Methods, systems, and devices relating to surgical end effectors

• US 9,060,781 B2
• Filed: 06/11/2012
• Issued: 06/23/2015
• Est. Priority Date: 06/10/2011
• Status: Expired due to Fees

• Current Assignee: Board of Regents of the University of Nebraska
• Original Assignee: Board of Regents of the University of Nebraska
• Inventors: Farritor, Shane, Frederick, Tom, Bartels, Joe
• Primary Examiner(s): Layno, Carl H
• Assistant Examiner(s): Morales, Jon Eric C
• Application Number:
  US13/493,725
• Publication Number:
  US 20130041360A1
• Time in Patent Office: 1,107 Days
• Field of Search: 606/33, 606/130, 606/170
• US Class Current: 1/1
• 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 dual end effector devices that have more than one end effector.

Claims

1. An in-vivo vessel sealing end effector, the end effector comprising:

(a) an in vivo device body operably coupled to an arm of an in vivo robotic device, wherein the arm and the device body are configured to be positioned entirely within a cavity of a patient, the device body comprising;

(i) a cautery component actuation motor;

(ii) a cutting component actuation motor;

(iii) a jaw actuation motor;

(iv) a cautery component shaft disposed within the body and operably coupled to the jaw actuation motor; and

(v) an electrical connection rotatably fixed to the cautery component shaft;

(vi) a first slip ring coupled to the device body, wherein the first slip ring is configured to maintain electrical contact with electrical connection during rotation of the cautery component shaft;

(b) a bipolar vessel cautery component operably coupled to the device body, the cautery component comprising;

(i) a stationary jaw coupled to a distal end of the cautery component shaft;

(ii) a mobile jaw pivotally coupled to the distal end of the cautery component shaft; and

(iii) a cutting component operably coupled to the cutting component actuation motor,

wherein the cautery component is operably coupled to the cautery component actuation motor, and

wherein the electrical connection is electrically coupled to one of the mobile jaw and the stationary jaw, and

(c) an external electrical source electrically coupled to the first slip ring.

2. The sealing end effector of claim 1, further comprising a second slip ring coupled to the device body, wherein the second slip ring is configured to maintain electrical contact with the cautery component shaft during rotation of the cautery component shaft, wherein the second slip ring is electrically coupled to the external electrical source.

3. The sealing end effector of claim 1, wherein the stationary jaw is configured to provide a stable base to support a vessel to be cauterized.

4. The sealing end effector of claim 1, further comprising a threaded collar rotatably coupled to the jaw actuation motor, wherein the collar is disposed around and threadably coupled with the cautery component shaft such that rotation of the collar causes axial movement of the cautery component shaft, thereby causing the mobile jaw to move between open and closed positions.

5. The sealing end effector of claim 1, wherein the cautery component actuation motor is rotatably coupled to the cautery component shaft such that rotation of the cautery component actuation motor causes rotation of the cautery component shaft, thereby causing rotation of the mobile and stationary jaws.

6. The sealing end effector of claim 1, wherein the cautery component is rotatable about an axis parallel with the cautery component shaft.

7. The sealing end effector of claim 1, wherein the overall length of the device body is under about 3 inches.

8. The sealing end effector of claim 1, wherein the overall length of the cautery component is under about 1.5 inches.

9. The sealing end effector of claim 1, further comprising:

(a) a collar rotatably coupled to the cutting component actuation motor;

(b) a translation pin fixedly coupled to the cutting component and operably coupled to the collar,

such that rotation of the collar causes axial movement of the cutting component between retracted and deployed positions.

10. An in-vivo vessel sealing end effector the end effector comprising:

(a) an in vivo device body operably coupled to an arm of an in vivo robotic device, wherein the arm and the device body are configured to be positioned entirely within a cavity of a patient, the device body comprising;

(i) a cautery component actuation motor;

(ii) a cutting component actuation motor;

(iii) a jaw actuation motor; and

(iv) a cautery component shaft disposed within the body and operably coupled to the jaw actuation motor;

(b) a bipolar vessel cautery component operably coupled to the device body, the cautery component comprising;

(i) a stationary jaw coupled to a distal end of the cautery component shaft;

(ii) a mobile jaw pivotally coupled to the distal end of the cautery component shaft;

(iii) a cutting component operably coupled to the cutting component actuation motor;

(iv) a first threaded collar rotatably coupled to the cutting component actuation motor; and

(v) a translation pin fixedly coupled to the cutting component and threadably coupled to the first threaded collar, such that rotation of the first threaded collar causes axial movement of the cutting component between retracted and deployed positions,

wherein the cautery component is operably coupled to the cautery component actuation motor.

