US20210121189A1 - Articulation assemblies for use with endoscopic surgical instruments - Google Patents
Articulation assemblies for use with endoscopic surgical instruments Download PDFInfo
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- US20210121189A1 US20210121189A1 US17/122,051 US202017122051A US2021121189A1 US 20210121189 A1 US20210121189 A1 US 20210121189A1 US 202017122051 A US202017122051 A US 202017122051A US 2021121189 A1 US2021121189 A1 US 2021121189A1
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- joint
- jaw
- pivot
- articulation
- drive member
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- 238000000429 assembly Methods 0.000 title description 3
- 239000012636 effector Substances 0.000 description 31
- 230000007246 mechanism Effects 0.000 description 10
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- 238000007789 sealing Methods 0.000 description 4
- 238000001356 surgical procedure Methods 0.000 description 3
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- 230000008901 benefit Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000002324 minimally invasive surgery Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 230000008569 process Effects 0.000 description 2
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Images
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00305—Constructional details of the flexible means
- A61B2017/00314—Separate linked members
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00318—Steering mechanisms
- A61B2017/00323—Cables or rods
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2901—Details of shaft
- A61B2017/2908—Multiple segments connected by articulations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2932—Transmission of forces to jaw members
- A61B2017/2933—Transmission of forces to jaw members camming or guiding means
- A61B2017/2936—Pins in guiding slots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
- A61B2018/00607—Coagulation and cutting with the same instrument
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B18/1442—Probes having pivoting end effectors, e.g. forceps
- A61B2018/1452—Probes having pivoting end effectors, e.g. forceps including means for cutting
- A61B2018/1455—Probes having pivoting end effectors, e.g. forceps including means for cutting having a moving blade for cutting tissue grasped by the jaws
Definitions
- the present disclosure relates to articulation assemblies for use with surgical instruments and, more particularly, to articulation assemblies for use with surgical instruments including jaw members for grasping, treating, sealing, stapling, and/or dividing tissue.
- a surgical forceps may include a movable handle that is selectively actuatable relative to a stationary handle for moving at least one jaw member with respect to another jaw member of the forceps between spaced-apart and approximated positions for grasping tissue therebetween.
- a forceps may further include additional triggers for selectively actuating electrosurgical energy or for deploying staples, and/or for deploying a knife between the jaw members to cut tissue grasped therebetween.
- an energy-based device In certain types of surgical procedures, it may be useful to use an energy-based device during endoscopic, laparoscopic and other minimally invasive surgeries.
- the present disclosure relates to an articulation assembly for use with a surgical instrument.
- the articulation assembly includes a plurality of joints, a plurality of cables, and a first drive member.
- Each joint defines a plurality of openings extending longitudinally therethrough, a central opening extending longitudinally therethrough, a pair of projections extending from a first surface, and a pair of grooves extending at least partially through a second surface.
- Each groove of at least one joint is configured to engage one projection of the pair of projections from an adjacent joint.
- Each cable extends through one opening of the plurality of openings of each joint.
- the first drive member extends through the central opening of each joint.
- each projection of at least one joint is configured to be at least partially positioned within one groove of the pair of grooves of an adjacent joint.
- each projection of at least one includes an arcuate surface configured to contact an arcuate wall defining the groove of an adjacent joint.
- each joint of the plurality of joints is substantially identical.
- each joint of the plurality of joints includes a pair of contours and a pair of platforms, each contour of the pair of contours of at least one joint is configured to engage one platform of the pair of platforms of an adjacent joint.
- Each contour of the pair of contours of at least one joint may be configured to pivot with respect to one platform of the pair of platforms of an adjacent joint.
- Each contour of the pair of contours of at least one joint may also be configured to pivot against a flat surface of one platform of the pair of platforms of an adjacent joint.
- Each projection of each joint may be 90° offset from each groove, and each contour of each joint may be 90° offset from each platform
- a second drive member extends through the central opening of each joint.
- Each of the first drive member and the second drive member may include a semi-circular cross-section at locations that are longitudinally aligned with each joint.
- the articulation assembly further comprising an actuator disposed in mechanical cooperation with a handle assembly of the surgical instrument.
- the cable actuator includes at least one aperture.
- the plurality of cables extends through the at least one aperture of the actuator.
- the plurality of cables includes four cables.
- the articulation assembly may further comprise an actuator disposed in mechanical cooperation with a handle assembly of the surgical instrument.
- the cable actuator includes a first aperture and a second aperture defined therethrough. Two cables of the plurality of cables extend through the first aperture of the actuator, and two cables of the plurality of cables extend through the second aperture of the actuator.
- the present disclosure also relates to an articulation assembly for use with a surgical instrument.
- the articulation assembly includes a pivot, a drive member, and an outer tube.
- the pivot includes a first lateral pivot pin, a second lateral pivot pin, an upper pivot portion, a lower pivot portion, and an aperture extending therethrough.
- the first lateral pivot pin is disposed in mechanical cooperation with the first jaw member
- the second lateral pivot pin is disposed in mechanical cooperation with the second jaw member.
- a portion of the drive member extends through the aperture of the pivot.
- the outer tube includes an upper aperture pivotally engaged with the upper pivot portion of the pivot, and a lower aperture pivotally engaged with the lower pivot portion of the pivot.
- the pivot is configured to pivot about a first axis defined therethrough to cause articulation of the jaw members, and the jaw members are configured to pivot about a second axis defined through the pivot to cause the jaw members to move between an open position and an approximated position.
- a reduced-perimeter portion of the drive member is longitudinally aligned with the aperture of the pivot.
- the articulation assembly further comprises a distal member disposed in mechanical cooperation with the pivot.
- the distal member is rotatable with respect to the drive member.
- the distal member may include a first angled slot defined therein and configured to engage the first lateral pivot pin and a second angled slot defined therein and configured to engage the second lateral pivot pin.
- the articulation assembly comprises a control member disposed in mechanical cooperation with only one of the first lateral pivot pin or the second lateral pivot pin.
- the control member may include a T-shaped slot configured to engage a T-shaped portion of the pivot.
- FIG. 1 is a perspective view of an embodiment of a surgical instrument in accordance with the present disclosure including a first articulation assembly;
- FIG. 2 is an assembly view of the surgical instrument of FIG. 1 ;
- FIG. 3 is a perspective view of the first articulation assembly of the surgical instrument of FIGS. 1 and 2 ;
- FIG. 4 is an assembly view of the first articulation assembly of FIG. 3 ;
- FIG. 5 is an enlarged view of the portion of the first articulation assembly indicated in FIG. 3 ;
- FIG. 6 is a side view of the portion of the first articulation assembly shown in FIG. 5 ;
- FIG. 7 is a side view of the portion of the first articulation assembly shown in FIGS. 5 and 6 illustrated in an articulation position;
- FIG. 8 is a perspective view of a portion of the first articulation assembly with some features omitted;
- FIG. 9 is a side view of the portion of the first articulation assembly shown in FIG. 5 ;
- FIG. 10 is a cross-sectional view of a portion of the first articulation assembly of FIG. 6 taken along line 10 - 10 ;
- FIG. 11 is a cross-sectional view of a portion of the first articulation assembly of FIG. 9 taken along line 11 - 11 ;
- FIG. 12 is a perspective view of a joint of the first articulation assembly
- FIG. 13 is a cross-sectional view of a portion of the first articulation assembly of FIG. 9 taken along line 13 - 13 ;
- FIG. 14 is an internal view of the surgical instrument of FIG. 1 ;
- FIG. 15 is an internal view of the surgical instrument of FIGS. 1 and 14 ;
- FIG. 16 is an enlarged view of the area of detail indicated in FIG. 15 ;
- FIG. 17 is a cross-sectional view of the surgical instrument of FIG. 14 taken along line 17 - 17 ;
- FIGS. 18 and 19 are enlarged views of the areas of detail indicated in FIG. 17 ;
- FIG. 20 is a cross-sectional view of the surgical instrument of FIG. 14 taken along line 20 - 20 ;
- FIG. 21 is an enlarged view of the area of detail indicated in FIG. 20 ;
- FIG. 22 is a side view of the surgical instrument of FIG. 1 ;
- FIG. 23 is a cross-sectional view of the surgical instrument of FIG. 22 taken along line 23 - 23 ;
- FIG. 24 is an enlarged view of the area of detail indicated in FIG. 23 ;
- FIG. 25 is a perspective view of a second articulation assembly according to an embodiment of the present disclosure.
