Seals and sealing methods for a surgical instrument having an articulated end effector actuated by a drive shaft

• US 9,216,062 B2
• Filed: 02/15/2012
• Issued: 12/22/2015
• Est. Priority Date: 02/15/2011
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Duque, Grant, Murphy, Todd, Burbank, William, Dachs, Gregory W. II
• Primary Examiner(s): Jackson, Gary
• Assistant Examiner(s): JENNESS, NATHAN JAY
• Application Number:
  US13/397,578
• Publication Number:
  US 20120209289A1
• Time in Patent Office: 1,406 Days
• Field of Search: 606/1, 606/205, 277/500, 285/11
• US Class Current: 1/1
• CPC Class Codes: A61B 2017/2948 Sealing means, e.g. for sealing the interior from fluid entry
• CPC Class Codes: A61B 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: F16J 15/32 with elastic sealings, e.g. O-rings

Abstract

Sealing assemblies and methods are disclosed for sealing a surgical instrument having an internal drive shaft subject to lateral displacement. A sealing assembly includes a rigid portion shaped to interface with an instrument shaft of the surgical instrument. A laterally oriented slot is open at a radially perimeter location and configured to receive an o-ring seal via the perimeter location. Apertures are disposed on opposing sides of the slot and open to the slot. The apertures are configured to receive the drive shaft there through and are larger than the drive shaft to accommodate lateral displacement of the drive shaft. The slot includes opposing internal sides spaced to interface with opposed axial surfaces of the o-ring seal. The seal inhibits axial transmission of an insufflated gas and/or bodily fluids while accommodating lateral displacement of the drive shaft.

Claims

1. A seal for a minimally-invasive surgical instrument having a shaft with an actuation component extending through the shaft, the seal comprising:

a main body configured to interface with the instrument shaft of the instrument along a shaft axis of the shaft, wherein the main body comprises;

a first aperture configured to receive the actuation component axially through the first aperture, the first aperture being larger than the actuation component when extending through the first aperture so as to accommodate lateral displacement of the actuation component relative to the shaft axis during actuation of the instrument with the actuation component, and

a first slot in the main body oriented laterally relative to the shaft axis such that the first aperture extends through the slot, the first slot defining opposing axially facing internal surfaces; and

a first sealing body configured to receive the actuation component so as to contact the actuation component about a laterally extending perimeter of the actuation component so as to provide a sealing interface between the first sealing body and the actuation component;

wherein the first slot is configured to receive and allow lateral sliding of the first sealing body therein such that the first sealing body sealingly interfaces with the opposing axially internal surfaces of the slot during the lateral displacement of the actuation component, and wherein the first slot is aligned with the first aperture so as to sealingly receive the actuation component inserted through the first aperture such that the first sealing body inhibits axial transmission of at least one of an insufflate gas or a bodily fluid within the instrument shaft during a minimally invasive procedure.

2. The seal of claim 1, wherein the actuation component comprises a drive shaft or a cable.

3. The seal of claim 1, wherein the first sealing body comprises a first annular sealing body.

4. The seal of claim 3, wherein the first sealing body comprises an O-ring comprising a resilient material.

5. The seal of claim 3, wherein the first annular sealing body has a cross-sectional radius of sufficient magnitude so as to accommodate a range of lateral displacement of the actuation component relative to the instrument shaft such that the opposed axially facing surfaces of the first slot remain in contact with the first annular sealing body.

6. The seal of claim 1, wherein the first slot opens at a first radially perimeter location of the main body such that the first sealing body is laterally insertable via the first radially perimeter opening.

7. The seal of claim 1, wherein the main body comprises:

a rigid portion having an outer perimeter shaped to interface with the instrument shaft of the surgical instrument, the first aperture extending through the rigid portion.

8. The seal of claim 7, wherein the main body comprises a molded portion attached to the rigid portion, the molded portion including the first slot.

9. The seal of claim 8, wherein the molded portion comprises a resilient material.

10. The seal of claim 7, wherein the rigid portion is configured to splice first and second segments of the instrument shaft.

11. The seal of claim 10, wherein the rigid portion comprises distal and proximal radially peripheral portions that interface with and align the spliced first and second segments of the instrument shaft.

12. The seal of claim 1, wherein the main body further comprises:

a second aperture configured to receive an additional actuation component axially through the second aperture, the second aperture being larger than the additional actuation component when extending through the second aperture so as to accommodate lateral displacement of the additional actuation component relative the shaft axis during actuation of the instrument with the additional actuation component, and

a second slot in the main body oriented laterally relative to the shaft axis such that the second aperture extends through the second slot, the second slot defining opposing axially facing internal surfaces;

the seal further comprising;

a second sealing body configured to receive the additional actuation component therethrough, when disposed to laterally slide within the second slot during the lateral displacement of the additional actuation component, so as to contact the additional actuation component about a laterally extending perimeter of the additional actuation component to provide a sealing interface therewith such that the second sealing body inhibits axial transmission of the at least one of an insufflate gas or bodily fluid within the instrument shaft during a minimally invasive procedure.

13. The seal of claim 12, wherein the additional actuation member comprises a drive shaft or actuation cable.

14. The seal of claim 12, wherein each of the first and second sealing member comprise an annular sealing member.

15. The seal of claim 14, wherein each of the first and second slot opens laterally outward such that each of the first and second annular sealing members are laterally insertable within the seal body.

16. The seal of claim 12, wherein the main body comprises a rigid portion, the first and second apertures extending through the main body.

17. The seal of claim 16, wherein a molded portion includes the first and second slots and comprises a resilient material.

18. The seal of claim 17, wherein the rigid portion includes one or more additional apertures extending axially therethrough, each of which is configured to guide a cable or rod routed within the instrument shaft.

19. The seal of claim 18, wherein the molded portion includes one or more apertures corresponding to the one or more additional apertures of the rigid portion, each of which is undersized relative to the cable or rod to provide an interference fit seal for the cable or rod.

20. A minimally invasive surgical instrument comprising:

a surgical instrument shaft having a proximal end and a distal end opposite the proximal end, a shaft axis being defined between the proximal and distal ends;

a seal body along the surgical instrument shaft, a slot being defined in the seal body and having opposing sidewalls perpendicular to the shaft axis, an aperture being defined in the seal body parallel to the shaft axis and intersecting the slot;

an actuator component extending inside the shaft and through the aperture, an outer dimension of the actuator component being smaller than an inner dimension of the aperture where the actuator component extends through the aperture; and

a seal member positioned in the slot, the slot being configured to allow lateral sliding of the seal member in the slot, the seal member having obverse and reverse annular sealing surfaces in lateral sliding contact engagement with the opposing sidewalls of the slot, the seal member being in surrounding contact with the actuator component, the actuator component being in sliding engagement with the seal member.