Surgical end effectors having angled tissue-contacting surfaces

  • US 9,907,620 B2
  • Filed: 03/03/2016
  • Issued: 03/06/2018
  • Est. Priority Date: 06/28/2012
  • Status: Active Grant
First Claim
Patent Images

1. A robotic system, comprising:

  • a robotic manipulator;

    a generator;

    an electrosurgical tool configured to electrically communicate with the generator, the electrosurgical tool comprising;

    a tool mounting portion;

    an elongate shaft assembly that is operably couplable to the robotic manipulator by the tool mounting portion;

    an articulation joint extending distally from the elongate shaft assembly, wherein the articulation joint comprises;

    a proximal joint portion coupled to the elongate shaft assembly; and

    a distal joint portion movably coupled to the proximal joint portion, wherein the distal joint portion is movable in a plurality of planes relative to the proximal joint portion; and

    a distal interface portion extending from the distal joint portion; and

    an interchangeable end effector releasably couplable to the electrosurgical tool, comprising;

    a proximal interface portion releasably couplable to the distal interface portion of the electrosurgical tool to couple the interchangeable end effector to the electrosurgical tool;

    a first curved jaw member, comprising;

    a first jaw body extending longitudinally along a length of the first jaw member, the first jaw body comprising;

    a first planar tissue gripping surface;

    a first positively-angled tissue-contacting surface extending from the first planar tissue gripping surface away from the first jaw body; and

    a first negatively-angled tissue-contacting surface extending from the first planar tissue gripping surface toward the first jaw body;

    a second curved jaw member, wherein at least one of the first jaw member and the second jaw member is movable relative to the other one of the first jaw member and the second jaw member between an open position and a closed position to capture tissue therebetween, and wherein the end effector is configured to deliver RF energy generated by the generator to the tissue captured between the first jaw member and the second jaw member, and wherein the second jaw member comprises;

    a second jaw body extending longitudinally along a length of the second jaw member, the second jaw body comprising;

    a second planar tissue gripping surface; and

    a second positively-angled tissue-contacting surface extending from the second planar tissue gripping surface away from the second jaw body and toward the first jaw body.

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