- FIG. 26 is an assembly view of the second articulation assembly of FIG. 25 ;
- FIG. 27 is a front view of a pivot of the second articulation assembly of FIGS. 25 and 26 ;
- FIG. 28 is a cross-sectional view of a portion of the second articulation assembly of FIGS. 25 and 26 ;
- FIG. 29 is a side view of a distal member of the second articulation assembly of FIGS. 25 and 26 ;
- FIG. 30 is a side view of the distal member of FIG. 29 depicting two rotational positions
- FIGS. 31-33 are side views the second articulation assembly of FIGS. 25 and 26 showing the jaw members in an open position and with various portions omitted;
- FIG. 34 is a side view of the second articulation assembly of FIGS. 25 and 26 showing the jaw members in an approximated position and with various portions omitted;
- FIG. 35 is an enlarged view of the area of detail indicated in FIG. 34 ;
- FIGS. 36 and 37 are side and top views, respectively, of the second articulation assembly of FIGS. 25 and 26 showing the jaw members in an approximated position and with various portions omitted;
- FIG. 38 is an enlarged view of the area of detail indicated in FIG. 37 ;
- FIG. 39 is a top view of the second articulation assembly of FIGS. 25 and 26 showing the jaw members in an approximated position and with various portions omitted;
- FIG. 40 is an enlarged view of the area of detail indicated in FIG. 39 ;
- FIG. 41 is a top view of the second articulation assembly of FIGS. 25 and 26 showing the jaw members in an approximated position and with various portions omitted;
- FIG. 42 is an enlarged view of the area of detail indicated in FIG. 41 ;
- FIG. 43 is a perspective view of a third articulation assembly according to an embodiment of the present disclosure.
- FIG. 44 is an assembly view of the third articulation assembly of FIG. 43 ;
- FIG. 45 is a perspective view of a pivot of the third articulation assembly of FIGS. 43 and 44 ;
- FIG. 46 is a perspective view of a distal portion of a control member of the third articulation assembly of FIGS. 43 and 44 ;
- FIG. 47 is a cross-sectional, cut-away view of a portion of the third articulation assembly of FIGS. 43 and 44 ;
- FIG. 48 is a schematic illustration of a surgical system in accordance with the present disclosure.
- distal refers to that portion of the surgical instrument that is farther from the user
- proximal refers to that portion of the surgical instrument that is closer to the user.
- Surgical instrument 100 may be configured to connect to a source of electrosurgical energy (not shown) via a connector assembly, and/or may contain an independent energy source e.g., a battery (not shown).
- a source of electrosurgical energy not shown
- a battery not shown
- the use of an electrosurgical apparatus to apply electrosurgical energy to tissue is generally described in U.S. Pat. No. 7,083,618, which is incorporated herein in its entirety by reference.
- Surgical instrument 100 includes a housing or handle assembly 112 near a proximal end, an end effector 120 near a distal end and an elongated shaft 118 extending therebetween.
- a proximal portion of elongated shaft 118 defines a longitudinal axis “A-A.”
- the end effector 120 includes a first jaw member 130 and a second jaw member 140 , which are movable relative to each other.
- the end effector 120 may be positioned within a body cavity to engage tissue at a surgical site while handle assembly 112 is manipulatable by a surgeon from outside the body cavity to control the movement and operation of the end effector 120 .
- Handle assembly 112 includes a movable handle 112 a, which is manipulatable to open and close jaw members 130 , 140 of the end effector 120 , and a trigger 112 b, which is manipulatable to initiate an electrosurgical current.
- Actuation of the movable handle 112 a longitudinally translates a drive bar or a control rod of a drive assembly to approximate jaw members 130 , 140 and to apply a pressure between the jaw members 130 and 140 in the range of about 3 kg/cm 2 to about 16 kg/cm 2 .
- a vessel sealing device including a handle assembly and drive assembly for controlling actuation of an end effector can be found in U.S. Pat. Nos. 7,101,371 and 7,083,618, which are incorporated herein in their entirety by reference.
- a separation or gap distance is maintained between the jaw members 130 , 140 by one or more stop members (not shown).
- the stop members may be positioned on one or more jaw members 130 , 140 and may be made from a thermally sprayed ceramic (e.g. Alumina Titania), epoxy, or a high temperature plastic, for example. Other configurations are also contemplated.
- the present disclosure includes elongated shaft 118 that is articulatable or movable off-axis to help increase the functionality of the surgical instrument 100 .
- various articulation mechanisms are disclosed.
- a first articulation mechanism 200 is shown; in FIGS. 25-42 , a second articulation mechanism 300 is shown; and in FIGS. 43-47 , a third articulation mechanism 400 is shown.
- surgical instrument 100 includes first articulation mechanism 200 having an outer tube 210 , a first drive member 220 , a second drive member 230 , a plurality of cables 240 , and a joint assembly 250 including a plurality of joints 260 .
- first drive member 220 and second drive member 230 are translatable to seal and cut tissue between the jaw members 130 and 140 , as described in detail in the patents incorporated by reference hereinabove, and cables 240 are translatable to cause end effector 120 (and a distal portion of elongated shaft 118 ) to articulate with respect to the longitudinal axis “A-A.”
- a cable actuator 270 disposed in mechanical cooperation with handle assembly 112 is configured to move cables 240 and thereby cause articulation of end effector 120 .
- joint assembly 250 and the plurality of joints 260 are shown. Movement of cables 240 causes joint assembly 250 to move between a first, generally linear configuration ( FIGS. 6, 8 and 9-11 ) and a second, angled or articulated configuration ( FIG. 7 ).
- Each joint 260 is configured to engage at least one directly adjacent joint 260 , and is articulatable or pivotable with respect to the adjacent joint 260 .
- a proximal-most joint 260 a is also configured to engage a link joint 271 ( FIGS. 6 and 7 ) disposed proximally adjacent thereto and is articulatable or pivotal with respect thereto.
- Link joint 271 is also configured to engage outer tube 210 .
- a distal-most joint 260 b is also configured to engage a proximal end 120 b of end effector 120 and is articulatable or pivotal with respect thereto.
- Joint 260 includes various features that enable joint 260 to articulate or pivot in a plurality of directions with respect to an adjacent joint 260 and/or with link joint 271 and proximal end 120 b of end effector 120 .
- each joint 260 is identical or substantially identical to all of the other joints 260 .
- Joint 260 includes a plurality of openings 262 extending longitudinally therethrough; each opening 262 is configured to allow one cable 240 or a portion one cable 240 to pass therethrough.
- a central opening 263 is also included on each joint 260 to allow first drive member 220 and second drive member 230 to pass therethrough (see FIG. 13 ).
- a proximal portion 264 of each joint 260 includes a pair of contours 265 and a pair of grooves 266 (e.g., including an arcuate surface), which extend through joint 260 .
- a distal portion 267 of each joint 260 includes a pair of projections 268 extending therefrom, and a pair of platforms 269 (e.g., linear or flat surfaces; see FIG. 7 ) thereon. In FIG. 13 , projections 268 from a second joint are shown within grooves 266 of a first joint.
- Each contour 265 is configured to engage a single platform 269 ; contours 265 and platforms 269 are configured to pivot a predetermined amount with respect to each other in the general directions of arrows “A” and “B” in FIG. 6 .
- Each projection 268 is configured to engage (e.g., be positioned at least partially within) a single groove 266 . As shown in FIG. 12 , projections 268 include an arcuate surface 268 a, which engages a corresponding arcuate surface 266 a of groove 266 . The engagement between projections 268 and grooves 266 enables or facilitates the pivotal movement between adjacent joints 260 , for example. Further, each projections 265 /groove 266 is 90° offset from each contour 265 /platform 269 , thereby enabling the pivotal movement in the directions of arrows “A” and “B.”
- joint assembly 250 includes four joints 260 , however more or fewer joints 260 may be included without departing from the scope of the present disclosure.
- the geometry of various features of the joints 260 can be altered to allow a relatively smaller amount of pivotal movement between adjacent joints 260 .
- the geometry of various features of the joints 260 can be altered to allow a relatively larger amount of pivotal movement between adjacent joints 260 . In each of these situations, the total amount of desired articulation (e.g., up to about 45°) may be accomplished.
- FIGS. 11 and 13 cross-sectional views of a portion of surgical instrument 100 are shown and further illustrate details of the first drive member 220 and the second drive member 230 .
- Each drive member 220 , 230 extends from handle assembly 112 , through central opening 263 of each joint 260 , and into contact with end effector 120 .
- the drive members 220 , 230 are hollow and/or only include sidewalls 222 , 232 , respectively (e.g., semi-circles) (see FIG. 13 ).
- each drive member 220 , 230 is reduced with respect to proximally-adjacent portions 224 , 234 and distally-adjacent portions 225 , 235 , respectively (see FIG. 4 ).
- the cross-sectional shapes and the reduced-diameter sections help allow drive members 220 , 230 to curve (upon articulation of joints 260 ) while still maintaining the strength desired to transfer force from handle assembly 112 to end effector 120 .
- first drive member 220 and second drive member 230 form a pair of slots (one slot 221 a is shown in FIG. 8 ), with each slot (e.g., 221 a ) being configured to allow at least one cable 240 to pass therethrough.
- Cables 240 extend between handle assembly 112 , through openings 262 of joints 260 , and into mechanical engagement with end effector 120 . More particularly, cables 240 include a first cable 240 a and a second cable 240 b (see FIG. 8 ).
- First cable 240 a is formed from two cables 240 aa and 240 ab (see FIGS. 8 and 13 ) twisted together or otherwise engaged
- second cable 240 b is formed from two cables 240 ba and 240 bb (see FIG. 13 ) twisted together or otherwise combined. As shown in FIG.
- a majority of the length of cables 240 includes the twisted or combined cables 240 a, 240 b; the portions of cables 240 that extend through openings 262 of joints 260 are single, untwisted cables 240 aa, 240 ab, 240 ba, 240 bb.
- cable actuator 270 is disposed in mechanical cooperation with handle assembly 112 and is configured to move cables 240 and thereby cause articulation of end effector 120 .
