Wristed robotic surgical tool for pluggable end-effectors
First Claim
1. An electrosurgical end effector cartridge to couple to a robotic surgical instrument of a robotic surgical system, the electrosurgical end effector cartridge comprising:
- a first moveable end effector having a jaw portion and a base portion;
a first spring latch coupled to the first moveable end effector near the base portion, the first spring latch to couple to a first receptacle of a robotic surgical instrument;
a second moveable end effector having a jaw portion and a base portion; and
wherein the jaw portion of the first moveable end effector and the jaw portion of the second moveable end effector to couple to tissue in a surgical site.
2 Assignments
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Accused Products
Abstract
In one embodiment of the invention, a replaceable electrosurgical end effector cartridge is provided to couple to a mechanical wrist of a surgical instrument for a robotic surgical system. The replaceable electrosurgical end effector cartridge includes two pluggable end effectors and a pair of spring latches. The two end effectors are moveable end effectors having a jaw portion, an off-center portion, and a base portion in one embodiment. The replaceable electrosurgical end effector cartridge may further include a fastener to rotatably couple the end effectors together.
152 Citations
29 Claims
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1. An electrosurgical end effector cartridge to couple to a robotic surgical instrument of a robotic surgical system, the electrosurgical end effector cartridge comprising:
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a first moveable end effector having a jaw portion and a base portion;
a first spring latch coupled to the first moveable end effector near the base portion, the first spring latch to couple to a first receptacle of a robotic surgical instrument;
a second moveable end effector having a jaw portion and a base portion; and
wherein the jaw portion of the first moveable end effector and the jaw portion of the second moveable end effector to couple to tissue in a surgical site. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A robotic surgical tool comprising:
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a first receptacle coupled to a first pulley and a second receptacle coupled to a second pulley;
a first moveable end effector coupled to the first receptacle and a second moveable end effector coupled to the second receptacle;
wherein the first pulley to control the rotation of the first moveable end effector about a pivot point and the second pulley to control the rotation of the second moveable end effector about the pivot point together to open and close the jaws of the first and second moveable end effectors or yaw the first and second moveable end effectors together;
a shaft having a distal end to extend the first and second moveable end effectors into a surgical site;
an interface base coupled to a proximal end of the shaft, the interface base to couple to a robotic slave to control the first and second moveable end effectors, the interface base including a first spool to control the first moveable end effector and a second spool to control the second moveable end effector; and
a first cable loop routed in the shaft between the first pulley and the interface base, the first cable loop coupled to the first pulley and having a first end wrapped around the first spool of the interface base in a first direction and a second end wrapped around the first spool in a second direction opposite the first direction to control the first moveable end effector; and
a second cable loop routed in the shaft between the second pulley and the interface base, the second cable loop coupled to the second pulley and having a first end wrapped around the second spool of the interface base in a first direction and a second end wrapped around the second spool in a second direction opposite the first direction to control the second moveable end effector. - View Dependent Claims (14, 15, 16, 17)
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18. A robotic surgical system including:
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an electrical generator to generate an electrical current; and
a robotic surgical tool having an electrical connector to couple to the electrical generator to receive the electrical current, the robotic surgical tool further comprising;
an interface base coupled to the electrical connector, the interface base having a first control spool and a second control spool, a shaft having a first end coupled to the interface base, a first rotatable receptacle and a second rotatable receptacle, a first pluggable moveable end effector to selectively couple to and selectively decouple from the first rotatable receptacle, the first pluggable moveable end effector formed of a conductive material and responsive to a first control cable wrapped around the first control spool, a second pluggable moveable end effector to selectively couple to and selectively decouple from the second rotatable receptacle, the second pluggable moveable end effector formed of a conductive material and responsive to a second control cable wrapped around the second control spool, and a first wire having a first end coupled to the electrical connector and a second end to electrically couple to the first pluggable moveable end effector, the first wire to couple current to tissue through the first pluggable moveable end effector. - View Dependent Claims (19, 20, 21, 22, 23, 24, 25)
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26. A method comprising:
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plugging a first end effector and a second end effector respectively into a first receptacle and a second receptacle;
first rotating the first receptacle and the second receptacle in lock step together about a pin to yaw the first and second end effectors together; and
second rotating the first receptacle about the pin different from the second receptacle to open or to close jaws of the first and second end effectors. - View Dependent Claims (27, 28, 29)
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Specification