Robotic tool with wristed monopolar electrosurgical end effectors
First Claim
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 electrically conductive wrist member having proximal and distal devices disposed at the distal end of the shaft;
an electrocautery end effector mounted to the wrist member;
an interface disposed at the proximal end of the shaft, the interface removably connectable to the robotic surgical system;
a conductor extending from the interface and terminating at the proximal clevis of the electrically conductive wrist member so that the wrist member is the electrical connection between the conductor and the end effector; and
at least one insulation material disposed over the wrist member so as to inhibit conduction of electrical current from the electrically live wrist member except to tissue engaged by the end effector.
2 Assignments
0 Petitions
Accused Products
Abstract
A surgical instrument for use with a robotic surgical system is described. The instrument includes an elongate shaft having a proximal end and a distal end. An electrically live wrist member is disposed at the distal end of the shaft. An electrocautery end effector is mounted to the wrist member. An interface is disposed at the proximal end of the shaft. The interface is removably connectable to the robotic surgical system. A conductor extends from the interface to the end effector so as to deliver electrical energy to tissue engaged by the end effector. A tip cover is disposed over the wrist member so that electrical current can only be conducted to tissues through the exposed end effector (e.g., to promote blood coagulation during usage) and not to other parts of the patient'"'"'s body.
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Citations
26 Claims
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1. A surgical instrument for use with a robotic surgical system, the instrument comprising:
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an elongate shaft having a proximal end and a distal end; an electrically conductive wrist member having proximal and distal devices disposed at the distal end of the shaft; an electrocautery end effector mounted to the wrist member; an interface disposed at the proximal end of the shaft, the interface removably connectable to the robotic surgical system; a conductor extending from the interface and terminating at the proximal clevis of the electrically conductive wrist member so that the wrist member is the electrical connection between the conductor and the end effector; and at least one insulation material disposed over the wrist member so as to inhibit conduction of electrical current from the electrically live wrist member except to tissue engaged by the end effector. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. An electrosurgical instrument comprising:
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an elongate shaft having a proximal end and a distal end; an electrically conductive wrist member having proximal and distal devices disposed at the distal end of the shaft; an electrocautery end effector mounted to the wrist member, wherein the wrist member provides at least one degree of freedom to the end effector relative to the shaft; a conductor terminating at the proximal clevis of the electrically conductive wrist member so that the wrist member is the electrical connection between the conductor and the end effector; and at least one insulation material disposed over the wrist member so as to inhibit conduction of electrical current from the electrically live wrist member except to tissue engaged by the end effector.
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20. A robotic surgical system comprising:
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a robotic arm having an instrument holder; an electrosurgical instrument detachably mountable on the instrument holder, the instrument having a proximal portion for engaging the instrument holder, an elongate shaft extending from the proximal portion to a distal end, an electrically conductive wrist member having proximal and distal devices disposed at the distal end of the shaft, an electrocautery end effector mounted to the wrist member, and a conductor terminating at the proximal clevis of the electrically conductive wrist member so that the wrist member is the electrical connection between the conductor and the end effector, the conductor coupled to an electrical connector on the proximal portion, at least one insulation material disposed over the wrist member so as to inhibit conduction of electrical current from the electrically live wrist member except to tissue engaged by the end effector; and an electro surgical generator detachably connected to the connector of the proximal portion so as to transmit electrical current distally to the end effector.
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21. 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 a distal end of which an electrically conductive wrist member and end effector are disposed, the wrist member having proximal and distal devices; inserting the end effector, wrist member, and at least the distal end of the shaft through a minimally invasive incision in a patient body; delivering electrical energy to the wrist member through a conductor terminating at the proximal clevis of the electrically conductive wrist member so that the wrist member is the electrical connection between the conductor and the end effector; engaging tissue with the end effector; and inhibiting conduction of electrical current from the wrist member except to the tissue engaged by the end effector. - View Dependent Claims (22, 23, 24, 25, 26)
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Specification