Ultrasonic surgical instruments with control mechanisms

• US 9,820,768 B2
• Filed: 06/29/2012
• Issued: 11/21/2017
• Est. Priority Date: 06/29/2012
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon, LLC (Johnson & Johnson)
• Inventors: Gee, Jacob S., Stulen, Foster B., Houser, Kevin L., Faller, Craig N., Rhee, Sora, Dannaher, William D., Johnson, Gregory W.
• Primary Examiner(s): Anderson, Gregory
• Assistant Examiner(s): SIMPSON, SARAH A
• Application Number:
  US13/538,733
• Publication Number:
  US 20140005681A1
• Time in Patent Office: 1,971 Days
• Field of Search: 606169, 606205, 606207, 606208
• CPC Class Codes: A61B 17/320092 with additional movable means for clamping or cutting tissue, e.g. with a pivoting jaw
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2017/00305 Constructional details of the flexible means
• CPC Class Codes: A61B 2017/00323 Cables or rods
• CPC Class Codes: A61B 2017/00327 with actuating members moving in opposite directions
• CPC Class Codes: A61B 2017/00526 Methods of manufacturing
• CPC Class Codes: A61B 2017/00734 battery operated
• CPC Class Codes: A61B 2017/22015 with details of the transmission member
• CPC Class Codes: A61B 2017/22018 segmented along its length
• CPC Class Codes: A61B 2017/320071 with articulating means for working tip
• CPC Class Codes: A61B 2017/320093 additional movable means performing cutting operation
• CPC Class Codes: A61B 2017/320094 additional movable means performing clamping operation
• CPC Class Codes: A61B 2017/320095 with sealing or cauterizing means
• CPC Class Codes: A61B 2090/508 with releasable brake mechanisms
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61F 9/00745 using mechanical vibrations, e.g. ultrasonic

Abstract

Various embodiments are directed to surgical instruments for use in handheld applications or with robotic surgical systems. The surgical instruments may comprise an end effector to treat tissue and a shaft extending proximally from the end effector along a longitudinal axis. Some embodiments may be usable with an instrument mounting portion of a robotic surgical instrument. For example, the shaft may extend proximally to the instrument mounting portion.

Claims

1. A surgical instrument for use with a robotic surgical system, the surgical instrument comprising:

an end effector to treat tissue;

a shaft extending proximally from the end effector along a longitudinal axis;

a housing, wherein the shaft is coupled to a distal end of the housing;

a first magnetic element positioned within the housing, wherein the first magnetic element comprises a switch;

a first cable coupled to the first magnetic element and extending distally from the first magnetic element and distally through the shaft such that actuation of the first magnetic element causes the first cable to translate along the longitudinal axis;

a rotatable body positioned within the housing and rotatable between a first angular position and a second angular position;

a first actuation member extending from the rotatable body to the switch of the first magnetic element such that, at the first angular position of the rotatable body, the first actuation member causes the switch of the first magnetic element to assume a first position where the first magnetic element is actuated, and, at the second angular position of the rotatable body, the first actuation member causes the switch of the first magnetic element to assume a second position where the first magnetic element is not actuated;

a second magnetic element positioned within the housing, wherein the second magnetic element comprises a switch;

a second cable coupled to the second magnetic element and extending distally from the second magnetic element and distally through the shaft such that actuation of the second magnetic element causes the second cable to translate along the longitudinal axis; and

a second actuation member extending from the rotatable body to the switch of the second magnetic element such that, at the first angular position of the rotatable body, the second actuation member causes the switch of the second magnetic element to assume a first position where the second magnetic element is actuated, and, at the second angular position of the rotatable body, the second actuation member causes the switch of the second magnetic element to assume a second position where the second magnetic element is not actuated.

2. The surgical instrument of claim 1, wherein the rotatable body is also rotatable to a third angular position at which the first actuation member causes the switch of the first magnetic element to assume the second position where the first magnetic element is not actuated and the second actuation member causes the switch of the second magnetic element to assume the first position where the second magnetic element is actuated.

3. The surgical instrument of claim 1, further comprising:

a third magnetic element positioned within the housing, wherein the third magnetic element comprises a switch;

a third cable coupled to the third magnetic element and extending distally from the third magnetic element and distally through the shaft such that actuation of the third magnetic element causes the third cable to translate along the longitudinal axis; and

a third actuation member extending from the rotatable body to the switch of the third magnetic element.

4. The surgical instrument of claim 3, wherein, at the first angular position, the first and second magnetic elements are actuated and the third magnetic element is not actuated, and wherein the rotatable body is rotatable:

to a third angular position where the first magnetic element is actuated and the second and third magnetic elements are not actuated; and

to a fourth angular position where the first, second, and third magnetic elements are not actuated.

5. The surgical instrument of claim 4, wherein the rotatable body is rotatable:

to a fifth angular position where the first and second magnetic elements are not actuated and the third magnetic element is actuated; and

to a sixth angular position where the first magnetic element is not actuated and the second and third magnetic elements are actuated.

