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Robotic surgical tool with ultrasound cauterizing and cutting instrument

  • US 6,783,524 B2
  • Filed: 04/18/2002
  • Issued: 08/31/2004
  • Est. Priority Date: 04/19/2001
  • Status: Expired due to Term
First Claim
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1. A surgical instrument, for use with a robotic surgical system, the robotic surgical system providing master-slave telesurgery in response to input from a surgeon, the surgical instrument comprising:

  • an elongate shaft having a proximal end and a distal end, the elongate shaft including an ultrasound probe;

    an end effector disposed at the distal end, the end effector including an ultrasound probe tip of the ultrasound probe; and

    a base disposed at the proximal end for removably connecting the surgical instrument to the robotic surgical system;

    wherein the elongate shaft is configured to rotate in relation to the base about an axis drawn from the proximal end to the distal end; and

    wherein the base includes;

    at least two shafts rotatably mounted to the base, each of the shafts having two ends, at least one of the ends of one of the shafts disposed to engage a corresponding interface member on the robotic surgical system;

    at least two spools, each spool being mounted on one of the shafts;

    at least one cable for connecting two of the spools; and

    a rotating member coupled to the cable and to the elongate shaft, the rotating member being configured to rotate the elongate shaft in response to movements of the interface member, the at least two shafts, the at least two spools and the at least one cable.

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