- Cable actuator includes a controller 272 , a flange 274 , a first plunger 276 and a second plunger 278 .
- a first or upper portion 272 a of controller 272 rests atop handle assembly 112 and is accessible to a user.
- a second portion 272 b of controller 272 is disposed within handle assembly 112 and includes a first aperture 273 a and a second aperture 273 b ( FIG. 24 ) extending longitudinally therethrough; cables 240 extend through apertures 273 a, 273 b of controller 272 . As shown in FIG.
- flange 274 is disposed proximally of second portion 272 b of controller 272 and is configured to engage cables 240 ; cables 240 are shown extending through an opening of flange 274 . Cables 240 are longitudinally fixed with respect to flange 274 .
- Second portion 272 b of controller 272 includes a plurality of recesses 272 c, with each adjacent recess 272 c separated by a ridge 272 d.
- Each plunger 276 , 278 is configured to engage one recess 272 c at a time. More particularly, each plunger 276 is biased into engagement with one recess 272 c (e.g., by a biasing element).
- each plunger 276 , 278 is contacted by a respective ridge 272 d, which forces plungers 276 , 278 laterally outward in the general direction of arrows “C” and “D” in FIG. 21 , such that plungers 276 , 278 are out of contact with recesses 272 c.
- plungers 276 , 278 are urged into engagement with different (e.g., adjacent) recesses 272 c.
- the engagement between plungers 276 , 278 and recesses 272 c releasably maintains controller 272 in its rotational position.
- the rotation of controller 272 exerts a force on first cable 240 a and second cable 240 b. More particularly, rotation of controller 272 causes sidewalls 273 c of apertures 273 a, 273 b to exert a proximal force against one cable (e.g., first cable 240 a ) and a distal force against one cable (e.g., second cable 240 b ). Additionally, as noted above, longitudinal translation of cables 240 causes articulation of end effector 120 .
- controller 272 rotates in a first direction (e.g., clockwise) causes first cable 240 a to be pushed distally, causes second cable 240 b to be pulled proximally, which causes joint assembly 250 and thus end effector 120 to articulate in the general direction of arrow “B” ( FIG. 6 ).
- Rotation of controller 272 in a second direction e.g., counter-clockwise causes first cable 240 a to be pulled proximally, causes second cable 240 b to be pushed distally, which causes joint assembly 250 and thus end effector 120 to articulate in the general direction of arrow “A” ( FIG. 6 ).
- controllers 272 having recesses 272 c and ridges 272 d with different spacing from what is shown are encompassed by the present disclosure.
- handle assembly 112 also includes a knob 113 .
- knob 113 As discussed in detail in disclosures incorporated by reference, rotation of knob 113 results in rotation of elongated shaft 118 , and thus end effector 120 , about longitudinal axis “A-A.”
- outer tube 210 which at least partially radially surrounds first drive member 220 and second drive member 230 , is engaged with knob 113 . Accordingly, the combination of first articulation mechanism 200 and knob 113 enables a great amount of versatility regarding off-axis positioning of end effector 120 .
- second articulation mechanism 300 includes a first jaw 310 , a second jaw 320 , an outer tube 330 , an inner tube 340 , a drive member 350 , a distal member 360 , and a pivot 370 .
- inner tube 340 and drive member 350 are translatable to seal and cut tissue held between first jaw 310 and second jaw 320 , as described below and as described in patents incorporated herein.
- Distal member 360 is rotatable to cause first jaw member 310 and second jaw member 320 to articulate with respect to the longitudinal axis “A-A.”
- inner tube 340 to be distally translated (e.g., by actuating a lever, knob or button on handle assembly).
- Inner tube 340 is connected to drive member 350 via pins 352 , such that longitudinal translation of inner tube 340 causes a corresponding longitudinal translation of drive member 350 .
- a pair of pins 352 extends between a slot 342 defined adjacent a distal portion of inner tube 340 , and a pair of holes 351 defined adjacent a proximal portion of drive member 350 .
- Proximal and distal walls 342 a, 342 b of slot 340 limit the movement of pins 352 with respect to inner tube 340 .
- a drive pin 353 extends through a hole 353 a in a distal portion of drive member 350 , and extends through a slot 314 defined in first jaw 310 and a slot 324 defined in second jaw 320 . Longitudinal translation of drive member 350 causes drive pin 353 to travel through slots 314 , 324 . More particularly, and with reference to FIGS. 26 and 35 , each slot 314 , 324 includes a first section 314 a, 324 a, respectively, and a second section 314 b, 324 b, respectively. First section 314 a of slot 314 is generally linear and is disposed at a first angle (not explicitly shown in FIG.
- first section 324 a of slot 324 is generally linear and is disposed at a first angle al (e.g., between about 110° and about 170°) with respect to second section 324 b of slot 324 , which is also generally linear.
- drive pin 353 is within first sections 314 a, 324 a of slots 314 , 324 , respectively.
- an angle a 2 between first sections 314 a, 324 a with respect to longitudinal axis “A-A” is between about 20° and about 45° (see FIG. 35 ).
- drive pin 353 is within second sections 314 b, 324 b of slots 314 , 324 , respectively.
- an angle a 3 between second sections 314 b, 324 b with respect to longitudinal axis “A-A” is between about 5° and about 15°.
- first jaw 310 and second jaw 320 are pivotable about a first pivot axis “P 1 ” ( FIG. 27 ) between an open position and an approximated position, and are pivotable about a second pivot axis “P 2 ” ( FIG. 27 ) in the general directions of arrows “F” and “G” in FIG. 25 , which provides a varying degree of articulation.
- first jaw 310 includes an aperture 312 adjacent its proximal end, which is configured to rotatably or pivotally engage a first, lateral pivot pin 372 of pivot 370 .
- Second jaw 320 includes an aperture 322 adjacent its proximal end, which is configured to rotatably or pivotally engage a second, lateral pivot pin 374 of pivot 370 .
- This mechanical engagement between first jaw 310 and pivot 370 , and second jaw 320 and pivot 370 enable jaws 310 , 320 to pivot between an open position ( FIGS. 31-33 ) and an approximated position ( FIGS. 34-42 ).
- pivot 370 also includes an upper pivot portion 376 and a lower pivot portion 378 .
- Upper pivot portion 376 rotatably engages an upper aperture 332 disposed adjacent a distal end of outer tube 330
- lower pivot portion 378 rotatably engages a lower aperture 334 defined adjacent a distal end of outer tube 330 .
- This engagement between pivot 370 and outer tube 330 enables an end effector including first jaw 310 and second jaw 320 to be pivotable about second pivot axis “P 2 ” in the general directions of arrows “F” and “G” in FIG. 25 .
- pivot 370 also includes an aperture 379 defined longitudinally therethrough.
- Aperture 379 is rectangular and is configured to allow a portion of drive member 350 to translate therethrough. More particularly, a reduced-perimeter portion 352 of drive member 350 is configured to translate through aperture 379 of pivot 370 to approximate first jaw 310 and second jaw 320 , for example. Further, reduced-perimeter portion 352 of drive member 350 is flexible enough to bend or curve laterally in response to articulation of pivoting of the end effector about second pivot axis “P 2 .”
- distal member 360 includes a proximal body portion 362 including a pair of longitudinal slots 364 ( FIG. 30 ) extending therethrough (only a single longitudinal slot 364 is visible in FIGS. 26 and 29-30 ).
- Distal member 360 also includes a pair of arms 366 a, 366 b extending distally from body portion 362 , and each arm 366 a, 366 b includes an angled slot 368 a, 368 b, respectively, extending therethrough.
- Distal member 360 radially surrounds a proximal portion 354 of drive member 350 .
- Pins 352 extend through each longitudinal slot 364 , and, as discussed above, each pin 352 engages hole 351 of drive member 350 . Accordingly, drive member 350 is longitudinally translatable with respect to distal member 360 .
- angled slot 368 a is configured to engage first, lateral pivot pin 372 of pivot 370
- angled slot 368 b is configured to engage second, lateral pivot pin 374 of pivot 370 , such first jaw 310 and second jaw 320 are pivotal with respect to distal member 360 .
- angled slots 368 a, 368 b are angled with respect to the longitudinal axis “A-A” allows first jaw 310 and second jaw 320 to articulate in the directions of “F” and “G” with respect to distal member 360 .
- first arm 366 a is vertically offset from the longitudinal axis “A-A” with respect to second arm 366 b.
- distal translation of distal member 360 causes lateral pivot pins 372 and 374 to rotate about the second pivot axis “P 2 ,” which causes articulation of first jaw 310 and second jaw 320 in the general directions of “F” and “G.”
- distal translation of distal member 360 with respect to inner tube 340 causes rotation of distal member 360 in a first direction (e.g., clockwise) and causes first jaw 310 and second jaw 320 to articulate in the general direction of arrow “G.”
- proximal translation of distal member 360 with respect to inner tube 340 causes rotation of distal member 360 in a second direction (e.g., counter-clockwise) and causes first jaw 310 and second jaw 320 to articulate in the general direction of arrow “F.”
- FIG. 30 illustrates distal member 360 in two stages of rotation; features shown in the first stage of rotation are indicated by their reference number, and features shown in the second stage of rotation include a prime indication following their reference number.
