et al.	Jan 2014	B2
8624537	Nowlin et al.	Jan 2014	B2
8627995	Smith et al.	Jan 2014	B2
8632463	Drinan et al.	Jan 2014	B2
8634957	Toth et al.	Jan 2014	B2
8636766	Milliman et al.	Jan 2014	B2
8638056	Goldberg et al.	Jan 2014	B2
8638057	Goldberg et al.	Jan 2014	B2
8644988	Prisco et al.	Feb 2014	B2
8647258	Aranyi et al.	Feb 2014	B2
8652121	Quick et al.	Feb 2014	B2
8657174	Yates et al.	Feb 2014	B2
8657177	Scirica et al.	Feb 2014	B2
8666544	Moll et al.	Mar 2014	B2
8668638	Donhowe et al.	Mar 2014	B2
8672206	Aranyi et al.	Mar 2014	B2
8696552	Whitman	Apr 2014	B2
8708213	Shelton, IV et al.	Apr 2014	B2
8715306	Faller et al.	May 2014	B2
8746252	McGrogan et al.	Jun 2014	B2
8749189	Nowlin et al.	Jun 2014	B2
8749190	Nowlin et al.	Jun 2014	B2
8758352	Cooper et al.	Jun 2014	B2
8758391	Swayze et al.	Jun 2014	B2
8761930	Nixon	Jun 2014	B2
8768516	Diolaiti et al.	Jul 2014	B2
8786241	Nowlin et al.	Jul 2014	B2
8790243	Cooper et al.	Jul 2014	B2
8806973	Ross et al.	Aug 2014	B2
8808164	Hoffman et al.	Aug 2014	B2
8808311	Heinrich et al.	Aug 2014	B2
8816628	Nowlin et al.	Aug 2014	B2
8820605	Shelton, IV	Sep 2014	B2
8821480	Burbank	Sep 2014	B2
8823308	Nowlin et al.	Sep 2014	B2
8827989	Niemeyer	Sep 2014	B2
8838270	Druke et al.	Sep 2014	B2
8851355	Aranyi et al.	Oct 2014	B2
8852174	Burbank	Oct 2014	B2
8858547	Brogna	Oct 2014	B2
8858571	Shelton, IV et al.	Oct 2014	B2
8862268	Robinson et al.	Oct 2014	B2
8864751	Prisco et al.	Oct 2014	B2
8864752	Diolaiti et al.	Oct 2014	B2
8875972	Weisenburgh, II et al.	Nov 2014	B2
8888762	Whitman	Nov 2014	B2
8893946	Boudreaux et al.	Nov 2014	B2
8899462	Kostrzewski et al.	Dec 2014	B2
8903546	Diolaiti et al.	Dec 2014	B2
8903549	Itkowitz et al.	Dec 2014	B2
8905289	Patel et al.	Dec 2014	B2
8911428	Cooper et al.	Dec 2014	B2
8912746	Reid et al.	Dec 2014	B2
8919630	Milliman	Dec 2014	B2
8931680	Milliman	Jan 2015	B2
8939344	Olson et al.	Jan 2015	B2
8944070	Guthart et al.	Feb 2015	B2
8950646	Viola	Feb 2015	B2
8960519	Whitman et al.	Feb 2015	B2
8961396	Azarbarzin et al.	Feb 2015	B2
8967443	McCuen	Mar 2015	B2
8968276	Zemlok et al.	Mar 2015	B2
8968337	Whitfield et al.	Mar 2015	B2
8989903	Weir et al.	Mar 2015	B2
8992422	Spivey et al.	Mar 2015	B2
9002518	Manzo et al.	Apr 2015	B2
9014856	Manzo et al.	Apr 2015	B2
9016540	Whitman et al.	Apr 2015	B2
9016545	Aranyi et al.	Apr 2015	B2
9019345	Patrick	Apr 2015	B2
9023014	Chowaniec et al.	May 2015	B2
9033868	Whitman et al.	May 2015	B2
9043027	Durant et al.	May 2015	B2
9050120	Swarup et al.	Jun 2015	B2
9055943	Zemlok et al.	Jun 2015	B2
9055961	Manzo et al.	Jun 2015	B2
9064653	Prest et al.	Jun 2015	B2
9068628	Solomon et al.	Jun 2015	B2
