Methods, systems, and devices relating to surgical end effectors

• US 9,757,187 B2
• Filed: 06/22/2015
• Issued: 09/12/2017
• Est. Priority Date: 06/10/2011
• Status: Active Grant

• Current Assignee: Board of Regents of the University of Nebraska
• Original Assignee: Board of Regents of the University of Nebraska
• Inventors: Farritor, Shane, Fredrick, Tom, Bartels, Joe
• Primary Examiner(s): Layno, Carl H
• Assistant Examiner(s): Morales, Jon Eric C
• Application Number:
  US14/745,587
• Publication Number:
  US 20150289926A1
• Time in Patent Office: 813 Days
• Field of Search: 606 33, 606130, 606170
• 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 2017/2906 Multiple forceps
• CPC Class Codes: A61B 2018/00345 Vascular system
• CPC Class Codes: A61B 2018/00595 Cauterization
• CPC Class Codes: A61B 2018/0063 Sealing
• CPC Class Codes: A61B 2018/1455 having a moving blade for cutting tissue grasped by the jaws
• CPC Class Codes: A61B 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 34/30 Surgical robots

Abstract

The embodiments disclosed herein relate to various medical device components, including components that can be incorporated into robotic and/or in vivo medical devices, and more specifically including end effectors that can be incorporated into such devices. Certain end effector embodiments include various vessel cautery devices that have rotational movement as well as cautery and cutting functions while maintaining a relatively compact structure. Other end effector embodiments include various end effector devices that have more than one end effector.

Claims

1. An end effector for an in vivo device, the end effector comprising:

(a) an actuator housing comprising at least one actuator, wherein the actuator housing is operably coupleable to an arm of an in vivo robotic device, wherein the arm and the actuator housing are configured to be positioned entirely within a cavity of a patient; and

(b) an end effector housing operably coupled to the actuator housing, the end effector housing comprising;

(i) a first end effector rotationally coupled to the end effector housing such that the first end effector is rotatable around a first axis parallel to a longitudinal axis of the actuator housing; and

(ii) a second end effector rotationally coupled to the end effector housing such that the second end effector is rotatable in around a second axis parallel to the longitudinal axis of the actuator housing,

wherein the first and second axes are non-coaxial.

2. The end effector of claim 1, wherein the first end effector is a cautery component and the second end effector is a grasper.

3. The end effector of claim 1, further comprising:

(a) a first end effector rotational gear operably coupled to the first end effector; and

(b) a second end effector rotational gear operably coupled to the second end effector.

4. The end effector of claim 3, further comprising a rotational drive gear operably coupled to the first and second end effector rotational gears.

5. The end effector of claim 4, wherein the at least one actuator comprises a first end effector actuation motor operably coupled to the rotational drive gear, wherein actuation of the first end effector actuation motor causes rotation of the first and second end effectors.

6. The end effector of claim 1, further comprising a retractable shaft operably coupled to the first end effector.

7. The end effector of claim 1, wherein the second end effector is a grasper.

8. The end effector of claim 7, further comprising a grasper driveshaft operably coupled to the grasper, wherein the at least one actuator comprises a second end effector actuation motor operably coupled to the grasper driveshaft.

9. The end effector of claim 8, wherein the grasper driveshaft is configured to move axially between a proximal position and a distal position.

10. The end effector of claim 9, wherein the second end effector actuation motor is configured to cause the grasper driveshaft to move axially, wherein the axial movement of the second end effector driveshaft between the proximal and distal positions causes the grasper to move between closed and open positions.

11. An end effector for an in vivo device, the end effector comprising:

(a) an actuator housing comprising at least one actuator, wherein the actuator housing is operably coupleable to an arm of an in vivo robotic device, wherein the arm and the actuator housing are configured to be positioned entirely within a cavity of a patient; and

(b) an end effector housing operably coupled to the actuator housing, the end effector housing comprising;

(i) a cautery component end effector rotationally coupled to the end effector housing such that the cautery component end effector is rotatable around a first axis parallel to a longitudinal axis of the actuator housing;

(ii) a cautery component rotational gear operably coupled to the cautery component end effector;

(iii) a grasper end effector rotationally coupled to the end effector housing such that the grasper end effector is rotatable around a second axis parallel to the longitudinal axis of the actuator housing; and

(iv) a grasper rotational gear operably coupled to the grasper end effector,

wherein the first and second axes are non-coaxial.

12. The end effector of claim 11, further comprising a rotational drive gear operably coupled to the cautery component and grasper rotational gears.

13. The end effector of claim 12, wherein the at least one actuator comprises a first end effector actuation motor operably coupled to the rotational drive gear, wherein actuation of the first end effector actuation motor causes rotation of the cautery component and grasper end effectors.

14. The end effector of claim 11, further comprising a grasper driveshaft operably coupled to the grasper end effector, wherein the at least one actuator comprises a second end effector actuation motor operably coupled to the grasper driveshaft, wherein the grasper driveshaft is configured to move axially between a proximal position and a distal position.

15. The end effector of claim 14, wherein the second end effector actuation motor is configured to cause the grasper driveshaft to move axially, wherein the axial movement of the grasper driveshaft between the proximal and distal positions causes the grasper end effector to move between closed and open positions.

16. An end effector for an in vivo device, the end effector comprising:

(a) an actuator housing comprising at least one actuator, wherein the actuator housing is operably coupleable to an arm of an in vivo robotic device, wherein the arm and the actuator housing are configured to be positioned entirely within a cavity of a patient; and

(b) an end effector housing operably coupled to the actuator housing, the end effector housing comprising;

(i) a first end effector comprising a retractable cautery component, the retractable cautery component operably coupled to the end effector housing such that the retractable cautery component comprises a retracted position and an extended position, wherein the first end effector is rotatable around a first axis parallel to a longitudinal axis of the actuator housing; and

(ii) a second end effector operably coupled to the end effector housing, wherein the second end effector is rotatable around a second axis parallel to the longitudinal axis of the actuator housing,

wherein the first and second axes are non-coaxial.

17. The end effector of claim 16, further comprising a retractable cautery shaft operably coupled to the retractable cautery component.

18. The end effector of claim 17, further comprising a drive shaft operably coupled to the retractable cautery shaft, whereby rotation of the drive shaft causes the retractable cautery shaft to move between the retracted and extended positions.

19. The end effector of claim 18, wherein the drive shaft is operably coupled to a rotational driven gear.