Ultrasonic robotic tool actuation

US10471282B2 · office US · priority 2016-12-21 · published 2019-11-12

, wherein the yoke is operatively coupled to at least one of the first actuator and the second actuator by a pinion gear. 9. The surgical tool of claim 5 , wherein the housing is configured to couple to a driver of a robotic arm of a robotic surgical system. 10. The surgical tool of claim 5 , wherein …

Inventor: Jeffery Kirk · Assignee: Ethicon Llc

Open the patent document · source query “surgical robot”