US 11,751,960 B2
Robotic surgical tools that translate through instrument driver
Andrew T. Beckman, Cincinnati, OH (US); Charles J. Scheib, Loveland, OH (US); Travis Michael Schuh, Los Altos, CA (US); Benjamin David Dickerson, Cincinnati, OH (US); Aren Calder Hill, Mountain View, CA (US); and Yanan Huang, Sunnyvale, CA (US)
Assigned to Cilag GmbH International, Zug (CH)
Filed by Cilag GmbH International, Zug (CH)
Filed on Jun. 18, 2020, as Appl. No. 16/946,368.
Prior Publication US 2021/0393345 A1, Dec. 23, 2021
Int. Cl. A61B 34/37 (2016.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01)
CPC A61B 34/37 (2016.02) [A61B 34/70 (2016.02); A61B 2034/301 (2016.02); A61B 2034/302 (2016.02)] 19 Claims
OG exemplary drawing
 
1. A robotic surgical tool, comprising:
a drive housing having a first end and a second end;
one or more splines extending between and rotatably mounted to the first and second ends;
a lead screw extending between and rotatably mounted to the first and second ends;
a carriage movably mounted to the one or more splines and further movably mounted to the lead screw at a carriage nut secured to the carriage; and
an elongate shaft extending from the carriage and through the first end, the shaft having an end effector arranged at a distal end thereof,
wherein rotation of the lead screw moves the carriage and the carriage nut axially between the first and second ends and thereby moves the end effector distally or proximally.