- third articulation mechanism 400 includes a first jaw 410 , a second jaw 420 , an outer tube 430 , an inner tube 440 , a drive member 450 , a control member 460 , and a pivot 470 .
- inner tube 440 and drive member 450 are translatable to seal and cut tissue between first jaw 410 and second jaw 420 , as described in detail in the patents incorporated hereinabove, and control member 460 is translatable to cause first jaw member 410 and second jaw member 420 to articulate with respect to the longitudinal axis “A-A.”
- inner tube 440 to be distally translated (e.g., by actuating a lever, knob or button on handle assembly).
- Inner tube 440 is connected to drive member 450 via pins 452 , such that longitudinal translation of inner tube 440 causes a corresponding longitudinal translation of drive member 450 .
- pins 452 extend between a pair of apertures 442 adjacent a distal portion of inner tube 440 , and a pair of holes 451 defined adjacent a proximal portion of drive member 450 .
- a drive pin 453 extends through a hole 453 a in a distal portion of drive member 450 , and extends through a slot 414 of first jaw 410 and a slot 424 of second jaw 420 . Longitudinal translation of drive member 450 causes drive pin 453 to travel through slots 414 , 424 in a manner similar to the translation of drive member 350 through slots 314 , 324 of second articulation assembly 300 , discussed above.
- first jaw 410 and second jaw 420 are pivotable about first pivot axis “P 1 ” between an open position and an approximated position, and are pivotable about second pivot axis “P 2 ” in the general directions of arrows “H” and “I” in FIG. 43 , which provides a varying degree of articulation.
- first jaw 410 includes an aperture 412 adjacent its proximal end, which is configured to rotatably or pivotally engage a first, lateral pivot pin 472 of pivot 470 .
- Second jaw 420 includes an aperture 422 adjacent its proximal end, which is configured to rotatably or pivotally engage a second, lateral pivot pin 474 of pivot 470 .
- This mechanical engagement between first jaw 410 and pivot 470 , and second jaw 420 and pivot 470 enable jaws 410 , 420 to pivot between an open position and an approximated position.
- pivot 470 also includes an upper pivot portion 476 and a lower pivot portion 478 .
- Upper pivot portion 476 rotatably engages an upper aperture 432 disposed adjacent a distal end of outer tube 430
- lower pivot portion 478 rotatably engages a lower aperture 434 disposed adjacent a distal end of outer tube 430 .
- This engagement between pivot 470 and outer tube 430 enables an end effector including first jaw 410 and second jaw 420 to be pivotable about second pivot axis “P 2 ” in the general directions of arrows “H” and “I” in FIG. 43 .
- pivot 470 also includes an aperture 479 extending longitudinally therethrough.
- Aperture 479 is rectangular and is configured to allow a portion of drive member 450 to translate therethrough.
- a reduced-perimeter portion 452 of drive member 450 is configured to translate through aperture 479 of pivot 470 to approximate first jaw 410 and second jaw 420 , for example.
- reduced-perimeter portion 452 of drive member 450 is flexible enough to bend or curve laterally in response to articulation of pivoting of the end effector about second pivot axis “P 2 .”
- control member 460 extends distally from handle assembly 112 ( FIG. 1 ) and is disposed radially within outer tube 430 along at least a majority of its length.
- a distal portion 462 of control member 460 includes an arm 464 .
- a distal portion 464 a of arm 464 extends radially outward from a main body portion 465 of control member 460 .
- arm 464 includes a slot 466 defined therein and configured to engage first, lateral pivot pin 472 of pivot 470 .
- slot 466 is configured to engage a first portion 473 of first, lateral pivot pin 472 , and a second portion 474 of first, lateral pivot pin 472 .
- Second portion 474 extends perpendicularly from first portion 473 (see FIG. 45 ), thus forming a T-shaped portion.
- slot 466 of control member 460 includes a first portion 467 configured to engage first portion 473 of first, lateral pivot pin 472 , and includes a second portion 468 configured to engage second portion 474 of first, lateral pivot pin 472 .
- Second portion 468 of slot 466 extends perpendicularly from first portion 467 of slot 466 , and is thus T-shaped.
- control member 460 causes pivot 470 to rotate about second pivot axis “P 2 ,” which results in articulation of jaw members 410 , 420 .
- movement of control member 460 in a first longitudinal direction causes control member 460 to push first, lateral pivot pin 472 distally, which causes pivot 470 to rotate in a first direction, and which causes first jaw 410 and second jaw 420 to articulate in the general direction of arrow “H.”
- proximal movement of control member 460 causes control member 460 to pull first, lateral pivot pin 472 proximally, which causes pivot 470 to rotate in a second direction, and which causes first jaw 410 and second jaw 420 to articulate in the general direction of arrow “I.”
- the various embodiments disclosed herein may also be configured to work with robotic surgical systems and what is commonly referred to as “Telesurgery.”
- Such systems employ various robotic elements to assist the surgeon and allow remote operation (or partial remote operation) of surgical instrumentation.
- Various robotic arms, gears, cams, pulleys, electric and mechanical motors, etc. may be employed for this purpose and may be designed with a robotic surgical system to assist the surgeon during the course of an operation or treatment.
- Such robotic systems may include remotely steerable systems, automatically flexible surgical systems, remotely flexible surgical systems, remotely articulating surgical systems, wireless surgical systems, modular or selectively configurable remotely operated surgical systems, etc.
- the robotic surgical systems may be employed with one or more consoles that are next to the operating theater or located in a remote location.
- one team of surgeons or nurses may prepare the patient for surgery and configure the robotic surgical system with one or more of the surgical instruments disclosed herein while another surgeon (or group of surgeons) remotely controls the instrument(s) via the robotic surgical system.
- another surgeon or group of surgeons
- a highly skilled surgeon may perform multiple operations in multiple locations without leaving his/her remote console which can be both economically advantageous and a benefit to the patient or a series of patients.
- the robotic arms of the surgical system are typically coupled to a pair of master handles by a controller.
- the handles can be moved by the surgeon to produce a corresponding movement of the working ends of any type of surgical instrument (e.g., end effectors, graspers, knifes, scissors, etc.) which may complement the use of one or more of the embodiments described herein.
- the movement of the master handles may be scaled so that the working ends have a corresponding movement that is different, smaller or larger, than the movement performed by the operating hands of the surgeon.
- the scale factor or gearing ratio may be adjustable so that the operator can control the resolution of the working ends of the surgical instrument(s).
- the master handles may include various sensors to provide feedback to the surgeon relating to various tissue parameters or conditions, e.g., tissue resistance due to manipulation, cutting or otherwise treating, pressure by the instrument onto the tissue, tissue temperature, tissue impedance, etc. As can be appreciated, such sensors provide the surgeon with enhanced tactile feedback simulating actual operating conditions.
- the master handles may also include a variety of different actuators for delicate tissue manipulation or treatment further enhancing the surgeon's ability to mimic actual operating conditions.
- a medical work station is shown generally as work station 1000 and generally may include a plurality of robot arms 1002 , 1003 ; a control device 1004 ; and an operating console 1005 coupled with control device 1004 .
- Operating console 1005 may include a display device 1006 , which may be set up in particular to display three-dimensional images; and manual input devices 1007 , 1008 , by means of which a person (not shown), for example a surgeon, may be able to telemanipulate robot arms 1002 , 1003 in a first operating mode.
- Each of the robot arms 1002 , 1003 may include a plurality of members, which are connected through joints, and an attaching device 1009 , 1011 , to which may be attached, for example, a surgical tool “ST” supporting an end effector 1100 , in accordance with any one of several embodiments disclosed herein, as will be described in greater detail below.
- Robot arms 1002 , 1003 may be driven by electric drives (not shown) that are connected to control device 1004 .
- Control device 1004 e.g., a computer
- Control device 1004 may be set up to activate the drives, in particular by means of a computer program, in such a way that robot arms 1002 , 1003 , their attaching devices 1009 , 1011 and thus surgical tool “ST” (including end effector 1100 ) execute a desired movement according to a movement defined by means of manual input devices 1007 , 1008 .
- Control device 1004 may also be set up in such a way that it regulates the movement of robot arms 1002 , 1003 and/or of the drives.
- Medical work station 1000 may be configured for use on a patient 1013 lying on a patient table 1012 to be treated in a minimally invasive manner by means of end effector 1100 .
- Medical work station 1000 may also include more than two robot arms 1002 , 1003 , the additional robot arms likewise being connected to control device 1004 and being telemanipulatable by means of operating console 1005 .
- a medical instrument or surgical tool (including an end effector 1100 ) may also be attached to the additional robot arm.
- Medical work station 1000 may include a database 1014 , in particular coupled to with control device 1004 , in which are stored, for example, pre-operative data from patient/living being 1013 and/or anatomical atlases.
Abstract
Description
- The present application claims the benefit of, priority to, and is a Divisional application of U.S. patent application Ser. No. 15/765,518, filed on Apr. 3, 2018, which is a U.S. National Stage Application filed under 35 U.S.C. § 371(a) of International Patent Application No. PCT/CN2016/073584, filed on Feb. 5, 2016, the entire disclosures of each of which are incorporated by reference herein.
