SURGICAL INSTRUMENT WITH ROBOTIC AND MANUAL ACTUATION FEATURES

• US 20120277663A1
• Filed: 07/13/2012
• Published: 11/01/2012
• Est. Priority Date: 06/30/2005
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Millman, Paul, Bailey, David, Hoornaert, Dean, Mintz, David Stephen, Larkin, David Q.
• Granted Patent: US 9,446,177 B2
• Time in Patent Office: Days
• US Class Current: 604/26
• CPC Class Codes: A61B 2017/00203 with speech control or speech recognition
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2090/506 using a parallelogram linkage, e.g. panthograph
• CPC Class Codes: A61B 2217/005 with suction drainage system
• CPC Class Codes: A61B 2217/007 with irrigation system
• CPC Class Codes: A61B 34/30 Surgical robots
• 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
• CPC Class Codes: A61B 34/74 Manipulators with manual electric input means
• CPC Class Codes: A61M 1/743 by changing the cross-section of the line, e.g. flow regulating valves A61M1/7413 takes precedence
• CPC Class Codes: A61M 1/76 Handpieces specially for suction-irrigation A61M1/774, aspiration tips A61M1/84
• CPC Class Codes: A61M 1/77 Suction-irrigation systems aspiration tips supplying fluids A61M1/85; specific for negative pressure wound therapy A61M1/92; combined with tracheal tubes A61M16/0463
• CPC Class Codes: A61M 13/003 Blowing gases other than for carrying powders, e.g. for inflating, dilating or rinsing
• CPC Class Codes: A61M 2039/2473 Valve comprising a non-deformable, movable element, e.g. ball-valve, valve with movable stopper or reciprocating element

Abstract

In one embodiment of the invention, a robotic surgical instrument is provided for the control of flows of one or more fluids into and out of a surgical site. The robotic surgical instrument may include a housing, a flow control system, a hollow tube, and one or more hose fittings. The housing to couple the instrument to a robotic arm. The flow control system mounted in the housing includes one or more controlled valves to control the flow of one or more fluids. The hollow tube has a first end mounted in the housing coupled to the flow control system. A second end of the hollow tube has one or more openings to allow the flow of fluids into and out of the surgical site. The hose fittings have a first end coupled to the flow control system and a second end to couple to hoses.

Claims

1. A surgical instrument, comprising:

a mechanical component configured to control the flow of one or more fluids into or out of a surgical site;

a robotic actuation component configured to receive a robotic actuation input and effect the flow controlling operation of the mechanical component in response thereto; and

a manual actuation component configured to receive a manual actuation input and effect the flow controlling operation of the mechanical component in response thereto.

2. The surgical instrument of claim 1, wherein said mechanical component comprises a valve.

3. The surgical instrument of claim 2, wherein said valve is configured to variably control the flow of at least one of the one or more fluids into or out of the surgical site in response to the actuation of one the actuation components.

4. The surgical instrument of claim 3, wherein said valve is configured to variably control the flow of the at least one fluid in response to the actuation of the robotic actuation component and also in response to the actuation of the manual actuation component.

5. The surgical instrument of claim 1, wherein the actuation of both said robotic actuation component and said manual actuation component effect the operation of the mechanical component in the same manner.

6. A surgical instrument, comprising:

a movable mechanical component;

a robotic actuation input component coupled to the movable mechanical component; and

a manual actuation input component coupled to the movable mechanical component, wherein the robotic actuation input component and the manual actuation input component are different components.

7. The surgical instrument of claim 6, wherein the movable mechanical component comprises a valve.

8. The surgical instrument of claim 6, further comprising:

a fluid channel coupled to the valve, wherein a fluid flow within the fluid channel is controlled by the valve.

9. The surgical instrument of claim 8, wherein the fluid channel comprises a hollow tube.

10. The surgical instrument of claim 8, wherein the fluid flow is selected from a liquid flow and a gas flow.

11. The surgical instrument of claim 6, wherein both the robotic actuation input component and the manual actuation input component move the movable mechanical component through a particular range of motion.

12. The surgical instrument of claim 6, wherein the robotic actuation input component is a rotary component.

13. The surgical instrument of claim 6, wherein the manual actuation input component is a rotary component.

14. A method of moving a mechanical component of a surgical instrument, comprising:

receiving a first actuation of the mechanical component via a robotic actuation input component of the surgical instrument; and

receiving a second actuation of the mechanical component via a manual actuation input component of the surgical instrument, wherein the robotic actuation input component and the manual actuation input component are different components.

15. The method of claim 14, further comprising:

moving the mechanical component in accordance with the second actuation if both the first actuation and the second actuation are received at the same time.

16. The method of claim 14, further comprising:

receiving both the first actuation and the second actuation while the surgical instrument is mounted on a robotic manipulator.

17. The method of claim 14, further comprising:

receiving the first actuation while the surgical instrument is mounted on a robotic manipulator; and

receiving the second actuation while the surgical instrument is not mounted on a robotic manipulator.

18. The method of claim 14, wherein both the first and second actuations of the mechanical component control fluid flow.

19. The method of claim 14, wherein the first actuation of the mechanical component comprises a rotary motion.

20. The method of claim 14, wherein the second actuation of the mechanical component comprises a rotary motion.

21. The method of claim 14, wherein the first actuation of the mechanical component and the second actuation of the mechanical component both move the mechanical component continuously through the same defined range of motion.