9072515	Hall et al.	Jul 2015	B2
9078684	Williams	Jul 2015	B2
9084623	Gomez et al.	Jul 2015	B2
9095362	Dachs, II et al.	Aug 2015	B2
9096033	Holop et al.	Aug 2015	B2
9101381	Burbank et al.	Aug 2015	B2
9113847	Whitman et al.	Aug 2015	B2
9113875	Viola et al.	Aug 2015	B2
9113876	Zemlok et al.	Aug 2015	B2
9113877	Whitman et al.	Aug 2015	B1
9113899	Garrison et al.	Aug 2015	B2
9138284	Krom et al.	Sep 2015	B2
9144456	Rosa et al.	Sep 2015	B2
9198730	Prisco et al.	Dec 2015	B2
9204923	Manzo et al.	Dec 2015	B2
9216013	Scirica et al.	Dec 2015	B2
9226648	Saadat et al.	Jan 2016	B2
9226750	Weir et al.	Jan 2016	B2
9226761	Burbank	Jan 2016	B2
9232984	Guthart et al.	Jan 2016	B2
9241712	Zemlok et al.	Jan 2016	B2
9241766	Duque et al.	Jan 2016	B2
9241767	Prisco et al.	Jan 2016	B2
9241769	Larkin et al.	Jan 2016	B2
9259275	Burbank	Feb 2016	B2
9259277	Rogers et al.	Feb 2016	B2
9259281	Griffiths et al.	Feb 2016	B2
9259282	Azizian et al.	Feb 2016	B2
9261172	Solomon et al.	Feb 2016	B2
9265567	Orban, III et al.	Feb 2016	B2
9265584	Itkowitz et al.	Feb 2016	B2
9282961	Whitman et al.	Mar 2016	B2
9282963	Bryant	Mar 2016	B2
9283049	Diolaiti et al.	Mar 2016	B2
9295522	Kostrzewski	Mar 2016	B2
9301811	Goldberg et al.	Apr 2016	B2
9307986	Hall et al.	Apr 2016	B2
9314307	Richmond et al.	Apr 2016	B2
9317651	Nixon	Apr 2016	B2
9345546	Toth et al.	May 2016	B2
9393017	Flanagan et al.	Jul 2016	B2
9402689	Prisco et al.	Aug 2016	B2
9417621	Diolaiti et al.	Aug 2016	B2
9424303	Hoffman et al.	Aug 2016	B2
9433418	Whitman et al.	Sep 2016	B2
9446517	Burns et al.	Sep 2016	B2
9452020	Griffiths et al.	Sep 2016	B2
9474569	Manzo et al.	Oct 2016	B2
9480533	Devengenzo et al.	Nov 2016	B2
9503713	Zhao et al.	Nov 2016	B2
9550300	Danitz et al.	Jan 2017	B2
9554859	Nowlin et al.	Jan 2017	B2
9566124	Prisco et al.	Feb 2017	B2
9579164	Itkowitz et al.	Feb 2017	B2
9585641	Cooper et al.	Mar 2017	B2
9615883	Schena et al.	Apr 2017	B2
9623563	Nixon	Apr 2017	B2
9623902	Griffiths et al.	Apr 2017	B2
9629520	Diolaiti	Apr 2017	B2
9662177	Weir et al.	May 2017	B2
9664262	Donlon et al.	May 2017	B2
9687312	Dachs, II et al.	Jun 2017	B2
9700334	Hinman et al.	Jul 2017	B2
9718190	Larkin et al.	Aug 2017	B2
9730719	Brisson et al.	Aug 2017	B2
9737199	Pistor et al.	Aug 2017	B2
9795446	DiMaio et al.	Oct 2017	B2
9797484	Solomon et al.	Oct 2017	B2
9801690	Larkin et al.	Oct 2017	B2
9814530	Weir et al.	Nov 2017	B2
9814536	Goldberg et al.	Nov 2017	B2
9814537	Itkowitz et al.	Nov 2017	B2
9820823	Richmond et al.	Nov 2017	B2
9827059	Robinson et al.	Nov 2017	B2
9830371	Hoffman et al.	Nov 2017	B2
9839481	Blumenkranz et al.	Dec 2017	B2