- The present disclosure relates to articulation assemblies for use with surgical instruments and, more particularly, to articulation assemblies for use with surgical instruments including jaw members for grasping, treating, sealing, stapling, and/or dividing tissue.
- Many surgical instruments are known for sealing, stapling, or otherwise joining tissue. Some of these surgical include one or more movable handles, levers, actuators, triggers, etc. for actuating and/or manipulating one or more functional components of the surgical instrument. For example, a surgical forceps may include a movable handle that is selectively actuatable relative to a stationary handle for moving at least one jaw member with respect to another jaw member of the forceps between spaced-apart and approximated positions for grasping tissue therebetween. Such a forceps may further include additional triggers for selectively actuating electrosurgical energy or for deploying staples, and/or for deploying a knife between the jaw members to cut tissue grasped therebetween.
- In certain types of surgical procedures, it may be useful to use an energy-based device during endoscopic, laparoscopic and other minimally invasive surgeries.
- During use in minimally invasive surgeries, one noted challenge for surgeons has been the inability to manipulate the jaw members or end effector assembly of the surgical forceps to grasp tissue in multiple planes, i.e., off-axis, while generating the required forces to affect a reliable seal. It would therefore be desirable to develop an endoscopic or endoluminal surgical forceps that includes an end effector assembly capable of being manipulated along multiple axes to enable the surgeon to grasp and seal vessels lying along different planes within a surgical cavity.
- The present disclosure relates to an articulation assembly for use with a surgical instrument. The articulation assembly includes a plurality of joints, a plurality of cables, and a first drive member. Each joint defines a plurality of openings extending longitudinally therethrough, a central opening extending longitudinally therethrough, a pair of projections extending from a first surface, and a pair of grooves extending at least partially through a second surface. Each groove of at least one joint is configured to engage one projection of the pair of projections from an adjacent joint. Each cable extends through one opening of the plurality of openings of each joint. The first drive member extends through the central opening of each joint.
- In aspects of the present disclosure, each projection of at least one joint is configured to be at least partially positioned within one groove of the pair of grooves of an adjacent joint.
- In other aspects, each projection of at least one includes an arcuate surface configured to contact an arcuate wall defining the groove of an adjacent joint.
- In yet other aspects, each joint of the plurality of joints is substantially identical.
- In still other aspects, each joint of the plurality of joints includes a pair of contours and a pair of platforms, each contour of the pair of contours of at least one joint is configured to engage one platform of the pair of platforms of an adjacent joint. Each contour of the pair of contours of at least one joint may be configured to pivot with respect to one platform of the pair of platforms of an adjacent joint. Each contour of the pair of contours of at least one joint may also be configured to pivot against a flat surface of one platform of the pair of platforms of an adjacent joint. Each projection of each joint may be 90° offset from each groove, and each contour of each joint may be 90° offset from each platform
- In aspects of the present disclosure, a second drive member extends through the central opening of each joint. Each of the first drive member and the second drive member may include a semi-circular cross-section at locations that are longitudinally aligned with each joint.
- In other aspects, the articulation assembly further comprising an actuator disposed in mechanical cooperation with a handle assembly of the surgical instrument. The cable actuator includes at least one aperture. The plurality of cables extends through the at least one aperture of the actuator.
- In yet other aspects, the plurality of cables includes four cables. The articulation assembly may further comprise an actuator disposed in mechanical cooperation with a handle assembly of the surgical instrument. The cable actuator includes a first aperture and a second aperture defined therethrough. Two cables of the plurality of cables extend through the first aperture of the actuator, and two cables of the plurality of cables extend through the second aperture of the actuator.
- The present disclosure also relates to an articulation assembly for use with a surgical instrument. The articulation assembly includes a pivot, a drive member, and an outer tube. The pivot includes a first lateral pivot pin, a second lateral pivot pin, an upper pivot portion, a lower pivot portion, and an aperture extending therethrough. The first lateral pivot pin is disposed in mechanical cooperation with the first jaw member, the second lateral pivot pin is disposed in mechanical cooperation with the second jaw member. A portion of the drive member extends through the aperture of the pivot. The outer tube includes an upper aperture pivotally engaged with the upper pivot portion of the pivot, and a lower aperture pivotally engaged with the lower pivot portion of the pivot. The pivot is configured to pivot about a first axis defined therethrough to cause articulation of the jaw members, and the jaw members are configured to pivot about a second axis defined through the pivot to cause the jaw members to move between an open position and an approximated position.
- In aspects of the present disclosure, a reduced-perimeter portion of the drive member is longitudinally aligned with the aperture of the pivot.
- In other aspects, the articulation assembly further comprises a distal member disposed in mechanical cooperation with the pivot. The distal member is rotatable with respect to the drive member. The distal member may include a first angled slot defined therein and configured to engage the first lateral pivot pin and a second angled slot defined therein and configured to engage the second lateral pivot pin.
- In yet other aspects, the articulation assembly comprises a control member disposed in mechanical cooperation with only one of the first lateral pivot pin or the second lateral pivot pin. The control member may include a T-shaped slot configured to engage a T-shaped portion of the pivot.
- Various aspects of the present disclosure are described herein with reference to the drawings wherein like reference numerals identify similar or identical elements:
-
FIG. 1 is a perspective view of an embodiment of a surgical instrument in accordance with the present disclosure including a first articulation assembly; -
FIG. 2 is an assembly view of the surgical instrument ofFIG. 1 ; -
FIG. 3 is a perspective view of the first articulation assembly of the surgical instrument ofFIGS. 1 and 2 ; -
FIG. 4 is an assembly view of the first articulation assembly ofFIG. 3 ; -
FIG. 5 is an enlarged view of the portion of the first articulation assembly indicated inFIG. 3 ; -
FIG. 6 is a side view of the portion of the first articulation assembly shown inFIG. 5 ; -
FIG. 7 is a side view of the portion of the first articulation assembly shown inFIGS. 5 and 6 illustrated in an articulation position; -
FIG. 8 is a perspective view of a portion of the first articulation assembly with some features omitted; -
FIG. 9 is a side view of the portion of the first articulation assembly shown inFIG. 5 ; -
FIG. 10 is a cross-sectional view of a portion of the first articulation assembly ofFIG. 6 taken along line 10-10; -
FIG. 11 is a cross-sectional view of a portion of the first articulation assembly ofFIG. 9 taken along line 11-11; -
FIG. 12 is a perspective view of a joint of the first articulation assembly; -
FIG. 13 is a cross-sectional view of a portion of the first articulation assembly ofFIG. 9 taken along line 13-13; -
FIG. 14 is an internal view of the surgical instrument ofFIG. 1 ; -
FIG. 15 is an internal view of the surgical instrument ofFIGS. 1 and 14 ; -
FIG. 16 is an enlarged view of the area of detail indicated inFIG. 15 ; -
FIG. 17 is a cross-sectional view of the surgical instrument ofFIG. 14 taken along line 17-17; -
FIGS. 18 and 19 are enlarged views of the areas of detail indicated inFIG. 17 ; -
FIG. 20 is a cross-sectional view of the surgical instrument ofFIG. 14 taken along line 20-20; -
FIG. 21 is an enlarged view of the area of detail indicated inFIG. 20 ; -
FIG. 22 is a side view of the surgical instrument ofFIG. 1 ; -
FIG. 23 is a cross-sectional view of the surgical instrument ofFIG. 22 taken along line 23-23; -
FIG. 24 is an enlarged view of the area of detail indicated inFIG. 23 ; -
FIG. 25 is a perspective view of a second articulation assembly according to an embodiment of the present disclosure; -
FIG. 26 is an assembly view of the second articulation assembly ofFIG. 25 ; -
FIG. 27 is a front view of a pivot of the second articulation assembly ofFIGS. 25 and 26 ; -
FIG. 28 is a cross-sectional view of a portion of the second articulation assembly ofFIGS. 25 and 26 ; -
FIG. 29 is a side view of a distal member of the second articulation assembly ofFIGS. 25 and 26 ; -
FIG. 30 is a side view of the distal member ofFIG. 29 depicting two rotational positions; -
FIGS. 31-33 are side views the second articulation assembly ofFIGS. 25 and 26 showing the jaw members in an open position and with various portions omitted; -
FIG. 34 is a side view of the second articulation assembly ofFIGS. 25 and 26 showing the jaw members in an approximated position and with various portions omitted; -
FIG. 35 is an enlarged view of the area of detail indicated inFIG. 34 ; -
FIGS. 36 and 37 are side and top views, respectively, of the second articulation assembly ofFIGS. 25 and 26 showing the jaw members in an approximated position and with various portions omitted; -
FIG. 38 is an enlarged view of the area of detail indicated inFIG. 37 ; -
FIG. 39 is a top view of the second articulation assembly ofFIGS. 25 and 26 showing the jaw members in an approximated position and with various portions omitted; -
FIG. 40 is an enlarged view of the area of detail indicated inFIG. 39 ; -
FIG. 41 is a top view of the second articulation assembly ofFIGS. 25 and 26 showing the jaw members in an approximated position and with various portions omitted; -
FIG. 42 is an enlarged view of the area of detail indicated inFIG. 41 ; -
FIG. 43 is a perspective view of a third articulation assembly according to an embodiment of the present disclosure; -
FIG. 44 is an assembly view of the third articulation assembly ofFIG. 43 ; -
FIG. 45 is a perspective view of a pivot of the third articulation assembly ofFIGS. 43 and 44 ; -
FIG. 46 is a perspective view of a distal portion of a control member of the third articulation assembly ofFIGS. 43 and 44 ; -
FIG. 47 is a cross-sectional, cut-away view of a portion of the third articulation assembly ofFIGS. 43 and 44 ; and -
FIG. 48 is a schematic illustration of a surgical system in accordance with the present disclosure. - Embodiments of the presently disclosed surgical instrument are described in detail with reference to the drawings, in which like reference numerals designate identical or corresponding elements in each of the several views. As used herein the term “distal” refers to that portion of the surgical instrument that is farther from the user, while the term “proximal” refers to that portion of the surgical instrument that is closer to the user.
