End effector and end effector drive apparatus
Provided herein as an end effector for a surgical apparatus including a housing having an outer wall and an opening therein, and opposed first and second walls extending along opposite sides of the opening, a first actuator pivotally coupled to the first wall of the housing, a second actuator pivotally coupled to the second wall of the housing, and a coupling disposed within the opening of the housing and between at least a portion of the first and second actuators, the coupling including opposed first and second ends, each end pivotally coupled to a different one of the first and second actuators. To operate the actuators, a mechanism to controllably move a wire within a flexible tubular member, the wire including opposed wire ends extending outwardly of a proximal end of a flexible tubular member and a portion therebetween end connected to a actuator of the end effector is provided, and it includes a drive mechanism and a coupler extending between the drive mechanism and the wire end, wherein movement of the coupling in the direction of the wire end results in opposed motion of the wire end.
1. An end effector for a surgical apparatus comprising:
a housing comprising an outer wall and an opening therein, and opposed first and second walls extending along opposite sides of the opening;
a first actuator pivotally coupled to the first wall of the housing;
a second actuator pivotally coupled to the second wall of the housing; and
a coupling link disposed within the opening of the housing and between at least a portion of the first and second actuators, the coupling link including opposed first and second ends, each end pivotally coupled to a different one of the first and second actuators, wherein the coupling link further comprises opposed first and second sides extending between the first and second ends thereof, and a first coupling pin extending from the first side adjacent to the first end thereof and inwardly of an opening in the first actuator;
wherein the housing further comprises a base and a wire guide extending inwardly of the opening from at least one of the first and second walls, wherein the coupling link is disposed between the base and the wire guide.
2. The end effector of claim 1 , wherein the coupling link further comprises a second coupling pin extending from the second side adjacent to the second end thereof and inwardly of an opening in the second actuator.
3. The end effector of claim 2 , wherein a portion of at least one of the opening in the first actuator and the first actuator are rotationally moveable with respect to the first coupling pin.
4. The end effector of claim 1 , wherein the wire guide further comprises a recess extending inwardly thereof in the direction of the base of the housing.
5. The end effector of claim 1 , wherein the wire guide further comprises a first guide portion extending from the first side wall, and a second guide portion extending from the second side wall.
6. The end effector of claim 1 , wherein the first actuator is pivotally coupled to the first side wall by a first pivot pin extending between, and coupled to, the first actuator and the housing along the first side wall.
7. The end effector of claim 6 , wherein the second actuator is pivotally coupled to the second side wall by a second pivot pin extending between, and coupled to, the second actuator and the housing along the second side wall.
8. The end effector of claim 7 , wherein the end effector is actuatable between a closed position and an open position, wherein in the closed position, the coupling link is disposed inwardly of the opening from the location of the first and second pivot pins.
9. A surgical instrument, comprising:
a tubular body having a hollow interior; and
an end effector disposed over one end thereof, the end effector comprising;
a housing comprising an outer wall and an opening therein, and opposed first and second walls extending along opposite sides of the opening;
a first actuator pivotally coupled to the first wall of the housing; a second actuator pivotally coupled to the second wall of the housing;
and a coupling link disposed within the opening of the housing and between at least a portion of the first and second actuators, the coupling link including opposed first and second ends, each end pivotally coupled to a different one of the first and second actuators, wherein the coupling link further comprises opposed first and second sides extending between the first and second ends thereof, and a first coupling pin extending from the first side adjacent to the first end thereof and inwardly of an opening in the first actuator; wherein
the housing further comprises a base and a wire guide extending inwardly of the opening from at least one of the first and second walls, wherein the coupling link is disposed between the base and the wire guide.
10. The surgical instrument of claim 9 , wherein the coupling link further comprises a second coupling pin extending from the second side adjacent to the second end thereof and inwardly of an opening in the second actuator.
11. The surgical instrument of claim 10 , wherein a portion of at least one of the opening in the first actuator and the first actuator are rotationally moveable with respect to the first coupling pin.
12. The surgical instrument of claim 9 , wherein the wire guide further comprises a recess extending inwardly thereof in the direction of the base of the housing.
13. The surgical instrument of claim 9 , wherein the wire guide further comprises a first guide portion extending from the first side wall, and a second guide portion extending from the second side wall.
14. The surgical instrument of claim 13 , wherein the first actuator is pivotally coupled to the first side wall by a first pivot pin extending between, and coupled to, the first actuator and the housing along the first side wall.
15. The surgical instrument of claim 14 , wherein the second actuator is pivotally coupled to the second side wall by a second pivot pin extending between, and coupled to, the second actuator and the housing along the second side wall.
16. The surgical instrument of claim 15 , wherein the end effector is actuatable between a closed position and an open position, wherein in the closed position, the coupling link is disposed inwardly of the opening from the location of the first and second pivot pins.