9839487	Dachs, II	Dec 2017	B2
9850994	Schena	Dec 2017	B2
9855102	Blumenkranz	Jan 2018	B2
9855107	Labonville et al.	Jan 2018	B2
9872737	Nixon	Jan 2018	B2
9877718	Weir et al.	Jan 2018	B2
9883920	Blumenkranz	Feb 2018	B2
9888974	Niemeyer	Feb 2018	B2
9895813	Blumenkranz et al.	Feb 2018	B2
9901408	Larkin	Feb 2018	B2
9918800	Itkowitz et al.	Mar 2018	B2
9937626	Rockrohr	Apr 2018	B2
9943375	Blumenkranz et al.	Apr 2018	B2
9948852	Lilagan et al.	Apr 2018	B2
9949798	Weir	Apr 2018	B2
9949802	Cooper	Apr 2018	B2
9952107	Blumenkranz et al.	Apr 2018	B2
9956044	Gomez et al.	May 2018	B2
9980778	Ohline et al.	May 2018	B2
10008017	Itkowitz et al.	Jun 2018	B2
10028793	Griffiths et al.	Jul 2018	B2
10033308	Chaghajerdi et al.	Jul 2018	B2
10034719	Richmond et al.	Jul 2018	B2
10052167	Au et al.	Aug 2018	B2
10085811	Weir et al.	Oct 2018	B2
10092344	Mohr et al.	Oct 2018	B2
10123844	Nowlin et al.	Nov 2018	B2
10179413	Rockrohr	Jan 2019	B2
10188471	Brisson	Jan 2019	B2
10201390	Swarup et al.	Feb 2019	B2
10213202	Flanagan et al.	Feb 2019	B2
10258416	Mintz et al.	Apr 2019	B2
10278782	Jarc et al.	May 2019	B2
10278783	Itkowitz et al.	May 2019	B2
10282881	Itkowitz et al.	May 2019	B2
10335242	Devengenzo et al.	Jul 2019	B2
10405934	Prisco et al.	Sep 2019	B2
10433922	Itkowitz et al.	Oct 2019	B2
10464219	Robinson et al.	Nov 2019	B2
10485621	Morrissette et al.	Nov 2019	B2
10500004	Hanuschik et al.	Dec 2019	B2
10500005	Weir et al.	Dec 2019	B2
10500007	Richmond et al.	Dec 2019	B2
10507066	DiMaio et al.	Dec 2019	B2
10510267	Jarc et al.	Dec 2019	B2
10524871	Liao	Jan 2020	B2
10548459	Itkowitz et al.	Feb 2020	B2
10575909	Robinson et al.	Mar 2020	B2
10592529	Hoffman et al.	Mar 2020	B2
10595946	Nixon	Mar 2020	B2
10881469	Robinson	Jan 2021	B2
10881473	Itkowitz et al.	Jan 2021	B2
10898188	Burbank	Jan 2021	B2
10898189	McDonald, II	Jan 2021	B2
10905506	Itkowitz et al.	Feb 2021	B2
10912544	Brisson et al.	Feb 2021	B2
10912619	Jarc et al.	Feb 2021	B2
10918387	Duque et al.	Feb 2021	B2
10918449	Solomon et al.	Feb 2021	B2
10932873	Griffiths et al.	Mar 2021	B2
10932877	Devengenzo et al.	Mar 2021	B2
10939969	Swarup et al.	Mar 2021	B2
10939973	DiMaio et al.	Mar 2021	B2
10952801	Miller et al.	Mar 2021	B2
10965933	Jarc	Mar 2021	B2
10966742	Rosa et al.	Apr 2021	B2
10973517	Wixey	Apr 2021	B2
10973519	Weir et al.	Apr 2021	B2
10984567	Itkowitz et al.	Apr 2021	B2
10993773	Cooper et al.	May 2021	B2
10993775	Cooper et al.	May 2021	B2
11000331	Krom et al.	May 2021	B2
11013567	Wu et al.	May 2021	B2
11020138	Ragosta	Jun 2021	B2
11020191	Diolaiti et al.	Jun 2021	B2
11020193	Wixey et al.	Jun 2021	B2
