# Surgical Tool with Flexible, Articulating, and Rotating End Effectors > This patent describes a surgical tool with a flexible tip that can bend in multiple directions and also twist, allowing surgeons to precisely control instruments like graspers and cutters inside the body. - **Patent:** US 10736702 - **Original title:** Activating and rotating surgical end effectors - **Owner:** Ethicon - **Granted:** 2020 - **Status:** Active - **Times cited:** 207 - **Field:** medical_devices, robotics, surgical_equipment, mechanical, healthcare ## What it does The surgical tool features an elongate shaft with an end effector, such as jaws for grasping tissue, at its tip. A multi-axis articulation joint connects the shaft and end effector, allowing the tip to bend in various directions (Claim 1). Inside, a flexible torque transmission tube, part of a first rotary driver, extends through this joint to open and close the jaws (Claim 1). A linear pull cable runs inside this tube, also helping to move the jaws (Claim 1). The tool can also include a second rotary driver to advance a cutting element (Claim 3) and a rotation shaft to twist the end effector around its own axis (Claim 6), providing highly versatile movement for complex surgical tasks. ## What it does NOT cover - Does not cover surgical tools where the end effector cannot articulate in multiple axes relative to the shaft. - Does not cover tools where the jaw-actuating rotary driver does not use a flexible torque transmission tube extending through the joint. - Does not cover tools where the linear pull cable for jaw movement is not at least partially within the flexible torque transmission tube. - Does not cover tools that articulate but lack the ability to rotate the end effector distal to the multi-axis articulation joint. - Does not cover simple laparoscopic tools that only articulate in a single plane or lack a rotary driver for jaw actuation. ## The clever bit The core innovation lies in efficiently routing both rotational power for jaw actuation and linear force for jaw movement through a flexible multi-axis joint. This is achieved by nesting a linear pull cable inside a flexible torque transmission tube, allowing both functions to pass through the bending joint without interfering with articulation. ## Real-world examples 1. Da Vinci Surgical System instruments 2. Ethicon ECHELON CIRCULAR Powered Stapler 3. Advanced laparoscopic surgical instruments 4. Robotic-assisted surgical platforms 5. Articulating endoscopic tools ## Why it matters This patent addresses a key challenge in minimally invasive surgery: providing instruments with enough dexterity to operate in confined spaces. By combining multi-axis articulation with rotation and flexible drive mechanisms, it enables surgeons to perform more complex procedures through small incisions. This technology is fundamental to advanced robotic and laparoscopic surgical systems, improving precision and patient outcomes. ## Frequently asked questions ### What does Surgical Tool with Flexible, Articulating, and Rotating End Effectors cover? This patent describes a surgical tool with a flexible tip that can bend in multiple directions and also twist, allowing surgeons to precisely control instruments like graspers and cutters inside the body. ### Who owns patent US 10736702? Ethicon owns this patent, granted in 2020. ### When does this patent expire? This patent is expected to expire on August 16, 2036, when the invention enters the public domain. ### What is patent US 10736702 cited by? This patent has been cited by 207 later patents that build on its ideas. ### What problem does this patent solve? This patent addresses a key challenge in minimally invasive surgery: providing instruments with enough dexterity to operate in confined spaces. By combining multi-axis articulation with rotation and flexible drive mechanisms, it enables surgeons to perform more complex procedures through small incisions. This technology is fundamental to advanced robotic and laparoscopic surgical systems, improving precision and patient outcomes. ### What does this patent NOT cover? Does not cover surgical tools where the end effector cannot articulate in multiple axes relative to the shaft. **Full plain-English explainer:** https://patentbrief.org/patent/us/10736702/activating-and-rotating-surgical-end-effectors **Original patent:** https://patents.google.com/patent/US10736702 --- _Source: PatentBrief — https://patentbrief.org. Patent facts are from public records; the plain-English explanation is PatentBrief's._ ## Related patents Semantically similar inventions in the PatentBrief corpus: - [How a Robotic Surgical Tool Clamps Tissue Manually and Automatically](https://patentbrief.org/patent/us/11786761/ultrasonic-robotic-tool-actuation) — This patent describes a surgical tool for robotic operations that can clamp tissue using a motor-driven yoke, but also allows a surgeon to manually control the clamping action. - [How a Surgical Robot Arm's Wrist Moves Instruments](https://patentbrief.org/patent/us/12414825/surgical-arm) — This patent describes a specific design for the end part of a surgical robot arm, called the terminal portion, which uses a clever arrangement of three joints to precisely position and rotate surgical tools. - [How a Surgical Robot Attaches Tools and Stays Sterile](https://patentbrief.org/patent/us/12127807/surgical-system-instrument-mounting) — Intuitive Surgical's patent details a robotic surgical system that securely mounts medical instruments, transfers precise movements, and ensures sterility through a unique rotating drape mechanism. - [Customizing Surgical Dissectors Using 3D Printing](https://patentbrief.org/patent/us/10959744/surgical-dissectors-and-manufacturing-techniques) — This patent describes a surgical tool's working tip, called an end effector, which has two jaws whose gripping features can be custom-made using 3D printing for specific surgical needs. - [How Surgical Robots Reconfigure Their Arms Without Moving the Tool Tip](https://patentbrief.org/patent/us/9949801/systems-and-methods-for-commanded-reconfiguration-of-a-surgical-manipulator-usin) — This patent describes how a surgical robot arm can move and reshape itself to avoid obstacles or improve its position, all while keeping its surgical tool perfectly still at the patient's entry point or target.