6. A surgical instrument for use with a robotic surgical system, the surgical instrument comprising:

an end effector to treat tissue;

a shaft extending proximally from the end effector along a longitudinal axis;

a housing, wherein the shaft is coupled to a distal end of the housing;

a first magnetic element positioned within the housing, wherein the first magnetic element comprises a switch;

a first cable coupled to the first magnetic element and extending distally from the first magnetic element and distally through the shaft such that actuation of the first magnetic element causes the first cable to translate along the longitudinal axis;

a rotatable body positioned within the housing and rotatable between a first angular position and a second angular position;

a first actuation member extending from the rotatable body to the switch of the first magnetic element such that, at the first angular position of the rotatable body, the first actuation member causes the switch of the first magnetic element to assume a first position where the first magnetic element is actuated, and, at the second angular position of the rotatable body, the first actuation member causes the switch of the first magnetic element to assume a second position where the first magnetic element is not actuated;

a second magnetic element positioned within the housing, wherein the second magnetic element comprises a switch;

a second cable coupled to the second magnetic element and extending distally from the second magnetic element and distally through the shaft such that actuation of the second magnetic element causes the second cable to translate along the longitudinal axis;

a second rotatable body positioned within the housing; and

a second actuation member extending from the second rotatable body to a the switch of the second magnetic element such that rotation of the second rotatable body alternately transitions the switch of the second magnetic element from a first position where the second magnetic element is actuated to a second position where the second magnetic element is not actuated.

7. A surgical instrument for use with a robotic surgical system, the surgical instrument comprising:

an end effector to treat tissue;

a shaft extending proximally from the end effector along a longitudinal axis, wherein the shaft comprises a flexible articulation joint;

a housing, wherein the shaft is coupled to a distal end of the housing;

a first magnetic element positioned within the housing, wherein the first magnetic element comprises a switch;

a first cable coupled to the first magnetic element and extending distally from the first magnetic element and distally through the shaft such that actuation of the first magnetic element causes the first cable to translate along the longitudinal axis;

a rotatable body positioned within the housing and rotatable between a first angular position and a second angular position; and

a first actuation member extending from the rotatable body to the switch of the first magnetic element such that, at the first angular position of the rotatable body, the first actuation member causes the switch of the first magnetic element to assume a first position where the first magnetic element is actuated, and, at the second angular position of the rotatable body, the first actuation member causes the switch of the first magnetic element to assume a second position where the first magnetic element is not actuated;

wherein the first cable is coupled to the shaft distally from the flexible articulation joint and offset from the longitudinal axis such that proximal translation of the first cable causes pivoting of the end effector away from the longitudinal axis towards the first cable.

8. The surgical instrument of claim 7, wherein the end effector comprises an ultrasonic blade, further comprising a transducer assembly positioned distally from the flexible articulation joint and acoustically coupled to the ultrasonic blade.

9. A surgical instrument for use with a robotic surgical system, the surgical instrument comprising:

an end effector to treat tissue;

a shaft extending proximally from the end effector along a longitudinal axis;

a housing, wherein the shaft is coupled to a distal end of the housing;

a first magnetic element positioned within the housing, wherein the first magnetic element comprises a switch;

a first cable coupled to the first magnetic element and extending distally from the first magnetic element and distally through the shaft such that actuation of the first magnetic element causes the first cable to translate along the longitudinal axis;

a rotatable body positioned within the housing and rotatable between a first angular position and a second angular position;

a first actuation member extending from the rotatable body to the switch of the first magnetic element such that, at the first angular position of the rotatable body, the first actuation member causes the switch of the first magnetic element to assume a first position where the first magnetic element is actuated, and, at the second angular position of the rotatable body, the first actuation member causes the switch of the first magnetic element to assume a second position where the first magnetic element is not actuated

a second rotatable body; and

a second cable coupled to the second rotatable body and extending distally from the rotatable body through the shaft such that rotation of the second rotatable body causes the second cable to translate along the longitudinal axis.

10. A surgical instrument for use with a robotic surgical system, the surgical instrument comprising:

a plate;

a shaft extending distally from the plate along a longitudinal axis;

an end effector to treat tissue positioned distally from the shaft;

a first magnetic element comprising a body, a plunger, and a switch, wherein the switch comprises a first position that energizes the first magnetic element to at least partially retract the plunger into the body and a second position that de-energizes the first magnetic element to release the plunger;

a first cable coupled to the first magnetic element and extending distally through the shaft;

a rotatable body coupled to the plate, wherein the rotatable body is rotatable between a first angular position and a second angular position;

an actuation member extending from the rotatable body to the switch, wherein when the rotatable body is at the first angular position, the actuation member transitions the switch to the first position, and wherein when the rotatable body is at the second angular position, the actuation member transitions the switch to the second position.

11. The surgical instrument of claim 10, further comprising:

a second magnetic element comprising a second body, a second plunger, and a second switch, the second switch comprising a first position that energizes the second magnetic element to at least partially retract the second plunger into the second body and a second position that de-energizes the second magnetic element to release the second plunger;

a second cable coupled to the second magnetic element and extending distally through the shaft; and

a second actuation member extending from the rotatable body to the second switch, wherein when the rotatable body is at a third angular position, the second actuation member transitions the second switch to the first position, and wherein when the rotatable body is at a fourth angular position, the second actuation member transitions the second switch to the second position.

12. The surgical instrument of claim 11, wherein when the rotatable body is in the first angular position, the second actuation member transitions the second switch to the second position.