11026755	Weir et al.	Jun 2021	B2
11026759	Donlon et al.	Jun 2021	B2
11040189	Vaders et al.	Jun 2021	B2
11045077	Stern et al.	Jun 2021	B2
11045274	Dachs, II et al.	Jun 2021	B2
11058501	Tokarchuk et al.	Jul 2021	B2
11076925	DiMaio et al.	Aug 2021	B2
11090119	Burbank	Aug 2021	B2
11096687	Flanagan et al.	Aug 2021	B2
11098803	Duque et al.	Aug 2021	B2
11109925	Cooper et al.	Sep 2021	B2
11116578	Hoffman et al.	Sep 2021	B2
11129683	Steger et al.	Sep 2021	B2
11135029	Suresh et al.	Oct 2021	B2
11147552	Burbank et al.	Oct 2021	B2
11147640	Jarc et al.	Oct 2021	B2
11154373	Abbott et al.	Oct 2021	B2
11154374	Hanuschik et al.	Oct 2021	B2
11160622	Goldberg et al.	Nov 2021	B2
11160625	Wixey et al.	Nov 2021	B2
11161243	Rabindran et al.	Nov 2021	B2
11166758	Mohr et al.	Nov 2021	B2
11166770	DiMaio et al.	Nov 2021	B2
11166773	Ragosta et al.	Nov 2021	B2
11173597	Rabindran et al.	Nov 2021	B2
11185378	Weir et al.	Nov 2021	B2
11191596	Thompson et al.	Dec 2021	B2
11197729	Thompson et al.	Dec 2021	B2
11213360	Hourtash et al.	Jan 2022	B2
11221863	Azizian et al.	Jan 2022	B2
11234700	Ragosta et al.	Feb 2022	B2
11241274	Vaders et al.	Feb 2022	B2
11241290	Waterbury et al.	Feb 2022	B2
11259870	DiMaio et al.	Mar 2022	B2
11259884	Burbank	Mar 2022	B2
11272993	Gomez et al.	Mar 2022	B2
11272994	Saraliev et al.	Mar 2022	B2
11291442	Wixey et al.	Apr 2022	B2
11291513	Manzo et al.	Apr 2022	B2
20010031975	Whitman et al.	Oct 2001	A1
20020049454	Whitman et al.	Apr 2002	A1
20020111621	Wallace et al.	Aug 2002	A1
20020120254	Julian	Aug 2002	A1
20020165541	Whitman	Nov 2002	A1
20030038938	Jung et al.	Feb 2003	A1
20030165794	Matoba	Sep 2003	A1
20040034369	Sauer et al.	Feb 2004	A1
20040111012	Whitman	Jun 2004	A1
20040133189	Sakurai	Jul 2004	A1
20040153124	Whitman	Aug 2004	A1
20040176751	Weitzner et al.	Sep 2004	A1
20040193146	Lee	Sep 2004	A1
20050125027	Knodel et al.	Jun 2005	A1
20050131442	Yachia et al.	Jun 2005	A1
20060074415	Scott et al.	Apr 2006	A1
20060142656	Malackowski et al.	Jun 2006	A1
20060142740	Sherman et al.	Jun 2006	A1
20060142744	Boutoussov	Jun 2006	A1
20060259073	Miyamoto et al.	Nov 2006	A1
20060278680	Viola et al.	Dec 2006	A1
20060284730	Schmid et al.	Dec 2006	A1
20070023476	Whitman et al.	Feb 2007	A1
20070023477	Whitman et al.	Feb 2007	A1
20070029363	Popov	Feb 2007	A1
20070084897	Shelton et al.	Apr 2007	A1
20070102472	Shelton	May 2007	A1
20070123855	Morley et al.	May 2007	A1
20070152014	Gillum et al.	Jul 2007	A1
20070175947	Ortiz et al.	Aug 2007	A1
20070175949	Shelton et al.	Aug 2007	A1
20070175950	Shelton et al.	Aug 2007	A1
20070175951	Shelton et al.	Aug 2007	A1
20070175955	Shelton et al.	Aug 2007	A1