- Referring initially to
FIG. 1 , an embodiment of asurgical instrument 100 is shown for use with various surgical procedures.Surgical instrument 100 may be configured to connect to a source of electrosurgical energy (not shown) via a connector assembly, and/or may contain an independent energy source e.g., a battery (not shown). The use of an electrosurgical apparatus to apply electrosurgical energy to tissue is generally described in U.S. Pat. No. 7,083,618, which is incorporated herein in its entirety by reference. -
Surgical instrument 100 includes a housing or handleassembly 112 near a proximal end, anend effector 120 near a distal end and anelongated shaft 118 extending therebetween. A proximal portion ofelongated shaft 118 defines a longitudinal axis “A-A.” Theend effector 120 includes afirst jaw member 130 and asecond jaw member 140, which are movable relative to each other. Theend effector 120 may be positioned within a body cavity to engage tissue at a surgical site whilehandle assembly 112 is manipulatable by a surgeon from outside the body cavity to control the movement and operation of theend effector 120.Handle assembly 112 includes amovable handle 112 a, which is manipulatable to open andclose jaw members end effector 120, and atrigger 112 b, which is manipulatable to initiate an electrosurgical current. - Actuation of the
movable handle 112 a longitudinally translates a drive bar or a control rod of a drive assembly toapproximate jaw members jaw members - In the approximated configuration where tissue can be grasped and/or cut between the
jaw members jaw members more jaw members - The present disclosure includes
elongated shaft 118 that is articulatable or movable off-axis to help increase the functionality of thesurgical instrument 100. To achieve the articulation or off-axis movement of theelongated shaft 118, various articulation mechanisms are disclosed. InFIGS. 1-24 , afirst articulation mechanism 200 is shown; inFIGS. 25-42 , asecond articulation mechanism 300 is shown; and inFIGS. 43-47 , athird articulation mechanism 400 is shown. - With initial reference to
FIGS. 1-4 ,surgical instrument 100 includesfirst articulation mechanism 200 having anouter tube 210, afirst drive member 220, asecond drive member 230, a plurality ofcables 240, and ajoint assembly 250 including a plurality ofjoints 260. Generally,first drive member 220 andsecond drive member 230 are translatable to seal and cut tissue between thejaw members cables 240 are translatable to cause end effector 120 (and a distal portion of elongated shaft 118) to articulate with respect to the longitudinal axis “A-A.” As discussed in further detail below, acable actuator 270 disposed in mechanical cooperation withhandle assembly 112 is configured to movecables 240 and thereby cause articulation ofend effector 120. - With reference to
FIGS. 6-13 ,joint assembly 250 and the plurality ofjoints 260 are shown. Movement ofcables 240 causesjoint assembly 250 to move between a first, generally linear configuration (FIGS. 6, 8 and 9-11 ) and a second, angled or articulated configuration (FIG. 7 ). Each joint 260 is configured to engage at least one directly adjacent joint 260, and is articulatable or pivotable with respect to the adjacent joint 260. A proximal-most joint 260 a is also configured to engage a link joint 271 (FIGS. 6 and 7 ) disposed proximally adjacent thereto and is articulatable or pivotal with respect thereto.Link joint 271 is also configured to engageouter tube 210. A distal-most joint 260 b is also configured to engage aproximal end 120 b ofend effector 120 and is articulatable or pivotal with respect thereto. - Referring now to
FIG. 12 , a single joint 260 is shown, andFIG. 13 , a cross-section of a first joint 260 is shown engaged with asecond joint 260.Joint 260 includes various features that enable joint 260 to articulate or pivot in a plurality of directions with respect to an adjacent joint 260 and/or with link joint 271 andproximal end 120 b ofend effector 120. In disclosed embodiments, each joint 260 is identical or substantially identical to all of theother joints 260. -
Joint 260 includes a plurality ofopenings 262 extending longitudinally therethrough; eachopening 262 is configured to allow onecable 240 or a portion onecable 240 to pass therethrough. Acentral opening 263 is also included on each joint 260 to allowfirst drive member 220 andsecond drive member 230 to pass therethrough (seeFIG. 13 ). Aproximal portion 264 of each joint 260 includes a pair ofcontours 265 and a pair of grooves 266 (e.g., including an arcuate surface), which extend through joint 260. Adistal portion 267 of each joint 260 includes a pair ofprojections 268 extending therefrom, and a pair of platforms 269 (e.g., linear or flat surfaces; seeFIG. 7 ) thereon. InFIG. 13 ,projections 268 from a second joint are shown withingrooves 266 of a first joint. - Each
contour 265 is configured to engage asingle platform 269;contours 265 andplatforms 269 are configured to pivot a predetermined amount with respect to each other in the general directions of arrows “A” and “B” inFIG. 6 . Eachprojection 268 is configured to engage (e.g., be positioned at least partially within) asingle groove 266. As shown inFIG. 12 ,projections 268 include anarcuate surface 268 a, which engages a correspondingarcuate surface 266 a ofgroove 266. The engagement betweenprojections 268 andgrooves 266 enables or facilitates the pivotal movement betweenadjacent joints 260, for example. Further, eachprojections 265/groove 266 is 90° offset from eachcontour 265/platform 269, thereby enabling the pivotal movement in the directions of arrows “A” and “B.” - In the illustrated embodiments,
joint assembly 250 includes fourjoints 260, however more orfewer joints 260 may be included without departing from the scope of the present disclosure. In embodiments where more than fourjoints 260 are included, the geometry of various features of thejoints 260 can be altered to allow a relatively smaller amount of pivotal movement betweenadjacent joints 260. In embodiments where fewer than fourjoints 260 are included, the geometry of various features of thejoints 260 can be altered to allow a relatively larger amount of pivotal movement betweenadjacent joints 260. In each of these situations, the total amount of desired articulation (e.g., up to about 45°) may be accomplished. - With particular reference to
FIGS. 11 and 13 , cross-sectional views of a portion ofsurgical instrument 100 are shown and further illustrate details of thefirst drive member 220 and thesecond drive member 230. Eachdrive member handle assembly 112, throughcentral opening 263 of each joint 260, and into contact withend effector 120. At least in the locations where each drivemember central opening 263 of each joint 260, thedrive members sidewalls FIG. 13 ). Additionally, at these locations, the diameter of eachdrive member adjacent portions adjacent portions FIG. 4 ). The cross-sectional shapes and the reduced-diameter sections help allowdrive members handle assembly 112 to endeffector 120. - Additionally, with particular reference to
FIG. 8 ,first drive member 220 andsecond drive member 230 form a pair of slots (oneslot 221 a is shown inFIG. 8 ), with each slot (e.g., 221 a) being configured to allow at least onecable 240 to pass therethrough. -
Cables 240 extend betweenhandle assembly 112, throughopenings 262 ofjoints 260, and into mechanical engagement withend effector 120. More particularly,cables 240 include afirst cable 240 a and asecond cable 240 b (seeFIG. 8 ).First cable 240 a is formed from twocables 240 aa and 240 ab (seeFIGS. 8 and 13 ) twisted together or otherwise engaged, andsecond cable 240 b is formed from twocables 240 ba and 240 bb (seeFIG. 13 ) twisted together or otherwise combined. As shown inFIG. 4 , a majority of the length ofcables 240 includes the twisted or combinedcables cables 240 that extend throughopenings 262 ofjoints 260 are single, untwistedcables 240 aa, 240 ab, 240 ba, 240 bb. - With particular reference to
FIGS. 14-24 ,cable actuator 270 is disposed in mechanical cooperation withhandle assembly 112 and is configured to movecables 240 and thereby cause articulation ofend effector 120. Cable actuator includes acontroller 272, aflange 274, afirst plunger 276 and asecond plunger 278. A first orupper portion 272 a ofcontroller 272 rests atophandle assembly 112 and is accessible to a user. Asecond portion 272 b ofcontroller 272 is disposed withinhandle assembly 112 and includes afirst aperture 273 a and a second aperture 273 b (FIG. 24 ) extending longitudinally therethrough;cables 240 extend throughapertures 273 a, 273 b ofcontroller 272. As shown inFIG. 16 ,flange 274 is disposed proximally ofsecond portion 272 b ofcontroller 272 and is configured to engagecables 240;cables 240 are shown extending through an opening offlange 274.Cables 240 are longitudinally fixed with respect toflange 274. - With particular reference to
FIG. 21 , the engagement betweensecond portion 272 b ofcontroller 272 andplungers Second portion 272 b ofcontroller 272 includes a plurality ofrecesses 272 c, with eachadjacent recess 272 c separated by aridge 272 d. Eachplunger recess 272 c at a time. More particularly, eachplunger 276 is biased into engagement with onerecess 272 c (e.g., by a biasing element). - As
first portion 272 a ofcontroller 272 is rotated, eachplunger respective ridge 272 d, which forcesplungers FIG. 21 , such thatplungers recesses 272 c. Upon further rotation offirst portion 272 a ofcontroller 272,plungers plungers controller 272 in its rotational position. - Further, and with particular reference to
