SURGICAL INSTRUMENT WITH SINGLE DRIVE INPUT FOR TWO END EFFECTOR MECHANISMS

• US 20120310255A1
• Filed: 05/30/2012
• Published: 12/06/2012
• Est. Priority Date: 05/31/2011
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Brisson, Gabriel F., Loh, Alan, Kerver, Lawrence
• Granted Patent: US 8,870,912 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• CPC Class Codes: A61B 17/285 combined with cutting implements
• CPC Class Codes: A61B 17/295 combined with cutting implements
• CPC Class Codes: A61B 17/320016 Endoscopic cutting instruments, e.g. arthroscopes, resectoscopes A61B10/0233, A61B17/29, A61B17/3207 take precedence
• CPC Class Codes: A61B 2017/00389 Button or wheel for performing multiple functions, e.g. rotation of shaft and end effector
• CPC Class Codes: A61B 2017/2915 arcuate shaped guiding means
• CPC Class Codes: A61B 2017/2936 Pins in guiding slots
• CPC Class Codes: A61B 2018/1455 having a moving blade for cutting tissue grasped by the jaws
• CPC Class Codes: A61B 34/30 Surgical robots

Abstract

Methods for treating tissue, and surgical assemblies and related methods are disclosed in which a single input is used to sequentially articulate two members. A surgical assembly includes an end effector, a base supporting the end effector, an input link movable relative to the base through a range of motion between a first configuration and a second configuration, and an actuation mechanism. The end effector includes a first articulated member and a second articulated member. The actuation mechanism drivingly couples the input link to the first articulated member within a first portion of the range of motion and drivingly coupling the input link with the second articulated member within a second portion of the range of motion so that a movement of the input link from the first configuration to the second configuration articulates the first articulated member and then articulates the second articulated member.

Claims

1. A surgical assembly comprising:

an end effector including a first articulated member and a second articulated member;

a base supporting the end effector;

an input link movable relative to the base through a range of motion between a first configuration and a second configuration; and

an actuation mechanism drivingly coupling the input link to the first articulated member within a first portion of the range of motion and drivingly coupling the input link with the second articulated member within a second portion of the range of motion so that a movement of the input link from the first configuration to the second configuration articulates the first articulated member and then articulates the second articulated member.

2. The surgical assembly of claim 1, wherein:

the first articulated member has a first articulation range configured for a first desired manipulation of tissue;

the second articulated member has a second articulation range configured for a second desired manipulation of tissue; and

the movement of the input link actuates the first articulated member throughout the first articulation range primarily within the first portion of the range of motion, and actuates the second articulated member throughout the second articulation range within the second portion of the range of motion, the first and second portions of the range of motion being separate so as to facilitate independently effecting the first and second desired manipulations of tissue.

3. The surgical assembly of claim 2, wherein the first articulated member comprises a jaw operable to grip tissue and the second articulated member comprises a cutter operable to cut tissue.

4. The surgical assembly of claim 3, wherein the input link is drivingly coupled with the jaw through a spring that deflects during the second portion of the range of motion to at least partially decouple motion of the jaw from motion of the input link during the second portion of the range of motion.

5. The surgical assembly of claim 4, wherein:

the spring inhibits relative movement between the input link and a first output link during the first portion of the range of motion, the first output link being drivingly coupled with the jaw;

the spring deflects to allow relative motion between the input link and the first output link during the second portion of the range of motion; and

the input link drives a second output link during the second portion of the range of motion, the second output link being drivingly coupled with the cutter.

6. The surgical assembly of claim 4, wherein the spring comprises an extension spring.

7. The surgical assembly of claim 4, wherein the spring comprises a torsion spring.

8. The surgical assembly of claim 3, wherein linear motion of the input link relative to the base induces articulation of the jaw and the cutter.

9. The surgical assembly of claim 3, wherein rotation of the input link relative to the base induces articulation of the jaw and the cutter.

10. The surgical assembly of claim 3, wherein the actuation mechanism includes a cam surface drivingly coupled with the input link and shaped to inhibit driving of the cutter during the first portion of the range of motion and to drive the cutter during the second portion of the range of motion.

