Manipulator for grasping tissue

摘要

In specific embodiments, a manipulator adapted to grasp and draw tissue comprises a first arm and second arm having proximal ends and distal ends separated by a distance. A first grasping surface and second grasping surface each connected to and extending from respective distal ends of the first and second arm are biased toward each other by a respective spring force. When the first arm and second arm are actuated to reduce the distance, tissue arranged between the first grasping surface and the second grasping surface resists the actuation. The first arm and second arm are then further actuatable to overcome the spring force of the first grasping surface and the second grasping surface so that the first grasping surface and the second grasping surface pivot at respective pivot points such that the distance between the distal ends of the first and second arms is reduced.

主权项

1. A manipulator adapted to grasp and draw tissue comprising:
a first arm having a distal end and a proximal end; a second arm having a distal end and a proximal end; wherein the distal ends of the first and second arm are separated by a distance; a first grasping surface connected to and extending from the distal end of the first arm at a first pivot point; a second grasping surface connected to and extending from the distal end of the second arm at a second pivot point; wherein the first grasping surface and the second grasping surface are biased toward each other by a respective first and second spring force; wherein when the first arm and second arm are actuated to reduce the distance, the manipulator is configured such that tissue, configured to be arranged between the first grasping surface and the second grasping surface, resists actuation of the first arm and the second arm; wherein the first arm and second arm are further actuatable to overcome the first and second spring forces of the respective first grasping surface and the second grasping surface, the first grasping surface and the second grasping surface pivot at the respective first and second pivot points such that the distance between the distal ends of the first and second arms is reduced; wherein the first and second grasping surfaces are leaf springs each having a curved shape along lengths of the leaf springs, and wherein the leaf springs apply the first and second spring forces, and the first and second pivot points are fixed points at which the first and second grasping surfaces are bendable; wherein the first and second pivot points and the first grasping surface and the second grasping surface are offset from a plane defined by the first arm and the second arm in order for the first and second grasping surfaces to avoid interference with said first and second arms; and wherein when the manipulator is actuated to reduce the distance of the distal ends of the first and the second arms, tissue is configured to be drawn toward the proximal ends of the first and the second arms.