Robotic toolkit

• US 9,066,741 B2
• Filed: 05/22/2012
• Issued: 06/30/2015
• Est. Priority Date: 11/01/2010
• Status: Active Grant

• Current Assignee: Atricure, Inc.
• Original Assignee: Atricure, Inc.
• Inventors: Privitera, Salvatore, Monti, Matthew, Harp, Adam, Glithero, Jason Iain, Abner, William J., Stone, Jeffrey
• Primary Examiner(s): MANUEL, GEORGE C
• Application Number:
  US13/477,761
• Publication Number:
  US 20120323256A1
• Time in Patent Office: 1,134 Days
• Field of Search: 606/51
• US Class Current: 1/1
• CPC Class Codes: A61B 18/02 by cooling, e.g. cryogenic techniques devices for cooling specific reflex points of the body within cell-life limits A61H39/06
• CPC Class Codes: A61B 18/1402 Probes for open surgery
• 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 34/30 Surgical robots

Abstract

A robotic surgical instrument comprising: (a) a first jaw including a first bipolar electrical lead; (b) a second jaw including a second bipolar electrical lead; (c) a robotic arm operatively coupled to the first jaw and the second jaw, the robotic arm including a coupling mounted to the first and second jaws that allows the first jaw to be repositioned with respect to the second jaw; and, (d) a surgical tool head including a first electrical load in electrical communication with a first and second electrical terminals, the first surgical tool head adapted to be mounted to the first and second jaws to establish a first junction between the first bipolar electrical lead and the first electrical terminal and a second junction between the second bipolar electrical lead and the second electrical terminal.

Claims

1. A surgical instrument kit comprising:

a robotic arm comprising a first jaw including a first bipolar electrode and a second jaw including a second bipolar electrode, wherein at least one of first jaw and second jaw is repositionable with respect to the other jaw;

a first surgical tool head including a first electrical load in electrical communication with a first pair of electrical terminals, the first surgical tool head adapted to be removably coupled to the robotic arm; and

a second surgical tool head including a second electrical load in electrical communication with a second pair of electrical terminals, the second surgical tool head adapted to be removably coupled to the robotic arm;

wherein the first pair of electrical terminals of the first surgical tool head are adapted to engage the first bipolar electrode and the second bipolar electrode to establish electrical communication between the first bipolar electrode and a first of the first pair of electrical terminals and between the second bipolar electrode and a second of the first pair of electrical terminals;

wherein the second pair of electrical terminals of the second surgical tool head are adapted to engage the first bipolar electrode and the second bipolar electrode to establish electrical communication between the first bipolar electrode and a first of the second pair of electrical terminals and between the second bipolar electrode and a second of the second pair of electrical terminals.

2. The surgical instrument of claim 1, wherein:

the first and second jaws and the first pair of electrical terminals include complementarily engageable surfaces; and

the complementary engageable surfaces include a protruding surface and a relieved surface, where the complementary engageable surfaces cooperate to enhance engagement between the first surgical tool head and the robotic arm.

3. The surgical instrument of claim 1, wherein:

the first and second jaws and the second pair of electrical terminals include complementarily engageable surfaces; and

the complementary engageable surfaces include a protruding surface and a relieved surface, where the complementary engageable surfaces cooperate to enhance engagement between the second surgical tool head and the robotic arm.

4. The surgical instrument of claim 1, wherein:

the first and second jaws sandwich the first pair of electrical terminals therebetween when the robotic arm is coupled to the first surgical tool head; and

,

the first and second jaws sandwich the second pair of electrical terminals therebetween when the robotic arm is coupled to the second surgical tool head.

5. The surgical instrument of claim 1, wherein:

the first surgical tool head comprises at least one of a linear cutter, a cryosurgical probe, a clamp, an occlusion clip applicator, a dissector, an ablation and electrical signal detection device, and an ablation pen; and

,

the second surgical tool head comprises at least one of a linear cutter, a cryosurgical probe, a clamp, an occlusion clip applicator, a dissector, an ablation and electrical signal detection device, and an ablation pen.

6. The surgical instrument of claim 1, wherein the robotic arm includes a first electric lead in electrical communication with the first bipolar electrode and a second electric lead in electrical communication with the second bipolar electrode.

7. The surgical instrument of claim 6, wherein:

the robotic arm includes a coupling adapted to receive a pair of electrical leads from an electric generator; and

,

the coupling is individually connected to the first electric lead and the second electric lead.