11. The surgical assembly of claim 10, wherein rotation of the input link relative to the base induces rotation of the cam surface relative to the base.

12. The surgical assembly of claim 11, wherein the actuation mechanism includes:

a member with a slot that defines the cam surface; and

a follower that engages the slot and is drivingly coupled with the cutter by a linkage.

13. The surgical assembly of claim 12, wherein:

the slotted member is mounted for rotation relative to the base about an axis of rotation;

the slot includes a first segment having a centerline with a constant radius relative to the axis of rotation and a second segment having a centerline with a varying radius relative to the axis of rotation; and

the follower engages the first segment during the first portion of the range of motion and engages the second segment during the second portion of the range of motion.

14. The surgical assembly of claim 2, wherein the actuation mechanism includes:

a first cam surface drivingly coupled with the input link and shaped to actuate the first articulated member; and

a second cam surface drivingly coupled with the input link and shaped to actuate the second articulated member.

15. The surgical assembly of claim 14, wherein the first articulated member comprises a jaw operable to grip tissue and the second articulated member comprises a cutter operable to cut tissue.

16. The surgical assembly of claim 15, wherein the input link is drivingly coupled with the jaw through a spring that deflects to at least partially decouple motion of the jaw from motion of the input link.

17. A method of treating tissue comprising:

moving an input link relative to a base through a range of motion;

articulating a jaw within a first portion of the range of motion so as to grasp the tissue; and

articulating a cutter within a second portion of the range of motion so as to cut the tissue, the articulating of the jaw and the cutter being primarily independent.

18. The method of claim 17, wherein said articulating a jaw comprises inhibiting relative movement between the input link and an output link during the first portion of the range of motion with a spring coupled with the input link and the output link, the output link being drivingly coupled with the jaw.

19. The method of claim 18, wherein said articulating a cutter comprises deflecting the spring to at least partially decouple motion of the output link from the input link during the second portion of the range of motion.

20. The method of claim 19, wherein the spring comprises an extension spring.

21. The method of claim 19, wherein the spring comprises a torsion spring.

22. The method of claim 17, comprising translating the input link relative to the base to induce the articulation of the jaw and cutter.

23. The method of claim 17, comprising rotating the input link relative to the base to induce the articulation of the jaw and cutter.

24. The method of claim 23, comprising:

rotating a member having a slot in response to rotation of the input link; and

engaging the slot with a follower that is drivingly coupled with the cutter.

25. The method of claim 24, comprising:

rotating the slotted member about an axis of rotation relative to the base, the slot including a first segment having a centerline with a constant radius relative to the axis of rotation and a second segment having a centerline with a varying radius relative to the axis of rotation;

engaging the first segment with the follower during the first portion of the range of motion; and

engaging the second segment with the follower during the second portion of the range of motion.

26. The method of claim 23, comprising:

rotating a first member having a first slot in response to rotation of the input link;

engaging the first slot with a first follower that is drivingly coupled with the jaw;

rotating a second member having a second slot in response to rotation the input link; and

engaging the second slot with a second follower that is drivingly coupled with the cutter.

27. The method of claim 26, comprising inhibiting relative movement between the input link and an output link with a spring coupled with the input link and the output link, the output link being drivingly coupled with the jaw.

28. The method of claim 27, comprising deflecting the spring to at least partially decouple motion of the output link from the input link.

29. A method for articulating an end effector of a surgical assembly, the method comprising:

moving an input link relative to a base through a range of motion;

articulating a first member of the end effector within a first portion of the range of motion; and

articulating a second member of the end effector within a second portion of the range of motion, the first and second members being different and the articulating of the first and second members being primarily independent.

30. The method of claim 29, wherein:

the first member includes a jaw configured to grip a tissue; and

the second member includes a cutter configured to cut the tissue.

31. The method of claim 30, wherein:

the jaw has a first articulation range configured to grip a tissue;

the cutter has a second articulation range configured to cut the tissue; and

the movement of the input link actuates the jaw throughout the first articulation range primarily within the first portion of the range of motion, and actuates the cutter throughout the second articulation range within the second portion of the range of motion, the first and second portions of the range of motion being separate so as to facilitate independently gripping the tissue and cutting of the gripped tissue.