Surgical device for use with robotic surgical systems

Patent metadata

Field	Value
Publication number	US-11045175-B2
Application number	US-201715676834-A
Country	US
Kind code	B2
Filing date	Aug 14, 2017
Priority date	Aug 14, 2017
Publication date	Jun 29, 2021
Grant date	Jun 29, 2021

Abstract

Surgical devices for use with robotic surgical systems and their methods of use are described. In some embodiments, the surgical device may include an actuator that interfaces with an end effector of an arm of a robotic surgical system. An output from the end effector may actuate the actuator to perform an operation of the surgical device. In some embodiments, the surgical device may include a retainer that retains at least a portion of the surgical device on a distal portion of the arm of the robotic surgical system during actuation. In other embodiments, the surgical device may include a portion that is engaged by a second robotic surgical arm to hold at least a portion of the surgical device stationary relative to the robotic surgical arm engaged with the actuator of the surgical device.

First claim

What is claimed is:

1. A surgical device for use with a robotic surgical system, the surgical device comprising:
a housing having a proximal portion and a distal portion;
an actuator adapted to mechanically interface with an end effector of an arm of the robotic surgical system such that a mechanical output from the end effector of the arm of the robotic surgical system actuates the actuator, wherein the actuator is supported by the housing; and
a compliant sleeve coupled to the proximal portion of the housing and configured to receive and retain a distal portion of the arm of the robotic surgical system inside of the sleeve during actuation of the actuator, wherein the sleeve is configured to form a compression fit with the distal portion of the arm received inside of the sleeve, and wherein the sleeve is configured to maintain the housing and the actuator rotationally and longitudinally stationary relative to the distal portion of the arm.

2. The surgical device of claim 1 , wherein the surgical device includes one or more surgical fasteners, and wherein actuation of the actuator deploys the one or more surgical fasteners from a distal end of the surgical device.

3. The surgical device of claim 1 , further comprising the arm, wherein the sleeve is sized and shaped to be elastically deformed around the distal portion of the arm.

4. The surgical device of claim 1 , wherein an output of the actuator outputs linear movement.

5. The surgical device of claim 1 , wherein an output of the actuator outputs rotational movement.

6. The surgical device of claim 1 , wherein the surgical device has an external diameter smaller than 5 mm.

7. The surgical device of claim 1 , wherein the actuator is configured to be actuated by at least one of rotational motion of the end effector, linear pushing of the end effector, linear pulling of the end effector, opening of the end effector, closing of the end effector, and heating from the end effector.

8. The surgical device of claim 1 , wherein the sleeve is configured to engage the distal portion of the arm located proximal to the end effector.

9. The surgical device of claim 1 , wherein the sleeve is configured to releasably receive and retain the distal portion of the arm.

10. The surgical device of claim 1 , wherein the end effector and the distal portion of the arm are maintained within the compliant sleeve, and wherein the actuator is actuated by linear pushing of the end effector or linear pulling of the end effector relative to the actuator while the housing and the actuator are maintained rotationally and longitudinally stationary relative to the distal portion of the arm.

11. The surgical device of claim 10 , wherein the linear pushing of the end effector or linear pulling of the end effector comprises linear pushing or linear pulling along a longitudinal axis of the arm.

12. The surgical device of claim 1 , wherein the sleeve is configured such that the end effector of the arm does not contact the sleeve when the surgical device is disposed on the arm.

13. A robotic surgical system, comprising:
an arm having a distal portion;
an end effector disposed on the distal portion of the arm; and
a surgical device comprising:
a housing having a proximal portion and a distal portion;
an actuator adapted to mechanically interface with the end effector such that a mechanical output from the end effector of the arm of the robotic surgical system actuates the actuator, wherein the actuator is supported by the housing; and
a compliant sleeve operatively coupled to the housing, wherein the distal portion of the arm is received in an inside of the sleeve to retain the housing on the distal portion of the arm of the robotic surgical system with the end effector engaged with the actuator, and

wherein the sleeve forms a compression fit with the distal portion of the arm received inside of the sleeve, and wherein the sleeve is configured to maintain the housing and the actuator rotationally and longitudinally stationary relative to the distal portion of the arm.

