Surgical tool with mechanical advantage
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United States of America Patent
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Mar 27, 2001
Grant Date -
N/A
app pub date -
Oct 8, 1999
filing date -
Oct 8, 1999
priority date (Note) -
In Force
status (Latency Note)
Importance
Abstract
A robotic surgical tool includes an end effector having a pair of fingers and incorporating a mechanical advantage. In specific embodiments, a pulley and cable mechanism is used to actuate the end effector by applying cable tension. The coupling between the pulleys and the fingers of the end effector takes advantage of changes in moment arms for force transfer to avoid or minimize force reduction between the applied cable tension and the resultant force at or near the distal tip of each finger. In some embodiments, the coupling of the pulleys and fingers results in a force gain, a moment gain, or both.
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