Apparatus with Two-Piece End-Effectors for Robotic Surgical Tools
First Claim
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1. A surgical instrument jaw comprising:
- a first drive element;
a first working element;
wherein the first drive element comprises a first material selected for the operative conditions of the first drive element during surgery;
wherein the first working element comprises a second material different from the first material, the second material selected for the operative conditions of the first working element during surgery; and
wherein the first drive element is removably keyed to the first working element.
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Abstract
In one embodiment of the invention, a robotic surgical tool having opposing jaws, the working element of the robotic surgical tool is made of a different material from the drive element of the robotic surgical tool. The two elements may be manufactured independently and assembled together at a later stage. The material comprising each element may thus have properties more appropriate to the function each element plays in the robotic surgical tool. For example, the metal selected to comprise the blade of a surgical scissor may be corrosion resistant and capable of being sharpened to a high degree.
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Citations
34 Claims
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1. A surgical instrument jaw comprising:
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a first drive element; a first working element; wherein the first drive element comprises a first material selected for the operative conditions of the first drive element during surgery; wherein the first working element comprises a second material different from the first material, the second material selected for the operative conditions of the first working element during surgery; and wherein the first drive element is removably keyed to the first working element. - View Dependent Claims (2, 3, 26, 27, 28, 29)
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4. An apparatus comprising:
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a first drive element having a first pair of prongs to receive a crimp there-between and couple to a first drive cable to receive a first driving force, the first drive element further having a pivot hole and one or more first drive protrusions; a first working element having one or more first drive holes to receive the one or more first drive protrusions to be removably keyed to the first drive element, the first working element further having a pivot hole aligned with the pivot hole of the first drive element; a second working element having a pivot hole aligned with the pivot holes of the first drive element and the first working element, the second working element further having one or more second drive holes; a second drive element having a pivot hole aligned with the pivot holes of the first drive element, the first working element, and the second working element, the second drive element further having one or more second drive protrusions coupled into the one or more second drive holes to be removably keyed to the second working element, the second drive element further having a second pair of prongs to receive a crimp there-between and couple to a second drive cable to receive a second driving force; a housing having an opening to receive portions of the first drive element, the first working element, the second working element, and the second drive element, the housing further having a first hole and a second hole aligned with the pivot holes of the first drive element, the first working element, the second working element, and the second drive element; and a pivot pin extending through the pivot holes to pivotally couple the first drive element, the first working element, the second working element, and the second drive element together within the opening of the housing, the pivot pin having a first end coupled to the housing in the first hole and a second end coupled to the housing in the second hole. - View Dependent Claims (5, 6, 7, 8, 30, 31)
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9-14. -14. (canceled)
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15. An apparatus comprising:
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a first two-piece end effector pivotally coupled to a distal end of a shaft, the first two-piece end-effector including a first drive element to receive a first force, and a first working element removably keyed to the first drive element, wherein the first drive element is formed using a first process with a first material suitable to the task of receiving a force and translating it to the first working element, and wherein the first working element is formed using a second process with a second material suitable to the task of performing work; and a second two-piece end effector pivotally coupled to the distal end of the shaft, the second two-piece end-effector including a second drive element to receive a second force, a second working element removably keyed to the second drive element, wherein the second drive element is formed using the first process with the first material, and wherein the second working element is formed using the second process with the second material. - View Dependent Claims (16, 32, 33, 34)
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18-25. -25. (canceled)
Specification