11. The sealing end effector of claim 10, further comprising:

(a) an electrical connection rotatably fixed to the cautery component shaft, wherein the electrical connection is electrically coupled to one of the mobile jaw and the stationary jaw;

(b) a first slip ring coupled to the device body, wherein the first slip ring is configured to maintain electrical contact with electrical connection during rotation of the cautery component shaft;

(c) an external electrical source electrically coupled to the first slip ring; and

(d) a second slip ring coupled to the device body, wherein the second slip ring is configured to maintain electrical contact with the cautery component shaft during rotation of the cautery component shaft, wherein the second slip ring is electrically coupled to the external electrical source.

12. The sealing end effector of claim 10, further comprising a second threaded collar rotatably coupled to the jaw actuation motor, wherein the second collar is disposed around and threadably coupled with the cautery component shaft such that rotation of the second collar causes axial movement of the cautery component shaft, thereby causing the mobile jaw to move between open and closed positions.

13. The sealing end effector of claim 10, wherein the cautery component actuation motor is rotatably coupled to the cautery component shaft such that rotation of the cautery component actuation motor causes rotation of the cautery component shaft, thereby causing rotation of the mobile and stationary jaws.

14. The sealing end effector of claim 10, wherein the stationary jaw is configured to provide a stable base to support a vessel to be cauterized.

15. A robotic surgical device, comprising:

(a) a device body;

(b) at least one robotic arm operably coupled with the device body, wherein the at least one robotic arm is configured to be positioned entirely within a patient;

(c) a vessel-sealing end effector operably coupled to the at least one robotic arm, the end effector comprising;

(i) an end effector body comprising;

(A) a cautery component actuation motor;

(B) a cutting component actuation motor;

(C) a jaw actuation motor;

(D) a cautery component shaft rotatably disposed within the end effector body; and

(E) a first collar operably coupled to the jaw actuation motor, wherein the first threaded collar is disposed around and operably coupled to the cautery component shaft; and

(ii) a bipolar vessel cautery component operably coupled to the end effector body, the cautery component comprising;

(A) a stationary jaw coupled to a distal end of the cautery component shaft;

(B) a mobile jaw pivotally coupled to the distal end of the cautery component shaft; and

(C) a cutting component operably coupled to the cutting component actuation motor,

wherein the cautery component is operably coupled to the cautery component actuation motor.

16. The robotic surgical device of claim 15, wherein the stationary jaw is configured to provide a stable base to support a vessel to be cauterized.

17. The robotic surgical device of claim 15, wherein the first collar is threadably coupled with the cautery component shaft such that rotation of the collar causes axial movement of the cautery component shaft, thereby causing the mobile jaw to move between open and closed positions.

18. The robotic surgical device of claim 15, wherein the cautery component actuation motor is rotatably coupled to the cautery component shaft such that rotation of the cautery component actuation motor causes rotation of the cautery component shaft, thereby causing rotation of the mobile and stationary jaws.

19. The robotic surgical device of claim 15, further comprising:

(a) a second collar rotatably coupled to the cutting component actuation motor;

(b) a translation pin fixedly coupled to the cutting component and operably coupled to the second collar,

such that rotation of the second collar causes axial movement of the cutting component between retracted and deployed positions.

20. The robotic surgical device of claim 15, further comprising:

(a) an electrical connection rotatably fixed to the cautery component shaft, wherein the electrical connection is electrically coupled to one of the mobile jaw and the stationary jaw;

(b) a first slip ring coupled to the device body, wherein the first slip ring is configured to maintain electrical contact with electrical connection during rotation of the cautery component shaft;

(c) an external electrical source electrically coupled to the first slip ring; and

(d) a second slip ring coupled to the device body, wherein the second slip ring is configured to maintain electrical contact with the cautery component shaft during rotation of the cautery component shaft, wherein the second slip ring is electrically coupled to the external electrical source.