END EFFECTOR WITH REDUNDANT CLOSING MECHANISMS
First Claim
1. A minimally invasive surgical method comprising:
- introducing a jaw of a tool to an internal surgical site within a patient through a minimally invasive aperture or natural orifice;
manipulating tissue at the internal surgical site with a grasping force by articulating the jaw with a first actuation mechanism, the first actuation mechanism extending along a shaft from outside the patient to the jaw; and
treating a target tissue at the internal surgical site using a clamping force by articulating the jaw of the tool with a second actuation mechanism, the second actuation mechanism extending along the shaft from outside the patient to the jaw, the clamping force being greater than the grasping force.
2 Assignments
0 Petitions
Accused Products
Abstract
End effectors with redundant closing mechanisms, and related tools and methods are disclosed. The disclosed end effectors may be particularly beneficial when used for minimally invasive surgery. An example surgical tool comprises an elongate shaft having a proximal end and a distal end, a tool body disposed at the distal end of the shaft, a jaw movable relative to the tool body between a clamped configuration and an open configuration, a first actuation mechanism coupled with the jaw and operable to vary the position of the jaw relative to the tool body between the clamped configuration and the open configuration, and a second actuation mechanism coupled with the jaw. The second actuation mechanism has a first configuration where the jaw is held in the clamped configuration and a second configuration where the position of the jaw relative to the tool body is unconstrained by the second actuation mechanism.
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Citations
25 Claims
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1. A minimally invasive surgical method comprising:
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introducing a jaw of a tool to an internal surgical site within a patient through a minimally invasive aperture or natural orifice; manipulating tissue at the internal surgical site with a grasping force by articulating the jaw with a first actuation mechanism, the first actuation mechanism extending along a shaft from outside the patient to the jaw; and treating a target tissue at the internal surgical site using a clamping force by articulating the jaw of the tool with a second actuation mechanism, the second actuation mechanism extending along the shaft from outside the patient to the jaw, the clamping force being greater than the grasping force. - View Dependent Claims (2, 3)
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4. A surgical tool comprising:
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an elongate shaft having a proximal end and a distal end; a tool body disposed at the distal end of the shaft; a jaw movable relative to the tool body between a clamped configuration and an open configuration; a first actuation mechanism coupled with the jaw and operable to vary the position of the jaw relative to the tool body between the clamped configuration and the open configuration; and a second actuation mechanism coupled with the jaw, the second actuation mechanism having a first configuration in which the jaw is held in the clamped configuration and a second configuration in which the position of the jaw relative to the tool body is unconstrained by the second actuation mechanism. - View Dependent Claims (5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A robotic tool for mounting on a manipulator having a first drive, the tool comprising:
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a proximal tool chassis releasably mountable to the manipulator; a drive motor coupled with the tool chassis and disposed adjacent the tool chassis; a distal end effector comprising a movable jaw; an instrument shaft having a proximal end adjacent the chassis, and a distal end adjacent the end effector; a first actuation mechanism coupling the first drive to the end effector when the chassis is mounted to the manipulator so as to articulate the end effector between an open configuration and a clamped configurations; and a second actuation mechanism coupling the drive motor to the end effector so as to articulate the end effector into the clamped configuration from the open configuration. - View Dependent Claims (15, 16, 17, 18, 19, 20)
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21. A surgical instrument comprising:
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an end effector comprising a movable jaw; a first jaw actuation mechanism coupled to the movable jaw; and a second jaw actuation mechanism coupled to the movable jaw; wherein the first jaw actuation mechanism moves the jaw from an open position to a closed position independently of the second jaw actuation mechanism; and wherein the second jaw actuation mechanism moves the jaw from the open to the closed position independently of the first jaw actuation mechanism. - View Dependent Claims (22, 23, 24, 25)
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Specification