FIGS. 16 and 24 , due at least in part to the engagement betweencables 240apertures 273 a, 273 b ofcontroller 272, the rotation ofcontroller 272 exerts a force onfirst cable 240 a andsecond cable 240 b. More particularly, rotation ofcontroller 272 causes sidewalls 273 c ofapertures 273 a, 273 b to exert a proximal force against one cable (e.g.,first cable 240 a) and a distal force against one cable (e.g.,second cable 240 b). Additionally, as noted above, longitudinal translation ofcables 240 causes articulation ofend effector 120. - Accordingly, rotation of
controller 272 in a first direction (e.g., clockwise) causesfirst cable 240 a to be pushed distally, causessecond cable 240 b to be pulled proximally, which causesjoint assembly 250 and thus endeffector 120 to articulate in the general direction of arrow “B” (FIG. 6 ). Rotation ofcontroller 272 in a second direction (e.g., counter-clockwise) causesfirst cable 240 a to be pulled proximally, causessecond cable 240 b to be pushed distally, which causesjoint assembly 250 and thus endeffector 120 to articulate in the general direction of arrow “A” (FIG. 6 ). Further, the particular amount and spacing ofrecesses 272 c andridges 272 d results in particular angles of articulation in whichend effector 120 can be releasably maintained.Controllers 272 havingrecesses 272 c andridges 272 d with different spacing from what is shown are encompassed by the present disclosure. - As shown in
FIGS. 1, 2, 14, 15 and 22 ,handle assembly 112 also includes aknob 113. As discussed in detail in disclosures incorporated by reference, rotation ofknob 113 results in rotation ofelongated shaft 118, and thus endeffector 120, about longitudinal axis “A-A.” Here,outer tube 210, which at least partially radially surroundsfirst drive member 220 andsecond drive member 230, is engaged withknob 113. Accordingly, the combination offirst articulation mechanism 200 andknob 113 enables a great amount of versatility regarding off-axis positioning ofend effector 120. - Referring now to
FIGS. 25-42 ,second articulation mechanism 300 is shown. With particular reference toFIGS. 25 and 26 ,second articulation mechanism 300 includes afirst jaw 310, asecond jaw 320, anouter tube 330, aninner tube 340, adrive member 350, adistal member 360, and apivot 370. Generally,inner tube 340 and drivemember 350 are translatable to seal and cut tissue held betweenfirst jaw 310 andsecond jaw 320, as described below and as described in patents incorporated herein.Distal member 360 is rotatable to causefirst jaw member 310 andsecond jaw member 320 to articulate with respect to the longitudinal axis “A-A.” - Initially, to seal tissue, a user causes
inner tube 340 to be distally translated (e.g., by actuating a lever, knob or button on handle assembly).Inner tube 340 is connected to drivemember 350 viapins 352, such that longitudinal translation ofinner tube 340 causes a corresponding longitudinal translation ofdrive member 350. More particularly, a pair ofpins 352 extends between aslot 342 defined adjacent a distal portion ofinner tube 340, and a pair ofholes 351 defined adjacent a proximal portion ofdrive member 350. Proximal anddistal walls slot 340 limit the movement ofpins 352 with respect toinner tube 340. - A
drive pin 353 extends through ahole 353 a in a distal portion ofdrive member 350, and extends through aslot 314 defined infirst jaw 310 and aslot 324 defined insecond jaw 320. Longitudinal translation ofdrive member 350 causes drivepin 353 to travel throughslots FIGS. 26 and 35 , eachslot first section second section First section 314 a ofslot 314 is generally linear and is disposed at a first angle (not explicitly shown inFIG. 35 ) (e.g., between about 110° and about 170°) with respect tosecond section 314 b ofslot 314, which is also generally linear. Likewise, and as illustrated inFIG. 35 ,first section 324 a ofslot 324 is generally linear and is disposed at a first angle al (e.g., between about 110° and about 170°) with respect tosecond section 324 b ofslot 324, which is also generally linear. - During the process of sealing tissue,
drive pin 353 is withinfirst sections slots jaw members first sections FIG. 35 ). - During the process of cutting tissue, after
drive pin 353 has been distally advanced throughfirst sections drive pin 353 is withinsecond sections slots FIG. 35 , when thejaw members second sections - With general regard to the pivotal movement of the jaw members,
first jaw 310 andsecond jaw 320 are pivotable about a first pivot axis “P1” (FIG. 27 ) between an open position and an approximated position, and are pivotable about a second pivot axis “P2” (FIG. 27 ) in the general directions of arrows “F” and “G” inFIG. 25 , which provides a varying degree of articulation. - More specifically, and with particular reference to
FIGS. 26 and 27 ,first jaw 310 includes anaperture 312 adjacent its proximal end, which is configured to rotatably or pivotally engage a first,lateral pivot pin 372 ofpivot 370.Second jaw 320 includes an aperture 322 adjacent its proximal end, which is configured to rotatably or pivotally engage a second,lateral pivot pin 374 ofpivot 370. This mechanical engagement betweenfirst jaw 310 andpivot 370, andsecond jaw 320 and pivot 370 enablejaws FIGS. 31-33 ) and an approximated position (FIGS. 34-42 ). - With continued reference to
FIGS. 26 and 27 ,pivot 370 also includes anupper pivot portion 376 and alower pivot portion 378.Upper pivot portion 376 rotatably engages anupper aperture 332 disposed adjacent a distal end ofouter tube 330, andlower pivot portion 378 rotatably engages alower aperture 334 defined adjacent a distal end ofouter tube 330. This engagement betweenpivot 370 andouter tube 330 enables an end effector includingfirst jaw 310 andsecond jaw 320 to be pivotable about second pivot axis “P2” in the general directions of arrows “F” and “G” inFIG. 25 . - As shown in
FIGS. 27 and 28 ,pivot 370 also includes anaperture 379 defined longitudinally therethrough.Aperture 379 is rectangular and is configured to allow a portion ofdrive member 350 to translate therethrough. More particularly, a reduced-perimeter portion 352 ofdrive member 350 is configured to translate throughaperture 379 ofpivot 370 to approximatefirst jaw 310 andsecond jaw 320, for example. Further, reduced-perimeter portion 352 ofdrive member 350 is flexible enough to bend or curve laterally in response to articulation of pivoting of the end effector about second pivot axis “P2.” - Referring now to
FIGS. 26 and 29-30 ,distal member 360 includes aproximal body portion 362 including a pair of longitudinal slots 364 (FIG. 30 ) extending therethrough (only a singlelongitudinal slot 364 is visible inFIGS. 26 and 29-30 ).Distal member 360 also includes a pair ofarms body portion 362, and eacharm angled slot Distal member 360 radially surrounds aproximal portion 354 ofdrive member 350.Pins 352 extend through eachlongitudinal slot 364, and, as discussed above, eachpin 352 engageshole 351 ofdrive member 350. Accordingly,drive member 350 is longitudinally translatable with respect todistal member 360. - Additionally,
angled slot 368 a is configured to engage first,lateral pivot pin 372 ofpivot 370, andangled slot 368 b is configured to engage second,lateral pivot pin 374 ofpivot 370, suchfirst jaw 310 andsecond jaw 320 are pivotal with respect todistal member 360. Moreover, the fact thatangled slots first jaw 310 andsecond jaw 320 to articulate in the directions of “F” and “G” with respect todistal member 360. Additionally, as shown inFIGS. 29 and 30 ,first arm 366 a is vertically offset from the longitudinal axis “A-A” with respect tosecond arm 366 b. - Accordingly, longitudinal translation or rotation of
distal member 360 causes lateral pivot pins 372 and 374 to rotate about the second pivot axis “P2,” which causes articulation offirst jaw 310 andsecond jaw 320 in the general directions of “F” and “G.” More particularly, for example, distal translation ofdistal member 360 with respect toinner tube 340 causes rotation ofdistal member 360 in a first direction (e.g., clockwise) and causesfirst jaw 310 andsecond jaw 320 to articulate in the general direction of arrow “G.” Likewise, for instance, proximal translation ofdistal member 360 with respect toinner tube 340 causes rotation ofdistal member 360 in a second direction (e.g., counter-clockwise) and causesfirst jaw 310 andsecond jaw 320 to articulate in the general direction of arrow “F.” For example,FIG. 30 illustratesdistal member 360 in two stages of rotation; features shown in the first stage of rotation are indicated by their reference number, and features shown in the second stage of rotation include a prime indication following their reference number. - Referring now to
FIGS. 43-47 ,third articulation mechanism 400 is shown. With particular reference toFIG. 44 ,third articulation mechanism 400 includes afirst jaw 410, asecond jaw 420, anouter tube 430, aninner tube 440, adrive member 450, acontrol member 460, and apivot 470. Generally,inner tube 440 and drivemember 450 are translatable to seal and cut tissue betweenfirst jaw 410 andsecond jaw 420, as described in detail in the patents incorporated hereinabove, andcontrol member 460 is translatable to causefirst jaw member 410 andsecond jaw member 420 to articulate with respect to the longitudinal axis “A-A.” - Initially, to seal tissue, a user causes
inner tube 440 to be distally translated (e.g., by actuating a lever, knob or button on handle assembly).Inner tube 440 is connected to drivemember 450 viapins 452, such that longitudinal translation ofinner tube 440 causes a corresponding longitudinal translation ofdrive member 450. More particularly, pins 452 extend between a pair ofapertures 442 adjacent a distal portion ofinner tube 440, and a pair ofholes 451 defined adjacent a proximal portion ofdrive member 450. - A
