End effector and end effector drive apparatus
Provided herein is 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 the flexible tubular member, comprising a drive mechanism and a coupling located 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. A mechanism to controllably move a wire within a flexible tubular member, the wire including opposed first and second wire ends extending outwardly of a proximal end of the flexible tubular member, comprising:
an adaptor coupling;
a controllable drive mechanism;
a drive coupling located between the controllable drive mechanism and the first wire end, the drive coupling comprising a plunger and a bushing, wherein movement of the drive coupling in the direction of the first wire end results in opposed motion of the first wire end; and
a fulcrum extending from the adaptor, and a lever having a first side, a second side, and a pivoting connection with the fulcrum at a location spaced from the adaptor coupling, the pivoting connection located between the first side of the lever and the opposed second side of the lever;
the plunger connected to the first side of the lever through the drive coupling and the first wire end connected to the second side of the lever,
a bushing bore extending inwardly of the adaptor coupling;
the bushing disposed in the bushing bore, the bushing sized to be capable of reciprocating motion within the bushing bore, wherein the bushing is connected to the first end of the lever through the drive coupling,
the controllable drive mechanism having a moveable connector portion, and
the moveable connector portion connects to the wire through the bushing and the plunger and the first side of the lever, and the wire member is selectively moveable with respect to the movable connector portion.
2. The mechanism of claim 1 , wherein the bushing comprises opposed ends, and a recess extending inwardly of one of the opposed ends.
3. The mechanism of claim 2 , further comprising a magnetic material disposed inwardly of the recess.
4. The mechanism of claim 3 , wherein the wire actuation member further comprises a magnetic material.
5. The mechanism of claim 4 , wherein the magnetic material comprises one of a magnet or a ferromagnetic material.