Apparatus with two-piece end-effectors for robotic surgical tools

摘要

In one embodiment of the invention, a robotic surgical tool having opposing jaws, the working element of the robotic surgical tool is made of a different material from the drive element of the robotic surgical tool. The two elements may be manufactured independently and assembled together at a later stage. The material comprising each element may thus have properties more appropriate to the function each element plays in the robotic surgical tool. For example, the metal selected to comprise the blade of a surgical scissor may be corrosion resistant and capable of being sharpened to a high degree.

主权项

1. An apparatus comprising:
a first drive cable configured to receive a first driving force; a first crimp coupled to the first drive cable; a first drive element having a first pair of prongs to receive opposite sides of the first crimp there-between, the first crimp configured to transmit the first driving force to the first pair of prongs and the first drive element, the first drive element further having a circular pivot hole and one or more first drive protrusions; a first working element having one or more first drive holes to receive the one or more first drive protrusions to be removably keyed to the first drive element, the first working element further having a circular pivot hole aligned with the circular pivot hole of the first drive element; a second drive cable configured to receive a second driving force; a second crimp coupled to the second drive cable; a second working element having a circular pivot hole aligned with the circular pivot holes of the first drive element and the first working element, the second working element further having one or more second drive holes; a second drive element having a circular pivot hole aligned with the circular pivot holes of the first drive element, the first working element, and the second working element, the second drive element further having one or more second drive protrusions coupled into the one or more second drive holes to be removably keyed to the second working element, the second drive element further having a second pair of prongs to receive opposite sides of the second crimp there-between, the second crimp configured to transmit the second driving force to the second pair of prongs and the second drive element; a housing having an opening to receive portions of the first drive element, the first working element, the second working element, and the second drive element, the housing further having a first hole and a second hole aligned with the circular pivot holes of the first drive element, the first working element, the second working element, and the second drive element; and a pivot pin extending through the circular pivot holes of the first drive element, the first working element, the second working element, and the second drive element to pivotally couple the first drive element, the first working element, the second working element, and the second drive element together within the opening of the housing, the pivot pin having a first end coupled to the housing in the first hole and a second end coupled to the housing in the second hole.