End effectors actuation platform

Abstract

An endoscopic device includes a base, one or more end effectors, and an actuating assembly. The base includes a cylindrical shaft will a hollow interior. The end effectors are connected to the distal portion of the base such that the end effectors are movable between open and closed positions. The actuating assembly moves the end effectors between the open and closed position. The actuating assembly includes a driver that has at least one stopper feature extending radially from the driver shaft. The driver of the actuating assembly is at least partially disposed within the hollow interior of the base such that the stopper feature is movable in an opening of the base. The stopper feature engages a distal edge of the opening to prevent movement of the driver in a distal direction relative to the base and engages a proximal edge of the opening to prevent movement of the driver in a proximal direction relative to the base. Movement of the driver in the distal direction causes the end effectors to move to the open position, and movement of the driver in the proximal direction causes the end effectors to move to the closed position.

1 . An endoscopic device, comprising:
 a base comprising a cylindrical shaft with a hollow interior, the cylindrical shaft having a proximal portion and a distal portion, wherein the proximal portion comprises at least one proximal opening;   one or more end effectors connected to the distal portion of the base, wherein the one or more end effectors are movable between an open position and a closed position; and   an actuating assembly for moving the one or more end effectors between the open position and the closed position, the actuating assembly comprising a driver that includes a driver shaft, a proximal end, and a distal end, wherein the driver shaft comprises at least one protruding portion extending radially from the driver shaft;   wherein the driver of the actuating assembly is at least partially disposed within the hollow interior of the base such that the at least one protruding portion is movable in the at least one proximal opening of the base;   wherein the at least one protruding portion engages a distal edge of the at least one proximal opening to prevent movement of the driver in a distal direction relative to the base and engages a proximal edge of the at least one proximal opening to prevent movement of the driver in a proximal direction relative to the base;   wherein movement of the driver in the distal direction causes the one or more end effectors to move to the open position, and movement of the driver in the proximal direction causes the one or more end effectors to move to the closed position.   
     
     
         2 . The device according to  claim 1 , wherein the at least one proximal opening of the base comprises a first proximal opening and a second proximal opening. 
     
     
         3 . The device according to  claim 2 , wherein the at least one protruding portion of the driver comprises a first protruding portion and a second protruding portion, and wherein the first protruding portion is movable in the first proximal opening and the second protruding portion is movable in the second proximal opening. 
     
     
         4 . The device according to  claim 1 , wherein the distal portion of the base comprises at least one distal opening, and wherein the one or more end effectors have at least one arm that is at least partially disposed in the distal opening of the base. 
     
     
         5 . The device according to  claim 4 , wherein the driver of the actuating assembly has at least one engagement feature disposed along the driver shaft that is configured to engage the at least one arm of the one or more end effectors to move the one or more end effectors between the open and closed positions. 
     
     
         6 . The device according to  claim 5 , wherein the at least one engagement feature of the driver comprises a distal engagement feature disposed at the distal end of the driver and a second engagement feature disposed between the distal engagement feature and the proximal end of the driver. 
     
     
         7 . The device according to  claim 6 , wherein the second engagement feature comprises a round proximal surface and a distal concave surface, wherein the distal concave surface is configured to prevent the one or more end effectors from locking as the driver is moved in the distal direction. 
     
     
         8 . The device according to  claim 6 , wherein movement of the driver in the distal direction causes the second engagement feature of the driver to engage the at least one arm of the one or more end effectors to move the one or more end effectors to the open position. 
     
     
         9 . The device according to  claim 6 , wherein movement of the driver in the proximal direction causes the distal engagement feature of the driver to engage the at least one arm of the one or more end effectors to move the one or more end effectors to the closed position. 
     
     
         10 . The device according to  claim 1 , wherein the one or more end effectors comprise a pair of jaws. 
     
     
         11 . A method of using a driver of an actuator assembly to move at least one end effector that is connected to a base between an open position and a closed position, the driver having a driver shaft, a proximal end, and a distal end, the driver shaft comprising at least one protruding portion extending radially from the driver shaft, the method comprising:
 pushing the driver through at least a portion of a hollow interior of the base in a distal direction relative to the base until the at least one protruding portion abuts a distal edge of an opening in the base, wherein the at least one end effector is in the open position when the at least one protruding portion abuts the distal edge of the opening;   pulling the driver through at least a portion of the hollow interior of the base in a proximal direction until the at least one protruding portion abuts a proximal edge of the opening in the base, wherein the at least one end effector is in the closed position when the at least one protruding portion abuts the proximal edge of the opening.   
     
     
         12 . The method according to  claim 11 , wherein the at least one end effector comprises at least one arm that is pivotally connected to the base and at least partially disposed within the hollow interior of the base such that pushing the driver in the distal direction causes driver to engage the at least one arm of the at least one end effector to move the at least one end effector to the open position. 
     
     
         13 . The method according to  claim 12 , wherein the pulling of the driver in the proximal direction causes driver to engage the at least one arm of the at least one end effector to move the at least one end effector to the closed position. 
     
     
         14 . The method according to  claim 13 , wherein the driver comprises a distal engagement feature disposed at the distal end of the driver and a second engagement feature disposed between the distal engagement feature and the proximal end of the driver. 
     
     
         15 . The method according to  claim 14 , wherein the pushing of the driver causes the second engagement feature of the driver to engage the at least one arm of the at least one end effector to move the at least one end effector to the open position, and wherein the pulling of the driver causes the distal engagement feature of the at least one end effector to engage the at least one arm of the at least one end effector to move the at least one end effector to the closed position.