8. A surgical instrument kit comprising:

a robotic arm including a first bipolar electrode and a second bipolar electrode;

a first surgical tool head including a first electrical load in electrical communication with a first pair of electrical terminals, the first surgical tool head adapted to be removably coupled to the robotic arm; and

,

a second surgical tool head including a second electrical load in electrical communication with a second pair of electrical terminals, the second surgical tool head adapted to be removably coupled to the robotic arm;

wherein the first pair of electrical terminals of the first surgical tool head are adapted to engage the first bipolar electrode and the second bipolar electrode to establish electrical communication between the first bipolar electrode and a first of the first pair of electrical terminals and between the second bipolar electrode and a second of the first pair of electrical terminals; and

,

wherein the second pair of electrical terminals of the second surgical tool head are adapted to engage the first bipolar electrode and the second bipolar electrode to establish electrical communication between the first bipolar electrode and a first of the second pair of electrical terminals and between the second bipolar electrode and a second of the second pair of electrical terminals.

9. The surgical instrument of claim 8, wherein:

the robotic arm and the first pair of electrical terminals include complementarily engageable surfaces; and

the complementary engageable surfaces include a protruding surface and a relieved surface, where the complementary engageable surfaces cooperate to enhance engagement between the first surgical tool head and the robotic arm.

10. The surgical instrument of claim 8, wherein:

the robotic arm and the second pair of electrical terminals include complementarily engageable surfaces; and

the complementary engageable surfaces include a protruding surface and a relieved surface, where the complementary engageable surfaces cooperate to enhance engagement between the second surgical tool head and the robotic arm.

11. The surgical instrument of claim 8, wherein the robotic arm includes a first electric lead in electrical communication with the first bipolar electrode and a second electric lead in electrical communication with the second bipolar electrode.

12. The surgical instrument of claim 11, wherein:

the robotic arm includes a coupling adapted to receive a pair of electrical leads from an electric generator; and

,

the coupling is individually connected to the first electric lead and the second electric lead.

13. The surgical instrument of claim 8, wherein:

the first surgical tool head comprises at least one of a linear cutter, a cryosurgical probe, a clamp, an occlusion clip applicator, a dissector, an ablation and electrical signal detection device, and an ablation pen; and

,

the second surgical tool head comprises at least one of a linear cutter, a cryosurgical probe, a clamp, an occlusion clip applicator, a dissector, an ablation and electrical signal detection device, and an ablation pen.

14. A method of providing power to a surgical instrument, the method comprising:

coupling a first robotic arm to a separable surgical tool head, the separable surgical tool head having at least two electrical terminals to receive electric current, and the first robotic arm including at least two electrical contacts; and

supplying electric current to the separable surgical tool head via the first robotic arm after coupling the first robotic arm to the separable surgical tool head;

wherein the coupling step includes establishing electrical communication between the at least two electrical contacts of the first robotic arm and the at least two electrical terminals of the separable surgical tool head by making physical contact between the at least two electrical contacts of the first robotic arm and the at least two electrical terminals of the separable surgical tool head.

15. The method of claim 14, further comprising:

repositioning the separable surgical tool head using the first robotic arm after coupling the first robotic arm to the separable surgical tool head; and

,

actuating an electrically driven mechanism associated with the separable surgical tool head using the electric current supplied from the first robotic arm.

16. The method of claim 15, wherein the electrically driven mechanism comprises at least one of a linear cutter, a clamp, a clip applicator, a cautery, and an electric motor.

17. A robotic surgical instrument comprising:

a first jaw including a first bipolar electrical lead;

a second jaw including a second bipolar electrical lead;

a robotic arm operatively coupled to the first jaw and the second jaw, the robotic arm including a coupling mounted to the first and second jaws that allows the first jaw to be repositioned with respect to the second jaw;

a surgical tool head including a first electrical load in electrical communication with a first and second electrical terminals, the first surgical tool head adapted to be mounted to the first and second jaws to establish a first junction between the first bipolar electrical lead and the first electrical terminal and a second junction between the second bipolar electrical lead and the second electrical terminal.

18. The robotic surgical instrument of claim 17, further comprising a housing mounted to the robotic arm so that the robotic arm is rotationally repositionable with respect to the housing, the housing at least partially enclosing a motor that is operatively coupled to the robotic arm to facilitate rotation of the robotic arm with respect to the housing.

19. The robotic surgical instrument of claim 17, wherein the surgical tool head comprises at least one of a linear cutter, a cryosurgical probe, a clamp, an occlusion clip applicator, a dissector, an ablation and electrical signal detection device, and an ablation pen.