US 11,812,984 B2
End effector of a surgical robotic manipulator including a grip sensing mechanism for manual operation of the end effector
Douglas A. Staunton, Kalamazoo, MI (US); and James Flatt, Kalamazoo, MI (US)
Assigned to Stryker Corporation, Kalamazoo, MI (US)
Filed by Stryker Corporation, Kalamazoo, MI (US)
Filed on Jun. 8, 2020, as Appl. No. 16/895,404.
Application 16/895,404 is a continuation of application No. 15/404,416, filed on Jan. 12, 2017, granted, now 10,675,050.
Application 15/404,416 is a continuation of application No. 14/214,703, filed on Mar. 15, 2014, granted, now 9,566,121, issued on Feb. 14, 2017.
Claims priority of provisional application 61/798,729, filed on Mar. 15, 2013.
Prior Publication US 2020/0297373 A1, Sep. 24, 2020
Int. Cl. A61B 17/32 (2006.01); A61B 34/30 (2016.01); A61B 17/16 (2006.01); A61B 17/00 (2006.01); A61B 90/00 (2016.01); A61B 90/98 (2016.01); F16D 1/08 (2006.01); F16D 1/116 (2006.01); A61B 50/13 (2016.01); A61B 34/00 (2016.01); F16D 15/00 (2006.01); F16J 15/3256 (2016.01); F16D 1/10 (2006.01)
CPC A61B 17/32002 (2013.01) [A61B 34/30 (2016.02); A61B 34/76 (2016.02); A61B 50/13 (2016.02); F16D 1/0817 (2013.01); F16D 1/116 (2013.01); F16D 15/00 (2013.01); F16J 15/3256 (2013.01); A61B 17/162 (2013.01); A61B 17/1615 (2013.01); A61B 17/1624 (2013.01); A61B 90/98 (2016.02); A61B 2017/00477 (2013.01); A61B 2017/1651 (2013.01); A61B 2090/0801 (2016.02); A61B 2090/0811 (2016.02); A61B 2217/007 (2013.01); F16D 2001/103 (2013.01)] 19 Claims
OG exemplary drawing
 
1. An end effector for use with a surgical robotic manipulator including
a linkage assembly and a cutting accessory for cutting tissue of a patient, the end effector comprising:
a handle;
an actuator disposed within the handle for driving the cutting accessory;
a nose tube coupled to the handle and extending along an axis and configured for receiving the cutting accessory;
a mounting fixture configured for coupling the end effector to the linkage assembly of the surgical robotic manipulator;
a lever supported by the handle and being moveable relative to the handle between a depressed position and a released position;
a carriage coupled to and extending annularly about the nose tube, the carriage configured to slide along the axis of the nose tube in response to movement of the lever;
a sensor coupled to the nose tube; and
an activator disposed on the carriage being moveable along the axis of the nose tube and moveable relative to the sensor between a first position and a second position in response to movement of the lever between the depressed position and the released position; and
wherein, in response to the lever being in the depressed position, the activator is in the first position and the sensor is spaced from the activator by a first distance such that the sensor is configured to interact with the activator to cause activation of the actuator; and
wherein, in response to the lever being in the released position, the activator is in the second position and the sensor is spaced from the activator by a second distance to cause deactivation of the actuator.