Surgical Instrument With Single Drive Input for Two End Effector Mechanisms

• US 20170333065A1
• Filed: 08/04/2017
• Published: 11/23/2017
• 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 10,639,055 B2
• Time in Patent Office: Days
• 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 medical device includes an input link movable through an input link range of motion, a jaw coupled with the input link, and a tissue manipulation member coupled to the input link and positioned to manipulate a tissue gripped by the jaw. The input link range of motion includes a first portion and a second portion. The input link within the first portion of the input link range of motion drives the jaw through a jaw range of motion. The input link within the second portion of the input link range of motion drives the tissue manipulation member through a tissue manipulation member range of motion.

Claims

1. A medical device comprising:

an input link movable through an input link range of motion, the input link range of motion comprising a first portion and a second portion;

a jaw coupled with the input link, the input link within the first portion of the input link range of motion driving the jaw through a jaw range of motion; and

a tissue manipulation member coupled to the input link and positioned to manipulate a tissue gripped by the jaw, the input link within the second portion of the input link range of motion driving the tissue manipulation member through a tissue manipulation member range of motion.

2. The medical device of claim 1, wherein the tissue manipulation member comprises a cutter configured to cut the tissue gripped by the jaw.

3. The medical device of claim 1, wherein the tissue manipulation member is configured to deploy staples into the tissue gripped by the jaw.

4. The medical device of claim 1, wherein the jaw is coupled with the input link via a spring that deflects during the second portion of the input link range of motion.

5. The medical device of claim 4, further comprising:

an output link drivingly coupled to the jaw;

wherein the spring inhibits relative movement between the input link and the output link during the first portion of the input link range of motion; and

wherein the spring deflects to accommodate relative motion between the input link and the output link during the second portion of the input link range of motion.

6. The medical device of claim 4, wherein the spring comprises an extension spring.

7. The medical device of claim 4, wherein the spring comprises a torsion spring.

8. The medical device of claim 1, wherein the jaw is coupled with the input link via engagement between a first cam follower and a first cam surface shaped to drive the jaw within the first portion of the input link range of motion and to inhibit driving the jaw within the second portion of the input link range of motion.

9. The medical device of claim 1, wherein the tissue manipulation member is coupled with the input link via engagement between a cam follower and a cam surface shaped to inhibit driving the tissue manipulation member within the first portion of the input link range of motion and to drive the tissue manipulation member within the second portion of the input link range of motion.

10. The medical device of claim 1, further comprising:

a first cam assembly coupling the jaw with the input link, the first cam assembly comprising a first cam follower engaged with a first cam surface shaped to drive the jaw within the first portion of the input link range of motion and to inhibit driving the jaw within the second portion of the input link range of motion; and

a second cam assembly coupling the tissue manipulation member with the input link, the second cam assembly comprising a second cam follower engaged with a second cam surface shaped to drive the tissue manipulation member within the second portion of the input link range of motion and to inhibit driving the tissue manipulation member within the first portion of the input link range of motion.

11. A medical device comprising:

an end effector comprising a first member and a second member, the first member having a first range of motion, the second member having a second range of motion;

a base supporting the end effector;

an input link movable through an input link range of motion relative to the base, the input link range of motion comprising a first portion and a second portion not overlapping the first portion;

means for driving the first member through the first range of motion via movement of the input link within the first portion of the input link range of motion; and

means for driving the second articulated member through the second range of motion via movement of the input link within the second portion of the input link range of motion.

12. The medical device of claim 11, wherein:

the first member comprises a jaw operable to grip a tissue; and

the second member comprises a cutter operable to cut a tissue gripped by the jaw.

13. The medical device of claim 11, wherein:

the first member comprises a jaw operable to grip a tissue; and

the second member is configured to deploy staples into a tissue gripped by the jaw.

14. The medical device of claim 11, wherein:

the first member is configured to deploy staples into a tissue gripped by the end effector; and

the second member comprises a cutter operable to cut the tissue gripped by the end effector.

15. The medical device of claim 11, wherein:

the first member is not driven via movement of the input link within the second portion of the input link range of motion; and

the second member is not driven via movement of the input link within the first portion of the input link range of motion.

16. The medical device of claim 11, wherein the means for driving the first member prevents relative movement between the input link and the first member within the first portion of the input link range of motion and accommodates relative motion between the input link and the first member within the second portion of the range of motion.

17. The medical device of claim 11, wherein the means for driving the first member employs engagement between a cam follower and a cam surface shaped to drive the first member within the first portion of the input link range of motion and to inhibit driving the first member within the second portion of the input link range of motion.

18. The medical device of claim 17, wherein the means for driving the second member employs engagement between a second cam follower and a second cam surface shaped to inhibit articulation of the second member within the first portion of the input link range of motion and to drive the second member within the second portion of the input link range of motion.

19. The medical device of claim 11, wherein the means for articulating the second member employs engagement between a cam follower and a cam surface shaped to inhibit driving the second member within the first portion of the input link range of motion and to drive the second member within the second portion of the input link range of motion.

20. A medical device comprising:

an end effector comprising a first member and a second member, the first member having a first range of motion, the second member having a second range of motion;

a base supporting the end effector;

an input link movable through an input link range of motion relative to the base, the input link range of motion comprising a first portion and a second portion not overlapping the first portion; and

means for driving the first member through the first range of motion via movement of the input link within the first portion of the input link range of motion without driving the second member via movement of the input link within the first portion of the input link range of motion, and for driving the second member through the second range of motion via movement of the input link within the second portion of the input link range of motion without driving the first member via movement of the input link within the second portion of the input link range of motion.