公开(公告)号：US20250009413A1

公开(公告)日：2025-01-09

申请号：US18709999

申请日：2022-11-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Michael Whitlock ,  Adrit Lath ,  Adam J. Ross

IPC: A61B18/14 ,  A61B17/29 ,  A61B18/00 ,  B25J9/10

Abstract: A medical instrument may comprise a shaft (391) and an end effector (350) coupled to a distal end portion of the shaft. The end effector may comprise a jaw mechanism (350), a movable element (380) ranslatable relative to the jaw mechanism, a first actuation element (399) operably coupled to the end effector and translatable relative to the shaft, and a second actuation element (398) operably coupled to the end effector and translatable relative to the shaft. Translation of the first actuation element in a first direction relative to the shaft drives closing of the jaw mechanism. Translation of the second actuation element in a second direction relative to the shaft, opposite from the first direction, drives opening of the jaw mechanism. Translation of the second actuation element relative to the shaft in the first and second directions drives translation of the movable element relative to the jaw mechanism.