drive pin 453 extends through ahole 453 a in a distal portion ofdrive member 450, and extends through aslot 414 offirst jaw 410 and aslot 424 ofsecond jaw 420. Longitudinal translation ofdrive member 450 causes drivepin 453 to travel throughslots drive member 350 throughslots second articulation assembly 300, discussed above. - With general regard to the pivotal movement of the jaw members,
first jaw 410 andsecond jaw 420 are pivotable about first pivot axis “P1” between an open position and an approximated position, and are pivotable about second pivot axis “P2” in the general directions of arrows “H” and “I” inFIG. 43 , which provides a varying degree of articulation. - More specifically, and with particular reference to
FIGS. 43-45 ,first jaw 410 includes anaperture 412 adjacent its proximal end, which is configured to rotatably or pivotally engage a first,lateral pivot pin 472 ofpivot 470.Second jaw 420 includes anaperture 422 adjacent its proximal end, which is configured to rotatably or pivotally engage a second,lateral pivot pin 474 ofpivot 470. This mechanical engagement betweenfirst jaw 410 andpivot 470, andsecond jaw 420 and pivot 470 enablejaws - With continued reference to
FIGS. 44-45 ,pivot 470 also includes anupper pivot portion 476 and alower pivot portion 478.Upper pivot portion 476 rotatably engages anupper aperture 432 disposed adjacent a distal end ofouter tube 430, andlower pivot portion 478 rotatably engages alower aperture 434 disposed adjacent a distal end ofouter tube 430. This engagement betweenpivot 470 andouter tube 430 enables an end effector includingfirst jaw 410 andsecond jaw 420 to be pivotable about second pivot axis “P2” in the general directions of arrows “H” and “I” inFIG. 43 . - As shown in
FIGS. 45 and 47 ,pivot 470 also includes anaperture 479 extending longitudinally therethrough.Aperture 479 is rectangular and is configured to allow a portion ofdrive member 450 to translate therethrough. More particularly, a reduced-perimeter portion 452 ofdrive member 450 is configured to translate throughaperture 479 ofpivot 470 to approximatefirst jaw 410 andsecond jaw 420, for example. Further, reduced-perimeter portion 452 ofdrive member 450 is flexible enough to bend or curve laterally in response to articulation of pivoting of the end effector about second pivot axis “P2.” - Referring now to
FIGS. 44, 46 and 47 ,control member 460 extends distally from handle assembly 112 (FIG. 1 ) and is disposed radially withinouter tube 430 along at least a majority of its length. Adistal portion 462 ofcontrol member 460 includes anarm 464. With particular reference toFIG. 46 , adistal portion 464 a ofarm 464 extends radially outward from amain body portion 465 ofcontrol member 460. Additionally,arm 464 includes aslot 466 defined therein and configured to engage first,lateral pivot pin 472 ofpivot 470. More particularly,slot 466 is configured to engage afirst portion 473 of first,lateral pivot pin 472, and asecond portion 474 of first,lateral pivot pin 472.Second portion 474 extends perpendicularly from first portion 473 (seeFIG. 45 ), thus forming a T-shaped portion. Correspondingly, slot 466 ofcontrol member 460 includes afirst portion 467 configured to engagefirst portion 473 of first,lateral pivot pin 472, and includes asecond portion 468 configured to engagesecond portion 474 of first,lateral pivot pin 472.Second portion 468 ofslot 466 extends perpendicularly fromfirst portion 467 ofslot 466, and is thus T-shaped. - Accordingly, longitudinal translation of
control member 460 causespivot 470 to rotate about second pivot axis “P2,” which results in articulation ofjaw members control member 460 in a first longitudinal direction (e.g., distally) causescontrol member 460 to push first,lateral pivot pin 472 distally, which causespivot 470 to rotate in a first direction, and which causesfirst jaw 410 andsecond jaw 420 to articulate in the general direction of arrow “H.” Likewise, for instance, proximal movement ofcontrol member 460 causescontrol member 460 to pull first,lateral pivot pin 472 proximally, which causespivot 470 to rotate in a second direction, and which causesfirst jaw 410 andsecond jaw 420 to articulate in the general direction of arrow “I.” - The various embodiments disclosed herein may also be configured to work with robotic surgical systems and what is commonly referred to as “Telesurgery.” Such systems employ various robotic elements to assist the surgeon and allow remote operation (or partial remote operation) of surgical instrumentation. Various robotic arms, gears, cams, pulleys, electric and mechanical motors, etc. may be employed for this purpose and may be designed with a robotic surgical system to assist the surgeon during the course of an operation or treatment. Such robotic systems may include remotely steerable systems, automatically flexible surgical systems, remotely flexible surgical systems, remotely articulating surgical systems, wireless surgical systems, modular or selectively configurable remotely operated surgical systems, etc.
- The robotic surgical systems may be employed with one or more consoles that are next to the operating theater or located in a remote location. In this instance, one team of surgeons or nurses may prepare the patient for surgery and configure the robotic surgical system with one or more of the surgical instruments disclosed herein while another surgeon (or group of surgeons) remotely controls the instrument(s) via the robotic surgical system. As can be appreciated, a highly skilled surgeon may perform multiple operations in multiple locations without leaving his/her remote console which can be both economically advantageous and a benefit to the patient or a series of patients.
- The robotic arms of the surgical system are typically coupled to a pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the working ends of any type of surgical instrument (e.g., end effectors, graspers, knifes, scissors, etc.) which may complement the use of one or more of the embodiments described herein. The movement of the master handles may be scaled so that the working ends have a corresponding movement that is different, smaller or larger, than the movement performed by the operating hands of the surgeon. The scale factor or gearing ratio may be adjustable so that the operator can control the resolution of the working ends of the surgical instrument(s).
- The master handles may include various sensors to provide feedback to the surgeon relating to various tissue parameters or conditions, e.g., tissue resistance due to manipulation, cutting or otherwise treating, pressure by the instrument onto the tissue, tissue temperature, tissue impedance, etc. As can be appreciated, such sensors provide the surgeon with enhanced tactile feedback simulating actual operating conditions. The master handles may also include a variety of different actuators for delicate tissue manipulation or treatment further enhancing the surgeon's ability to mimic actual operating conditions.
- With particular reference to
FIG. 48 , a medical work station is shown generally aswork station 1000 and generally may include a plurality ofrobot arms control device 1004; and anoperating console 1005 coupled withcontrol device 1004.Operating console 1005 may include adisplay device 1006, which may be set up in particular to display three-dimensional images; andmanual input devices robot arms - Each of the
robot arms device end effector 1100, in accordance with any one of several embodiments disclosed herein, as will be described in greater detail below. -
Robot arms device 1004. Control device 1004 (e.g., a computer) may be set up to activate the drives, in particular by means of a computer program, in such a way thatrobot arms devices manual input devices Control device 1004 may also be set up in such a way that it regulates the movement ofrobot arms -
Medical work station 1000 may be configured for use on apatient 1013 lying on a patient table 1012 to be treated in a minimally invasive manner by means ofend effector 1100.Medical work station 1000 may also include more than tworobot arms device 1004 and being telemanipulatable by means ofoperating console 1005. A medical instrument or surgical tool (including an end effector 1100) may also be attached to the additional robot arm.Medical work station 1000 may include adatabase 1014, in particular coupled to withcontrol device 1004, in which are stored, for example, pre-operative data from patient/living being 1013 and/or anatomical atlases. - From the foregoing and with reference to the various figure drawings, those skilled in the art will appreciate that certain modifications can also be made to the present disclosure without departing from the scope of the same. While several embodiments of the disclosure have been shown in the drawings, it is not intended that the disclosure be limited thereto, as it is intended that the disclosure be as broad in scope as the art will allow and that the specification be read likewise. Therefore, the above description should not be construed as limiting, but merely as exemplifications of particular embodiments. Those skilled in the art will envision other modifications within the scope and spirit of the claims appended hereto.
Claims (1)
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USD961074S1 (en) * | 2019-01-25 | 2022-08-16 | Karl Storz Se & Co. Kg | Shaft attachable medical instrument |
USD966513S1 (en) * | 2019-01-25 | 2022-10-11 | Karl Storz Se & Co. Kg | Shaft attachable medical instrument |
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MX2021011967A (en) | 2019-03-29 | 2021-12-15 | Gyrus Acmi Inc D/B/A Olympus Surgical Tech America | Forceps motion transfer assembly. |
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US10864003B2 (en) | 2020-12-15 |
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