Wristed robotic surgical tool for pluggable end-effectors

• US 8,398,634 B2
• Filed: 09/28/2005
• Issued: 03/19/2013
• Est. Priority Date: 04/18/2002
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Manzo, Scott, Heaton, Lisa
• Primary Examiner(s): Dvorak, Linda
• Assistant Examiner(s): GOOD, SAMANTHA M
• Application Number:
  US11/238,698
• Publication Number:
  US 20060074415A1
• Time in Patent Office: 2,729 Days
• Field of Search: 7126-129, 81421-423, 606/45, 606 50- 52, 606205-207, 901/31
• US Class Current: 606/52
• CPC Class Codes: A61B 18/14 Probes or electrodes therefor
• 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 2017/2945 Curved jaws
• CPC Class Codes: A61B 2018/00083 low, i.e. electrically insulating
• CPC Class Codes: A61B 2018/1432 curved
• CPC Class Codes: A61B 2018/146 Scissors
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• 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

In one embodiment of the invention, a replaceable electrosurgical end effector cartridge is provided to couple to a mechanical wrist of a surgical instrument for a robotic surgical system. The replaceable electrosurgical end effector cartridge includes two pluggable end effectors and a pair of spring latches. The two end effectors are moveable end effectors having a jaw portion, an off-center portion, and a base portion in one embodiment. The replaceable electrosurgical end effector cartridge may further include a fastener to rotatably couple the end effectors together.

Claims

1. An electrosurgical end effector cartridge to detachably couple to a robotic surgical instrument of a robotic surgical system, the electrosurgical end effector cartridge comprising:

a first moveable end effector having a jaw portion and a base portion;

a first latch coupled to the first moveable end effector near the base portion, the first latch is flexible to detachably couple the first moveable end effector to a first receptacle of the robotic surgical instrument;

a second moveable end effector having a jaw portion and a base portion; and

a second latch coupled to the second moveable end effector near the base portion, the second latch is flexible to detachably couple the second moveable end effector to a second receptacle of the robotic surgical instrument.

2. The electrosurgical end effector cartridge of claim 1, further comprising:

a fastener to rotatably couple the first and second moveable end effectors together near the base portion of each.

3. The electrosurgical end effector cartridge of claim 2, wherein

the first moveable end effector includes a slotted opening near the base portion,

the second moveable end effector includes a threaded hole near the base portion having female threads, and

the fastener is a threaded screw having male threads at one end extending through the slotted opening and threaded into the female threads of the threaded hole.

4. The electrosurgical end effector cartridge of claim 2, wherein

the first moveable end effector includes a slotted opening near the base portion,

the second moveable end effector includes a cylindrical opening near the base portion, and

the fastener is a bolt extending through the slotted opening and the cylindrical opening with a nut coupled to a threaded end thereof.

5. The electrosurgical end effector cartridge of claim 2, wherein

the first and second moveable end effectors, the first latch, and the fastener are formed out of a conductive material to couple an electrical current into tissue.

6. The electrosurgical end effector cartridge of claim 2, wherein

the first receptacle and the second receptacle of the robotic surgical instrument are pivotally coupled together with a pin to respectively control the first moveable end effector and the second moveable end effector.

7. The electrosurgical end effector cartridge of claim 6, wherein

the first receptacle or the second receptacle of the robotic surgical instrument is actuated by a motor to respectively move the first moveable end effector or the second moveable end effector.

8. The electrosurgical end effector cartridge of claim 1, wherein

the jaws of the first and second end effectors are blades, and

the electrosurgical end effector cartridge is a replaceable scissors cartridge.

9. The electrosurgical end effector cartridge of claim 1, wherein

the jaws of the first and second moveable end effectors are grips, and

the electrosurgical end effector cartridge is a replaceable gripping cartridge.

10. The electrosurgical end effector cartridge of claim 1, wherein

the first and second moveable end effectors and the first latch are formed out of a conductive material to couple an electrical current into tissue.

11. The electrosurgical end effector cartridge of claim 10, wherein

the first moveable end effector and the first latch are electrically isolated from the second moveable end effector, and

the electrosurgical end effector cartridge is a bipolar electrosurgical end effector cartridge to couple to a bipolar electro-surgical tool.

12. The electrosurgical end effector cartridge of claim 1, wherein

the first latch has a first retention slot adapted to detachably couple to a first catch of the first receptacle of the robotic surgical instrument;

and

the second latch has a second retention slot adapted to detachably couple to a second catch of the second receptacle of the robotic surgical instrument.

13. The electrosurgical end effector cartridge of claim 1, wherein

each of the first latch and the second latch further includes an extension portion adapted to extend from the first receptacle and the second receptacle of the robotic surgical instrument, the extension portion adapted to flex each of the first latch and the second latch to decouple the respective retention slots from the respective catches of the first receptacle and the second receptacle of the robotic surgical instrument.

14. The electrosurgical end effector cartridge of claim 1, wherein

the base portion of the first moveable end effector includes a drive opening and a pivot opening,

the first latch includes a pivot opening and a drive tab engaged with the drive opening of the first moveable end effector to couple thereto,

the base portion of the second moveable end effector includes a drive opening and a pivot opening,

the second latch includes a pivot opening and a drive tab engaged with the drive opening of the second moveable end effector to couple thereto;

and

a pivot pin inserted through the pivot openings of the first and second moveable end effectors and the first and second latches to rotatably couple the first and second moveable end effectors together.