20070175961	Shelton et al.	Aug 2007	A1
20070270784	Smith et al.	Nov 2007	A1
20080029570	Shelton et al.	Feb 2008	A1
20080029573	Shelton et al.	Feb 2008	A1
20080029574	Shelton et al.	Feb 2008	A1
20080029575	Shelton et al.	Feb 2008	A1
20080058801	Taylor et al.	Mar 2008	A1
20080108443	Jinno et al.	May 2008	A1
20080109012	Falco et al.	May 2008	A1
20080110958	McKenna et al.	May 2008	A1
20080147089	Loh et al.	Jun 2008	A1
20080167736	Swayze et al.	Jul 2008	A1
20080185419	Smith et al.	Aug 2008	A1
20080188841	Tomasello et al.	Aug 2008	A1
20080197167	Viola et al.	Aug 2008	A1
20080208195	Shores et al.	Aug 2008	A1
20080237296	Boudreaux et al.	Oct 2008	A1
20080251561	Eades et al.	Oct 2008	A1
20080255413	Zemlok et al.	Oct 2008	A1
20080255607	Zemlok	Oct 2008	A1
20080262654	Omori et al.	Oct 2008	A1
20080308603	Shelton et al.	Dec 2008	A1
20090012533	Barbagli et al.	Jan 2009	A1
20090090763	Zemlok et al.	Apr 2009	A1
20090099876	Whitman	Apr 2009	A1
20090138006	Bales et al.	May 2009	A1
20090171147	Lee et al.	Jul 2009	A1
20090182193	Whitman et al.	Jul 2009	A1
20090209946	Swayze et al.	Aug 2009	A1
20090209990	Yates et al.	Aug 2009	A1
20090254094	Knapp et al.	Oct 2009	A1
20090299141	Downey et al.	Dec 2009	A1
20100023022	Zeiner et al.	Jan 2010	A1
20100069942	Shelton, IV	Mar 2010	A1
20100193568	Scheib et al.	Aug 2010	A1
20100211053	Ross et al.	Aug 2010	A1
20100225073	Porter et al.	Sep 2010	A1
20110071508	Duval et al.	Mar 2011	A1
20110077673	Grubac et al.	Mar 2011	A1
20110121049	Malinouskas et al.	May 2011	A1
20110125138	Malinouskas et al.	May 2011	A1
20110139851	McCuen	Jun 2011	A1
20110155783	Rajappa et al.	Jun 2011	A1
20110155786	Shelton, IV	Jun 2011	A1
20110172648	Jeong	Jul 2011	A1
20110174009	Iizuka et al.	Jul 2011	A1
20110174099	Ross et al.	Jul 2011	A1
20110184245	Xia et al.	Jul 2011	A1
20110204119	McCuen	Aug 2011	A1
20110218522	Whitman	Sep 2011	A1
20110276057	Conlon et al.	Nov 2011	A1
20110290854	Timm et al.	Dec 2011	A1
20110295242	Spivey et al.	Dec 2011	A1
20110295269	Swensgard et al.	Dec 2011	A1
20110301637	Kerr et al.	Dec 2011	A1
20120000962	Racenet et al.	Jan 2012	A1
20120074199	Olson et al.	Mar 2012	A1
20120089131	Zemlok et al.	Apr 2012	A1
20120104071	Bryant	May 2012	A1
20120116368	Viola	May 2012	A1
20120116416	Neff et al.	May 2012	A1
20120143002	Aranyi et al.	Jun 2012	A1
20120158013	Stefanchik et al.	Jun 2012	A1
20120172924	Allen, IV	Jul 2012	A1
20120211542	Racenet	Aug 2012	A1
20120223121	Viola et al.	Sep 2012	A1
20120245428	Smith et al.	Sep 2012	A1
20120253329	Zemlok et al.	Oct 2012	A1
20120310220	Malkowski et al.	Dec 2012	A1
20120323226	Chowaniec et al.	Dec 2012	A1
