Methods for pluggable end-effectors of robotic surgical instruments

• US 8,827,996 B2
• Filed: 04/02/2010
• Issued: 09/09/2014
• 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: Heaton, Lisa W., Scott, Manzo E.
• Primary Examiner(s): Peffley, Michael
• Assistant Examiner(s): GOOD, SAMANTHA M
• Application Number:
  US12/753,238
• Publication Number:
  US 20100191251A1
• Time in Patent Office: 1,621 Days
• Field of Search: 606/45, 606 50- 52, 606205-207, 901/31, 81421-423, 7126-129
• 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. A method of surgery comprising:

plugging base portions of a first end effector and a second end effector respectively into a first receptacle of a mechanical wrist and a second receptacle of the mechanical wrist coupled to a shaft of a robotic surgical instrument of a robotic surgical system, the mechanical wrist having a first joint for a first degree of freedom and a second joint for a second degree of freedom;

coupling a first spring latch, attached to the base portion of the first end effector, to the first receptacle of the mechanical wrist;

coupling a second spring latch, attached to the base portion of the second end effector, to the second receptacle of the mechanical wrist; and

rotating, by cables and pulleys, the first receptacle of the mechanical wrist and the second receptacle of the mechanical wrist together about a pin such that the first and second receptacles of the mechanical wrist maintain a relative position to each other to yaw the first and second end effectors together in a same direction.

2. The method of claim 1, wherein the rotating step further comprises

rotating the first receptacle of the mechanical wrist about the pin in a first direction while rotating the second receptacle of the mechanical wrist about the pin in a second direction opposite the first direction to open or to close jaw portions of the first and second end effectors.

3. The method of claim 1, wherein the rotating step further comprises

rotating the first receptacle of the mechanical wrist about the pin in a first direction to a first position while rotating the second receptacle of the mechanical wrist about the pin in the first direction to a second position differing from the first position to open or to close jaw portions of the first and second end effectors.

4. The method of claim 1, wherein the rotating step further comprises

rotating the first receptacle of the mechanical wrist about the pin in a first direction to a first position while holding the second receptacle of the mechanical wrist fixed in position to open or to close jaw portions of the first and second end effectors.

5. The method of claim 1, wherein

the first receptacle of the mechanical wrist and the second receptacle of the mechanical wrist are held together at the pin.

6. The method of claim 1, wherein the coupling of the first and second spring latches further comprises:

flexing the first and second spring latches to engage retention slots in the first and second spring latches with catches in the respective first and second receptacles of the mechanical wrist.

7. A method of surgery comprising:

plugging base portions of a first end effector and a second end effector respectively into a first receptacle of a mechanical wrist and a second receptacle of the mechanical wrist coupled to a shaft of a robotic surgical instrument of a robotic surgical system, the mechanical wrist having a first joint for a first degree of freedom and a second joint for a second degree of freedom;

coupling a first spring latch, attached to the base portion of the first end effector, to the first receptacle of the mechanical wrist;

coupling a second spring latch, attached to the base portion of the second end effector, to the second receptacle of the mechanical wrist;

rotating, by cables and pulleys, the first receptacle of the mechanical wrist and the second receptacle of the mechanical wrist together about a pin, such that the first and second receptacles of the mechanical wrist maintain a relative position to each other, to yaw the first and second end effectors together in a same direction;

sliding the first end effector over the second end effector within a medial lateral arc slot in the first end effector.

8. The method of claim 7, wherein the rotating step further comprises

rotating the first receptacle of the mechanical wrist about the pin in a first direction while rotating the second receptacle of the mechanical wrist about the pin in a second direction opposite the first direction to open or to close jaw portions of the first and second end effectors.

9. The method of claim 7, wherein the rotating step further comprises

rotating the first receptacle of the mechanical wrist about the pin in a first direction to a first position while rotating the second receptacle of the mechanical wrist about the pin in the first direction to a second position differing from the first position to open or to close jaw portions of the first and second end effectors.

10. The method of claim 7, wherein the rotating step further comprises

rotating the first receptacle of the mechanical wrist about the pin in a first direction to a first position while holding the second receptacle of the mechanical wrist fixed in position to open or to close jaw portions of the first and second end effectors.

11. The method of claim 7, wherein the coupling of the

first and second spring latches further comprises slightly flexing the first and second spring latches to engage retention slots in the first and second spring latches with catches in the respective first and second receptacles of the mechanical wrist.

12. A method of surgery comprising:

depressing a first spring latch and a second spring latch, attached to respective first and second end effectors, to decouple the first spring latch and the second spring latch from a first receptacle of a mechanical wrist and a second receptacle of the mechanical wrist respectively;

unplugging base portions of the first and second end effectors respectively from the first receptacle of the mechanical wrist and the second receptacle of the mechanical wrist of a robotic surgical instrument of a robotic surgical system;

plugging the base portions of the first and second end effectors respectively into the first receptacle of the mechanical wrist and the second receptacle of the mechanical wrist coupled to a shaft of the robotic surgical instrument of the robotic surgical system, the mechanical wrist having a first joint for a first degree of freedom and a second joint for a second degree of freedom; and

rotating, by cables and pulleys, the first receptacle of the mechanical wrist and the second receptacle of the mechanical wrist together about a pin, such that the first and second receptacles of the mechanical wrist maintain a relative position to each other, to yaw the first and second end effectors together in a same direction.

13. The method of claim 12, wherein the rotating step further comprises

rotating the first receptacle of the mechanical wrist about the pin in a first direction while rotating the second receptacle of the mechanical wrist about the pin in a second direction opposite the first direction to open or to close jaw portions of the first and second replacement end effectors.

14. The method of claim 12, wherein the rotating step further comprises

rotating the first receptacle of the mechanical wrist about the pin in a first direction to a first position while rotating the second receptacle of the mechanical wrist about the pin in the first direction to a second position differing from the first position to open or to close jaw portions of the first and second replacement end effectors.

15. The method of claim 12, wherein the rotating step further comprises

rotating the first receptacle of the mechanical wrist about the pin in a first direction to a first position while holding the second receptacle of the mechanical wrist fixed in position to open or to close jaw portions of the first and second replacement end effectors.

16. The method of claim 12, wherein the coupling of the

first and second spring latches further comprises slightly flexing the first and second spring latches to disengage retention slots in the first and second spring latches with catches in the respective first and second receptacles of the mechanical wrist.