Robotic tool with monopolar electro-surgical scissors

• US 6,994,708 B2
• Filed: 04/18/2002
• Issued: 02/07/2006
• Est. Priority Date: 04/19/2001
• Status: Expired due to Term

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Limited (Intuitive Surgical Holdings, LLC)
• Inventors: Manzo, Scott
• Primary Examiner(s): Gibson, Roy D.
• Assistant Examiner(s): VRETTAKOS, PETER J
• Application Number:
  US10/126,451
• Publication Number:
  US 20020188293A1
• Time in Patent Office: 1,391 Days
• Field of Search: 606 27- 52, 606/1, 606/130
• US Class Current: 606/45
• CPC Class Codes: A61B 17/3201 Scissors for biopsy A61B10/02
• CPC Class Codes: A61B 18/1445 at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/2926 Details of heads or jaws
• CPC Class Codes: A61B 2017/2931 with releasable head
• CPC Class Codes: A61B 2017/2932 Transmission of forces to jaw members
• CPC Class Codes: A61B 2017/2933 camming or guiding means
• CPC Class Codes: A61B 2017/2945 Curved jaws
• CPC Class Codes: A61B 2018/00083 low, i.e. electrically insulating
• CPC Class Codes: A61B 2018/00178 Electrical connectors
• CPC Class Codes: A61B 2018/1432 curved
• CPC Class Codes: A61B 2018/146 Scissors
• CPC Class Codes: A61B 2034/715 Cable tensioning mechanisms for removing slack
• 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 90/361 Image-producing devices, e.g. surgical cameras

Abstract

The present invention provides robotic surgical instruments and systems that include electrosurgical cutting/shearing tools and methods of performing a robotic surgical procedure. The surgical instruments can advantageously be used in robotically controlled minimally invasive surgical operations. A surgical instrument generally comprises an elongate shaft having a proximal end and a distal end. An end effector, for performing a surgical operation such as cutting, shearing, grasping, engaging, or contacting tissue adjacent a surgical site, is coupleable to a distal end of the shaft. Preferably, the end effector comprises a pair of scissor-like blades for cooperatively shearing the tissue. A conductor electrically communicating with at least one blade delivers electrical energy to tissue engaged by the blades. An interface coupled to the proximal end of the shaft and removably connectable to the robotic surgical system is also included.

Claims

1. A surgical instrument for use with a robotic surgical system, the instrument comprising:

an elongate shaft having a proximal end and a distal end;

an end effector coupleable to the distal end of the shaft, the end effector having a pair of cooperative tissue shearing blades;

a conductor electrically communicating with at least one blade so as to deliver electrical energy to tissue engaged by the blades; and

an interface coupleable to the proximal end of the shaft, the interface removably connectable to the robotic surgical system, wherein the interface includes at least one mechanical transmission member configured to engage the robotic surgical system, the at least one transmission member transmitting forces from the robotic surgical system to at least one actuation element coupled to the end effector so as to pivotally move at least one of the blades;

wherein the at least one transmission member comprises;

a first shaft rotatably mounted within the interface, the first shaft having two ends, at least one of the ends protruding from the interface to engage a corresponding interface member on the robotic surgical system;

a second shaft mounted within the interface; and

a rotating link coupled to the at least one actuation element at a medial portion of the link or actuation element, an end portion of the rotating link engaged to the first shaft, and an end portion of the rotating link pivoted at the second shaft in response to rotary action of the first shaft, the rotating link being configured to longitudinally move the at least one actuation element in response to movements of the corresponding interface member and the first shaft.

2. A surgical instrument for use with a robotic surgical system, the instrument comprising:

an elongate shaft having a proximal end and a distal end, wherein the elongate shaft is configured to rotate relative to the interface about an axis defined from the proximal end to the distal end of the elongate shaft;

an end effector coupleable to the distal end of the shaft, the end effector having a pair of cooperative tissue shearing blades;

a conductor electrically communicating with at least one blade so as to deliver electrical energy to tissue engaged by the blades; and

an interface coupleable to the proximal end of the shaft, the interface removably connectable to the robotic surgical system, wherein the interface comprises;

at least one shaft rotatably mounted within the interface, the shaft having two ends, at least one of the ends protruding from the interface to engage a corresponding interface member on the robotic surgical system;

at least one spool, the at least one spool being mounted on the at least one shaft;

at least one cable having an upper portion and a lower portion; and

a rotating member coupled to the elongate shaft, wherein the upper portion of the cable wraps around the rotating member and the spool and the lower portion of the cable wraps around the spool and the rotating member in an opposite direction, the rotating member being configured to rotate the elongate shaft in response to movements of the corresponding interface member, the at least one shaft, the at least one spool, and the at least one cable.