20120330285	Hartoumbekis et al.	Dec 2012	A1
20120330287	Yim	Dec 2012	A1
20130093149	Saur et al.	Apr 2013	A1
20130110131	Madhani et al.	May 2013	A1
20130140835	Stefanchik	Jun 2013	A1
20130181035	Milliman	Jul 2013	A1
20130184704	Beardsley et al.	Jul 2013	A1
20130214025	Zemlok et al.	Aug 2013	A1
20130274722	Kostrzewski et al.	Oct 2013	A1
20130282052	Aranyi et al.	Oct 2013	A1
20130292451	Viola et al.	Nov 2013	A1
20130313304	Shelton, IV et al.	Nov 2013	A1
20130317486	Nicholas et al.	Nov 2013	A1
20130319706	Nicholas et al.	Dec 2013	A1
20130324978	Nicholas et al.	Dec 2013	A1
20130324979	Nicholas et al.	Dec 2013	A1
20130334281	Williams	Dec 2013	A1
20140012236	Williams et al.	Jan 2014	A1
20140012237	Pribanic et al.	Jan 2014	A1
20140012289	Snow et al.	Jan 2014	A1
20140025046	Williams et al.	Jan 2014	A1
20140110455	Ingmanson et al.	Apr 2014	A1
20140207125	Applegate et al.	Jul 2014	A1
20140207182	Zergiebel et al.	Jul 2014	A1
20140207185	Goble et al.	Jul 2014	A1
20140236174	Williams et al.	Aug 2014	A1
20140276932	Williams et al.	Sep 2014	A1
20140299647	Scirica et al.	Oct 2014	A1
20140303668	Nicholas et al.	Oct 2014	A1
20140358129	Zergiebel et al.	Dec 2014	A1
20140361068	Aranyi et al.	Dec 2014	A1
20140365235	DeBoer et al.	Dec 2014	A1
20140373652	Zergiebel et al.	Dec 2014	A1
20150014392	Williams et al.	Jan 2015	A1
20150048144	Whitman	Feb 2015	A1
20150076205	Zergiebel	Mar 2015	A1
20150080912	Sapre	Mar 2015	A1
20150112381	Richard	Apr 2015	A1
20150122870	Zemlok et al.	May 2015	A1
20150133224	Whitman et al.	May 2015	A1
20150150547	Ingmanson et al.	Jun 2015	A1
20150150574	Richard et al.	Jun 2015	A1
20150157320	Zergiebel et al.	Jun 2015	A1
20150157321	Zergiebel et al.	Jun 2015	A1
20150164502	Richard et al.	Jun 2015	A1
20150201931	Zergiebel et al.	Jul 2015	A1
20150209965	Low	Jul 2015	A1
20150272577	Zemlok et al.	Oct 2015	A1
20150297199	Nicholas et al.	Oct 2015	A1
20150303996	Calderoni	Oct 2015	A1
20150320420	Penna et al.	Nov 2015	A1
20150327850	Kostrzewski	Nov 2015	A1
20150342601	Williams et al.	Dec 2015	A1
20150342603	Zergiebel et al.	Dec 2015	A1
20150374366	Zergiebel et al.	Dec 2015	A1
20150374370	Zergiebel et al.	Dec 2015	A1
20150374371	Richard et al.	Dec 2015	A1
20150374372	Zergiebel et al.	Dec 2015	A1
20150374449	Chowaniec et al.	Dec 2015	A1
20150380187	Zergiebel et al.	Dec 2015	A1
20160095585	Zergiebel et al.	Apr 2016	A1
20160095596	Scirica et al.	Apr 2016	A1
20160106406	Cabrera et al.	Apr 2016	A1
20160113648	Zergiebel et al.	Apr 2016	A1
20160113649	Zergiebel et al.	Apr 2016	A1
20160310156	Kapadia	Oct 2016	A1
20170014197	McCrea	Jan 2017	A1