14. The surgical system of claim 13 , wherein the end effector is disposed at least partially within the housing.

15. The surgical system of claim 13 , wherein the surgical device includes one or more surgical fasteners, and wherein actuation of the actuator deploys the one or more surgical fasteners from a distal end of the housing.

16. The surgical system of claim 13 , wherein the sleeve is sized and shaped to be elastically deformed around the distal portion of the arm.

17. The surgical system of claim 13 , wherein an output of the actuator outputs linear movement.

18. The surgical system of claim 13 , wherein an output of the actuator outputs rotational movement.

19. The surgical system of claim 13 , wherein the surgical device has an external diameter smaller than 5 mm.

20. The surgical system of claim 13 , wherein the actuator is actuated by at least one of rotational motion of the end effector, linear pushing of the end effector, linear pulling of the end effector, opening of the end effector, closing of the end effector, electrical current from the end effector, and heating from the end effector.

21. The surgical system of claim 13 , wherein the sleeve comprises rubber.

22. The surgical system of claim 13 , wherein the sleeve has a maximum inner transverse dimension less than a minimum outer transverse dimension of the distal portion of the arm.

23. The surgical system of claim 13 , wherein the end effector comprises forceps.

24. The surgical system of claim 13 , wherein the end effector is mechanically interfaced with the actuator via at least one selected from the group of a hex key, cross, and slot.

25. The surgical system of claim 13 , wherein the sleeve is engaged with the distal portion of the arm located proximal to the end effector.

26. The surgical device of claim 13 , wherein the sleeve is configured to releasably receive and retain the distal portion of the arm.

27. The surgical device of claim 13 , wherein the end effector and the distal portion of the arm are maintained within the compliant sleeve, and wherein the actuator is actuated by linear pushing of the end effector or linear pulling of the end effector relative to the actuator while the housing and the actuator are maintained rotationally and longitudinally stationary relative to the distal portion of the arm.

28. The surgical device of claim 27 , wherein the linear pushing of the end effector or linear pulling of the end effector comprises linear pushing or linear pulling along a longitudinal axis of the arm.

29. The surgical device of claim 13 , wherein the sleeve is configured such that the end effector of the arm does not contact the sleeve when the surgical device is disposed on the arm.

30. A surgical device for use with a robotic surgical system, the surgical device comprising:
a housing having a proximal portion and a distal portion;
an actuator adapted to mechanically interface with an end effector of an arm of the robotic surgical system such that a mechanical output from the end effector of the arm of the robotic surgical system actuates the actuator, wherein the actuator is supported by the housing, and wherein the actuator includes a transmission configured to provide unidirectional actuation of the actuator; and
a compliant sleeve coupled to the

Assignees

• Bard Inc C R

Inventors

• Coelho Jr Donald A
• Conidi John
• Crapo Peter Maughan
• Felix Augustus
• Parker Ian K
• Shah Devang Vijay

Classifications

• A61B17/068 Primary

  Surgical staplers {, e.g. containing multiple staples or clamps}({staplers containing only one staple A61B17/10; magazines or containers for staples A61B17/105;} for performing anastomosis A61B17/115; {staplers in general B25C5/00}) · CPC title

• A61B2017/00477

  Coupling (A61B2017/0046 takes precedence) · CPC title

• A61B17/0469

  Suturing instruments for use in minimally invasive surgery, e.g. endoscopic surgery · CPC title

• A61B2017/0649

  Coils or spirals · CPC title

• A61B17/92

  Impactors or extractors, e.g. for removing intramedullary devices {(insertion or extraction of artificial joints A61F2/4603)} · CPC title