Bipolar medical instrument

• US 10,639,114 B2
• Filed: 06/27/2019
• Issued: 05/05/2020
• Est. Priority Date: 08/17/2018
• Status: Active Grant

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Auris Health, Inc. (Johnson & Johnson)
• Inventors: Schuh, Travis Michael, Chin, Erica Ding, Niswander, Alex J.
• Primary Examiner(s): Peffley, Michael F
• Assistant Examiner(s): Zink, Amanda L
• Application Number:
  US16/454,691
• Publication Number:
  US 20200054405A1
• Time in Patent Office: 313 Days
• CPC Class Codes: A61B 18/1206 Generators therefor
• CPC Class Codes: A61B 18/1233 with circuits for assuring patient safety
• CPC Class Codes: A61B 18/1445 at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod
• CPC Class Codes: A61B 2017/00017 Electrical control of surgical instruments
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2018/00083 low, i.e. electrically insulating
• CPC Class Codes: A61B 2018/00577 Ablation
• CPC Class Codes: A61B 2018/00595 Cauterization
• CPC Class Codes: A61B 2018/00601 Cutting
• CPC Class Codes: A61B 2018/126 bipolar
• CPC Class Codes: A61B 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2218/001 having means for irrigation and/or aspiration of substances to and/or from the surgical site A61B2018/00029 and A61B2018/1472 take precedence
• CPC Class Codes: A61B 34/35 for telesurgery
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms

Abstract

Certain aspects relate to systems and techniques for a bipolar medical instrument. In one aspect, the medical instrument includes a first end effector, a first set of one or more distal pulleys coupled to the first end effector, and a wrist configured to house the first set of distal pulleys. The medical instrument also includes a plurality of cables extending through the wrist and a first insulating member formed between the first end effector and the first set of one or more distal pulleys.

Claims

1. A medical instrument, comprising:

a first end effector;

a first set of one or more distal pulleys coupled to the first end effector and configured to form an opening between the first end effector and the first set of one or more distal pulleys;

a wrist configured to house the first set of distal pulleys;

a plurality of cables extending through the wrist; and

a first insulating member formed in the opening between the first end effector and the first set of one or more distal pulleys, the first insulating member mechanically coupling the first end effector to the first set of one or more distal pulleys.

2. The instrument of claim 1, wherein the first end effector and the first set of one or more distal pulleys are formed of metal.

3. The instrument of claim 1, further comprising:

a second end effector; and

a second set of one or more distal pulleys coupled to the second end effector.

4. The instrument of claim 3, wherein the second end effector and the second set of one or more distal pulleys are electrically coupled.

5. The instrument of claim 3, wherein the wrist is configured to provide an electric current to the second end effector.

6. The instrument of claim 3, further comprising a second insulating member formed between the second end effector and the second set of distal pulleys.

7. The instrument of claim 3, wherein:

the first end effector comprises a first jaw and the second end effector comprises a second jaw;

the first jaw and the second jaw are configured to form a bipolar grasping device.

8. The instrument of claim 3, wherein:

the first end effector and the first set of distal pulleys are electrically decoupled from one another, and

the second end effector and the second set of distal pulleys are electrically coupled to one another.

9. The instrument of claim 3, wherein an axle extends through the first set of distal pulleys and the second set of distal pulleys.

10. The instrument of claim 9, further comprising a set of one or more proximal pulleys.

11. The instrument of claim 9, further comprising:

a set of one or more proximal pulleys; and

a set of one or more proximal redirect pulleys.

12. The instrument of claim 1, further comprising a second end effector, wherein:

the second end effector is static, and

the first end effector is configured to move relative to the second end effector.

13. The instrument of claim 1, wherein the first end effector and the first set of one or more distal pulleys are coupled together via a mechanical connection formed by a pin.

14. The instrument of claim 13, wherein the pin is formed in the first set of one or more distal pulleys and is received in an opening formed in the first end effector.

15. The instrument of claim 1, further comprising:

an axle extending through the first set of distal pulleys,

wherein first end effector forms a ring concentric with the axle.

16. The instrument of claim 15, wherein the first insulating member surrounds at least a portion of the ring.

17. The instrument of claim 1, wherein:

the first end effector comprises a longitudinal axis and a transverse axis perpendicular to the longitudinal axis;

a proximal portion of the first end effector overlaps a distal portion of the first set of distal pulleys along the longitudinal axis and transverse axis to form a tortuous void between the first end effector and the first set of distal pulleys; and

the first insulating member fills the tortuous void.

18. The instrument of claim 17, wherein the tortuous void is S-shaped.

19. The instrument of claim 1, wherein the first insulating member and the first set of distal pulleys are formed of an electrically insulating material.