Foreign Referenced Citations (19)

Number	Date	Country
2451558	Jan 2003	CA
1547454	Nov 2004	CN
1957854	May 2007	CN
101495046	Jul 2009	CN
101522128	Sep 2009	CN
101612053	Dec 2009	CN
102247182	Nov 2011	CN
103110456	May 2013	CN
102008053842	May 2010	DE
0705571	Apr 1996	EP
1563793	Aug 2005	EP
1769754	Apr 2007	EP
2316345	May 2011	EP
2668910	Dec 2013	EP
2333509	Feb 2010	ES
2005125075	May 2005	JP
20120022521	Mar 2012	KR
2011108840	Sep 2011	WO
2012040984	Apr 2012	WO

Non-Patent Literature Citations (46)

Entry
Chinese Office Action for application No. 201910322870.3 dated Jul. 2, 2021 with English translation.
European Search Report issued in European Application No. 19188190.3 dated Oct. 11, 2019, 7 pages.
Extended European Search Report corresponding to counterpart International Application No. EP 14 18 4882.0 dated May 12, 2015.
Canadian Office Action corresponding to counterpart International Application No. CA 2640399 dated May 7, 2015.
Japanese Office Action corresponding to counterpart International Application No. JP 2011-197365 dated Mar. 23, 2015.
Japanese Office Action corresponding to counterpart International Application No. JP 2011-084092 dated May 20, 2015.
Japanese Office Action corresponding to counterpart International Application No. JP 2014-148482 dated Jun. 2, 2015.
Extended European Search Report corresponding to counterpart International Application No. EP 14 18 9358.6 dated Jul. 8, 2015.
Extended European Search Report corresponding to counterpart International Application No. EP 14 19 6148.2 dated Apr. 23, 2015.
Partial European Search Report corresponding to counterpart International Application No. EP 14 19 6704.2 dated May 11, 2015.
Australian Office Action corresponding to counterpart International Application No. AU 2010241367 dated Aug. 20, 2015.
Partial European Search Report corresponding to counterpart International Application No. EP 14 19 97833 dated Sep. 3, 2015.
Extended European Search Report corresponding to counterpart International Application No. EP 15 16 9962.6 dated Sep. 14, 2015.
Extended European Search Report corresponding to International Application No. EP 15 15 1076.5 dated Apr. 22, 2015.
Japanese Office Action corresponding to International Application No. JP 2011-084092 dated Jan. 14, 2016.
Extended European Search Report corresponding to International Application No. EP 12 19 7970.2 dated Jan. 28, 2016.
Chinese Office Action corresponding to International Application No. CN 201210560638.1 dated Oct. 21, 2015.
European Office Action corresponding to International Application No. EP 14 15 9056.2 dated Oct. 26, 2015.
Australian Examination Report No. 1 corresponding to International Application No. AU 2015200153 dated Dec. 11, 2015.
Australian Examination Report No. 1 corresponding to International Application No. AU 2014204542 dated Jan. 7, 2016.
Chinese Office Action corresponding to International Application No. CN 201310125449.6 dated Feb. 3, 2016.
Extended European Search Report corresponding to International Application No. EP 15 19 0245.9 dated Jan. 28, 2016.
Extended European Search Report corresponding to International Application No. EP 15 16 7793.7 dated Apr. 5, 2016.
European Office Action corresponding to International Application No. EP 14 18 4882.0 dated Apr. 25, 2016.
Extended European Search Report corresponding to International Application No. EP 14 19 6704.2 dated Sep. 24, 2015.
International Search Report and Written Opinion corresponding to Int'l Appln. No. PCT/US2015/051837, dated Dec. 21, 2015.
Extended European Search Report corresponding to International Application No. EP 14 19 7563.1 dated Aug. 5, 2015.
Partial European Search Report corresponding to International Application No. EP 15 19 0643.5 dated Feb. 26, 2016.
Extended European Search Report corresponding to International Application No. EP 15 16 6899.3 dated Feb. 3, 2016.
Extended European Search Report corresponding to International Application No. EP 14 19 9783.3 dated Dec. 22, 2015.
Extended European Search Report corresponding to International Application No. EP 15 17 3807.7 dated Nov. 24, 2015.
Extended European Search Report corresponding to International Application No. EP 15 19 0760.7 dated Apr. 1, 2016.
Extended European Search Report corresponding to International Application No. EP 15 17 3803.6 dated Nov. 24, 2015.
Extended European Search Report corresponding to International Application No. EP 15 17 3804.4 dated Nov. 24, 2015.
Extended European Search Report corresponding to International Application No. EP 15 18 8539.9 dated Feb. 17, 2016.
Extended European Search Report corresponding to International Application No. EP 15 17 3910.9 dated Nov. 13, 2015.
European Office Action corresponding to International Application No. EP 14 15 2236.7 dated Aug. 11, 2015.
Extended European Search Report corresponding to International Application No. EP 15 18 4915.5 dated Jan. 5, 2016.
Office Action corresponding to counterpart Int'l Appln. No. CN 201310369318.2 dated Jun. 28, 2016.
Chinese Office Action (with English translation), dated Jul. 4, 2016, corresponding to Chinese Patent Application No. 2015101559718; 23 total pages.
International Search Report corresponding to PCT/US2014/061329 dated Jan. 28, 2015.
Extended European Search Report corresponding to European Application No. 14868810.4 dated Jul. 27, 2017.
International Search Report for (PCT/US2014/061329) dated Jan. 28, 2015 (4 pages).
Chinese Office Action issued in Chinese Application No. 2014800677212 dated May 22, 2018.
Extended European Search Report for application No. 21154260 dated May 19, 2021.
Chinese Office Action dated May 11, 2022 for application No. 2019103228793 with English translation.

Related Publications (1)

	Number	Date	Country
	20190143535 A1	May 2019	US

Provisional Applications (1)

	Number	Date	Country
	61914632	Dec 2013	US

Continuations (2)

	Number	Date	Country
Parent	15921093	Mar 2018	US
Child	16246753		US
Parent	15102081		US
Child	15921093		US

Wrist and jaw assemblies for robotic surgical systems

Information

Patent Number

Date Filed

Date Issued

Inventors

Original Assignees

Examiners

Agents

CPC

Field of Search

US

CPC

International Classifications

Disclaimer

Term Extension

Abstract