15. The electrosurgical end effector cartridge of claim 14, wherein

the first and second moveable end effectors, the first and second latches, and the pivot pin are formed out of a conductive material to couple an electrical current into tissue.

16. The electrosurgical end effector cartridge of claim 14, wherein

the first and second moveable end effectors, and the first and second latches are formed out of a conductive material to couple an electrical current into tissue,

the first moveable end effector and the first latch are electrically isolated from the second moveable end effector and the second flexible latch, and

the electrosurgical end effector cartridge is a bipolar electrosurgical end effector cartridge to couple to a bipolar electro-surgical tool.

17. The electrosurgical end effector cartridge of claim 14, wherein

the jaws of the first and second end effectors are blades, and

the electrosurgical end effector cartridge is a replaceable scissors cartridge.

18. The electrosurgical end effector cartridge of claim 14, wherein

the jaws of the first and second moveable end effectors are grips, and

the electrosurgical end effector cartridge is a replaceable gripping cartridge.

19. The electrosurgical end effector cartridge of claim 1, wherein

wherein the jaw portion of the first moveable end effector and the jaw portion of the second moveable end effector are adapted to couple to tissue in a surgical site.

20. An electrosurgical end effector cartridge to couple to a robotic surgical instrument of a robotic surgical system, the electrosurgical end effector cartridge comprising:

a first moveable end effector having a jaw portion and a base portion, the first moveable end effector includes a cylindrical opening and a first drive slot near the base portion;

a first spring latch coupled to the first moveable end effector near the base portion, the first spring latch to couple to a first receptacle of a robotic surgical instrument, the first spring latch includes a cylindrical opening near the base portion and a first drive tab coupled into the first drive slot of the first moveable end effector;

a second moveable end effector having a jaw portion and a base portion, the second moveable end effector includes a cylindrical opening and a second drive slot near the base portion;

a second spring latch coupled to the second moveable end effector near the base portion, the second spring latch to couple to a second receptacle of the robotic surgical instrument, the second spring latch includes a cylindrical opening near the base portion and a second drive tab coupled into the second drive slot; and

a fastener to rotatably couple the first and second moveable end effectors together near the base portion of each, wherein the fastener is a bolt extending through the cylindrical openings of the first and second moveable end effectors and the first and second spring latches with a nut coupled to a threaded end thereof;

wherein the jaw portion of the first moveable end effector and the jaw portion of the second moveable end effector are adapted to couple to tissue in a surgical site.

21. The electrosurgical end effector cartridge of claim 20, wherein

the first and second moveable end effectors and the first spring latch are formed out of a conductive material to couple an electrical current into tissue.

22. The electrosurgical end effector cartridge of claim 21, wherein

the first moveable end effector and the first spring latch are electrically isolated from the second moveable end effector, and

the electrosurgical end effector cartridge is a bipolar electrosurgical end effector cartridge to couple to a bipolar electro-surgical tool.

23. The electrosurgical end effector cartridge of claim 20, wherein

the jaws of the first and second end effectors are blades, and

the electrosurgical end effector cartridge is a replaceable scissors cartridge.

24. The electrosurgical end effector cartridge of claim 20, wherein

the jaws of the first and second moveable end effectors are grips, and

the electrosurgical end effector cartridge is a replaceable gripping cartridge.

25. An electrosurgical end effector cartridge to couple to a robotic surgical instrument of a robotic surgical system, the electrosurgical end effector cartridge comprising:

a first moveable end effector having a jaw portion and a base portion, the first moveable end effector includes a cylindrical opening and a first drive slot near the base portion;

a first spring latch coupled to the first moveable end effector near the base portion, the first spring latch to couple to a first receptacle of a robotic surgical instrument, the first spring latch includes a cylindrical opening near the base portion and a first drive tab coupled into the first drive slot of the first moveable end effector;

a second moveable end effector having a jaw portion and a base portion, the second moveable end effector includes a cylindrical opening and a second drive slot near the base portion;

a second spring latch coupled to the second moveable end effector near the base portion, the second spring latch to couple to a second receptacle of the robotic surgical instrument the second spring latch includes a cylindrical opening near the base portion and a second drive tab coupled into the second drive slot; and

a fastener to rotatably couple the first and second moveable end effectors together near the base portion of each, wherein the fastener is a rivet extending through the cylindrical openings of the first and second moveable end effectors and the first and second spring latches with a head at one end of a shank and an upset tail at an opposite end of the shank;

wherein the jaw portion of the first moveable end effector and the jaw portion of the second moveable end effector are adapted to couple to tissue in a surgical site.

26. The electrosurgical end effector cartridge of claim 25, wherein

the first and second moveable end effectors and the first spring latch are formed out of a conductive material to couple an electrical current into tissue.

27. The electrosurgical end effector cartridge of claim 26, wherein

the first moveable end effector and the first spring latch are electrically isolated from the second moveable end effector, and

the electrosurgical end effector cartridge is a bipolar electrosurgical end effector cartridge to couple to a bipolar electro-surgical tool.

28. The electrosurgical end effector cartridge of claim 25, wherein

the jaws of the first and second end effectors are blades, and

the electrosurgical end effector cartridge is a replaceable scissors cartridge.

29. The electrosurgical end effector cartridge of claim 25, wherein

the jaws of the first and second moveable end effectors are grips, and

the electrosurgical end effector cartridge is a replaceable gripping cartridge.