The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
May. 07, 2024
Filed:
Jun. 30, 2021
Cilag Gmbh International, Zug, CH;
Paul Moubarak, West Chester, OH (US);
Cilag GmbH International, Zug, CH;
Abstract
Disclosed is a robotic surgical tool, comprising an end effector, an elongate shaft, and an articulation joint. The articulation joint comprises a pivot plate attached to the end effector, a fixed plate attached to the elongate shaft, and a spherical joint coupled to the pivot plate and the fixed plate. The robotic surgical tool further comprises an articulation drive system. The articulation drive system comprises a first rod, a second rod, a third rod, and a fourth rod that extend through the elongate shaft, a first mechanical link pivotably coupled to the first rod and to the pivot plate, a second mechanical link pivotably coupled to the second rod and to the pivot plate, a third mechanical link pivotably coupled to the third rod and to the pivot plate, and a fourth mechanical link pivotably coupled to the fourth rod and to the pivot plate.