Robotic tool with monopolar electro-surgical scissors
First Claim
1. A method of performing a robotic surgical procedure, the method comprising:
- connecting a surgical instrument to a robotic surgical system, the surgical instrument having an elongate shaft, at one end of which an end effector is mounted;
passing the end effector of the surgical instrument through an entry port in a patient body;
engaging tissue with the end effector, the tissue being engaged between a pair of blades of the end effector;
shearing the tissue cooperatively between the blades by transmitting at lease one force from an interace member on the robotic surgical system to a first rotable shaft on the surgical instrument, the first rotable shaft engaging a rotating link pivoted at a second shaft, the rotating link coupling an actuator rod, the actuator rod engaging a connecting rod, the connecting rod engaging each blade, wherein the at least one force causes the first rotatable shaft to rotate so as to cause the rotating link to pivot at the second shaft, the actuator rod to move in a tangential direction with a point on the rotating link, and the actuator rod and connector rod to move at least one of the blades; and
delivering electrical energy to the tissue engaged by the blades.
1 Assignment
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Accused Products
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.
1461 Citations
15 Claims
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1. A method of performing a robotic surgical procedure, the method comprising:
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connecting a surgical instrument to a robotic surgical system, the surgical instrument having an elongate shaft, at one end of which an end effector is mounted; passing the end effector of the surgical instrument through an entry port in a patient body; engaging tissue with the end effector, the tissue being engaged between a pair of blades of the end effector; shearing the tissue cooperatively between the blades by transmitting at lease one force from an interace member on the robotic surgical system to a first rotable shaft on the surgical instrument, the first rotable shaft engaging a rotating link pivoted at a second shaft, the rotating link coupling an actuator rod, the actuator rod engaging a connecting rod, the connecting rod engaging each blade, wherein the at least one force causes the first rotatable shaft to rotate so as to cause the rotating link to pivot at the second shaft, the actuator rod to move in a tangential direction with a point on the rotating link, and the actuator rod and connector rod to move at least one of the blades; and delivering electrical energy to the tissue engaged by the blades. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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Specification