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Publication Number
US-12661125-B2
Publication Date
2026-06-23
Expiration Date
Abstract
A medical instrument comprising an end effector comprising a first jaw configured to be repositionable with respect to a second jaw, the first and second jaws removably mounted to an open-ended occlusion clip, the end effector configured to configured to be removably coupled to an open-ended occlusion clip with a pair of terminal ends and first and second robotic arms, and wherein the end effector includes at least one of a cavity and a projection configured to be engaged by at least one of the first and second robotic arms.
Core Innovation
The invention relates to a medical instrument with an end effector devoid of a handle control. The end effector comprises a pair of repositionable jaws and an occlusion clip detachably mounted to the jaws, and the jaws are repositionable such that a folding support concurrently mounted to the jaws repositions between a folded position and an unfolded position. The folded position brings the jaws closer together than in the unfolded position, and a first connection operatively coupled to the folding support is repositionable with respect to the folding support to facilitate repositioning between the folded and unfolded positions.
A second connection is operatively coupled to the occlusion clip and at least one of the repositionable jaws when the occlusion clip is mounted to the pair of repositionable jaws. The second connection is configured to be repositioned and discontinue operative coupling between at least one of the occlusion clip and at least one of the repositionable jaws. The folding support is implemented as a folding pantograph support in the disclosed embodiments, and the first connection can include a pulley and a control line.
In another aspect, the end effector includes first and second jaws configured to be repositionable in parallel with respect to one another. The first and second jaws are removably mounted to an occlusion clip, and repositioning moves the occlusion clip from a closed position to an open position when the jaws are repositioned to an open position. The end effector is configured to be concurrently removably coupled to first and second robotic arms, including engagement by a cavity and/or a projection, and the occlusion clip includes dual beams interconnected by dual springs to create a continuous path.
Claims Coverage
The partial content provided includes two independent claims. Each independent claim centers on repositionable jaws, a folding support including a folding pantograph support, and a detachable occlusion clip with a mechanism for discontinuing coupling, including robotic-arm engagement features in one claim.
Handle-less end effector with folding support that folds jaws closer and supports clip detachment
A medical instrument including an end effector devoid of a handle control, the end effector comprising a pair of repositionable jaws; an occlusion clip detachably mounted to the pair of repositionable jaws; a folding support concurrently mounted to the pair of repositionable jaws, the folding support repositionable between a folded position and an unfolded position, the folded position having the pair of repositionable jaws in closer proximity to one another than in the unfolded position; a first connection operatively coupled to the folding support and configured to be repositioned by an instrument removably coupled thereto; and a second connection operatively coupled to the occlusion clip and at least one of the pair of repositionable jaws when the occlusion clip is mounted to the pair of repositionable jaws, the second connection being configured to be repositioned and discontinue operative coupling between at least one of the occlusion clip and at least one of the pair of repositionable jaws.
Parallel jaw end effector coupled to dual robotic arms with folding pantograph support and dual-beam dual-spring clip path
A medical instrument comprising an end effector including a first jaw configured to be repositionable in parallel with respect to a second jaw, the first and second jaws removably mounted to an occlusion clip and configured to reposition the occlusion clip from a closed position to an open position when the first and second jaws are repositioned to an open position, the end effector also configured to be concurrently removably coupled to first and second robotic arms, wherein the end effector includes at least one of a cavity and a projection configured to be engaged by at least one of the first and second robotic arms, and wherein the occlusion clip includes dual beams interconnected to one another by dual springs to create a continuous path; wherein the end effector includes a folding pantograph support operatively coupled to the first and second jaws.
Across the two independent claims, the inventive focus is an end effector with repositionable jaws and a folding support, including a folding pantograph support, to reposition the jaws and operate an occlusion clip from closed to open while a second connection can discontinue coupling of the clip to the jaws, with robotic-arm engagement via cavity and projection in the dual-arm configuration.
Stated Advantages
Not explicitly described in patent.
Documented Applications
Not explicitly described in patent.
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