US Patent No: 7,121,781
Number of patents in Portfolio can not be more than 2000
Surgical instrument with a universal wrist
Stats
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Oct 17, 2006
Issued date -
Jun 11, 2003
filing date -
10/460,382
serial no -
In Force
status
Importance
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Abstract
A robotically controlled endoscopic medical instrument that includes an end effector coupled to a wrist. The wrist provides two separate degrees of freedom about the same pivot point. The end effector can be moved and actuated by pins. The pins allow for a compact minimally invasive medical instrument that has a wrist with two degrees of freedom.
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First Claim
Related Publications
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International Classification(s)
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Cited Art
| Patent Info | (Count) | # Cites | Year |
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| 5,792,135 Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity | 263 | 1997 | |
| 5,797,900 Wrist mechanism for surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity | 171 | 1997 | |
| 6,102,850 Medical robotic system | 139 | 1997 | |
| 6,132,441 Rigidly-linked articulating wrist with decoupled motion transmission | 73 | 1999 | |
| 6,424,885 Camera referenced control in a minimally invasive surgical apparatus | 77 | 1999 | |
| 6,394,998 Surgical tools for use in minimally invasive telesurgical applications | 110 | 1999 | |
| 6,312,435 Surgical instrument with extended reach for use in minimally invasive surgery | 112 | 1999 | |
| 6,331,181 Surgical robotic tools, data architecture, and use | 168 | 1999 | |
| 6,699,235 Platform link wrist mechanism | 56 | 2002 | |
| 6,685,698 Roll-pitch-roll surgical tool | 50 | 2003 | |
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| 5,454,827 Surgical instrument | 199 | 1994 | |
| 5,938,678 Surgical instrument | 55 | 1997 | |
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| 4,723,460 Robot wrist actuator | 23 | 1987 | |
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| 6,307,285 Actuator with repulsive magnetic forces | 35 | 2000 | |
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| 6,425,177 Programmable positioner for the stress-free assembly of assemblies | 9 | 2000 | |
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| 4,739,241 Spherical motor particularly adapted for robotics | 39 | 1986 | |
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| 4,805,477 Multiple joint robot part | 25 | 1987 | |
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| 6,196,081 Systems and methods employing a rotary track for machining and manufacturing | 24 | 1999 | |
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| 5,053,687 Articulated device, for use in particular in robotics | 54 | 1989 | |
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| 4,499,790 Swivel head for industrial robots | 16 | 1982 | |
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| 5,474,571 Medical forceps with jaws which first tilt and then open | 64 | 1994 | |
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| 5,740,699 Wrist joint which is longitudinally extendible | 37 | 1995 | |
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| 6,330,837 Parallel mechanism | 37 | 2000 | |
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| 5,808,665 Endoscopic surgical instrument and method for use | 270 | 1996 | |
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| 6,270,453 Bending device for examining insertion tube | 63 | 1999 | |
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| 6,296,635 Endoscopic robotic surgical tools and methods | 11 | 1999 | |
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| 5,715,729 Machine tool having parallel structure | 52 | 1995 | |
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| 5,699,695 Spatial, parallel-architecture robotic carpal wrist | 20 | 1996 | |
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| 4,604,016 Multi-dimensional force-torque hand controller having force feedback | 231 | 1983 | |
| 5,239,883 Modular robot wrist | 11 | 1991 | |
Patent Citation Ranking
Maintenance Fees
| Fee | Large entity fee | small entity fee | micro entity fee | due date |
|---|---|---|---|---|
| 7.5 Year Payment | $3600.00 | $1800.00 | $900.00 | Apr 17, 2014 |
| 11.5 Year Payment | $7400.00 | $3700.00 | $1850.00 | Apr 17, 2018 |
| Fee | Large entity fee | small entity fee | micro entity fee |
|---|---|---|---|
| Surcharge - 7.5 year - Late payment within 6 months | $160.00 | $80.00 | $40.00 |
| Surcharge - 11.5 year - Late payment within 6 months | $160.00 | $80.00 | $40.00 |
| Surcharge after expiration - Late payment is unavoidable | $700.00 | $350.00 | $175.00 |
| Surcharge after expiration - Late payment is unintentional | $1,640.00 | $820.00 | $410.00 |