Apparatus for removably receiving an end effector for performing surgical operations

Patent metadata

Field	Value
Publication number	US-11357528-B2
Application number	US-202017078313-A
Country	US
Kind code	B2
Filing date	Oct 23, 2020
Priority date	Mar 15, 2016
Publication date	Jun 14, 2022
Grant date	Jun 14, 2022

Abstract

A surgical instrument apparatus for removably receiving an end effector coupled to an elongate control link for actuating the end effector to perform surgical operations is disclosed. The apparatus includes an actuator housing and an elongate shaft extending from the actuator housing and having a bore for receiving the control link. The apparatus also includes an actuator mounted within the actuator housing and includes a clamp aperture disposed to receive the control link while the clamp aperture is being urged into an unclamped state by an opening force, the clamp aperture being operably configured to move between the unclamped state and a clamped state in response to the opening force being released, the aperture in the clamped state being operable to restrain the control link within the actuator for movement in a longitudinal direction substantially aligned with the elongate shaft.

First claim

What is claimed is:

1. A surgical instrument apparatus for removably receiving an end effector coupled to an elongate control link for actuating the end effector to perform surgical operations, the apparatus comprising:
an elongate shaft defining a bore for receiving the control link; and
an actuator including:
a longitudinally movable portion defining a clamp aperture, wherein the clamp aperture has a clamped state and an unclamped state, wherein the actuator is operably configured to move the clamp aperture between the unclamped state and the clamped state in response to an opening force being released from the actuator, wherein the clamp aperture is configured to:
receive the control link within the actuator while the clamp aperture is being urged into the unclamped state by the opening force; and
restrain the control link within the actuator, for movement in a longitudinal direction substantially aligned with the elongate shaft, while the clamp aperture is in the clamped state;

a transversely movable portion for receiving a drive force; and
a coupling disposed between the longitudinally movable portion and the transversely movable portion, the coupling being operable to convert transverse movement of the transversely movable portion into longitudinal movement of the longitudinally movable portion.

2. The apparatus of claim 1 , wherein the clamp aperture comprises:
a channel for receiving the control link; and
a clamp plate disposed to engage and exert a clamping force on the control link when the clamp aperture is in the clamped state, the clamp plate being operable to resiliently deform in response to the opening force causing the clamp plate to disengage from the control link.

3. The apparatus of claim 2 , wherein the clamp plate is mounted to the actuator at a location distal to the channel and includes a cantilevered length extending over the channel, the cantilevered length of the clamp plate is configured to provide the resilient deformation.

4. The apparatus of claim 3 , wherein the cantilevered length comprises:
a first cantilevered length extending beyond the channel; and
a second cantilevered length in offset relation to the first cantilevered length and extending back over the channel, the first and second cantilevered lengths configured to provide the resilient deformation.

5. The apparatus of claim 3 , wherein the clamp plate is mounted to the actuator using a compliant mounting that permits further resilient deformation of the clamp plate about the compliant mounting.

6. The apparatus of claim 2 , wherein the channel includes a material treated to increase friction for preventing slippage of the control link within the channel when the clamp aperture is in the clamped state.

7. The apparatus of claim 1 , further comprising a clamp lever operable to provide the opening force when in an open position thereof.

8. The apparatus of claim 7 further comprising: an actuator housing, wherein the elongate shaft extends from the actuator housing, and wherein the actuator is mounted within the actuator housing.

9. The apparatus of claim 8 wherein the clamp lever in the open position protrudes from the actuator housing and prevents loading of the surgical instrument apparatus into a driver for providing drive forces to the actuator when the clamp aperture is in an open state.

10. The apparatus of claim 8 , further comprising:
a rotational actuator disposed within the actuator housing; and
a torque tube enclosing the elongate control link and extending through the bore of the elongate shaft, the torque tube being coupled to the rotational actuator and having a distal end operable to couple to the end effector for causing rotation of the end effector.

11. The apparatus of claim 10 , wherein the rotational actuator includes:
a rotatable portion coupled to the torque tube;
a transversely movable portion for receiving a drive force; and
a coupling between the transversely movable portion and the rotatable portion of the actuator, the coupling being operable to convert transverse movement of the transversely movable portion into rotation of the rotatable portion and the torque tube.

12. A surgical instrument apparatus for removably receiving an end effector coupled to an elongate control link for actuating the end effector to perform surgical operations, the apparatus comprising:
an elongate shaft defining a bore for receiving the control link; and
an actuator including:
a longitudinally movable portion;
a clamp aperture disposed to receive the control link while the clamp aperture is being urged into an unclamped state by an opening force, the clamp aperture being operably configured to move between the unclamped state and a clamped state in response to the opening force being released, the clamp aperture in the clamped state being operable to restrain the control link within the actuator for movement in a longitudinal direction substantially aligned with the elongate shaft, wherein the clamp aperture is located within the longitudinally moveable portion of the actuator;
a transversely moveable portion; and
a linkage extending between the transversely moveable portion and the longitudinally moveable portion, the linkage being operably configured to translate transverse movement of the transversely moveable portion into longitudinal movement of the longitudinally moveable portion.

13. The apparatus of claim 12 , further comprising an actuator housing, wherein the elongate shaft extends from the actuator housing.

14. A surgical instrument apparatus, comprising:
an end effector coupled to an elongate control link for actuating the end effector to perform surgical operations;
an elongate shaft defining a bore for removably receiving the control link therethrough and for supporting the end effector at a distal end thereof; and
an actuator including:
a longitudinally movable portion;
a clamp aperture disposed to receive the control link while the clamp aperture is being urged into an unclamped state by an opening force, the clamp aperture being operably configured to move between the unclamped state and a clamped state in response to the opening force being released, the clamp aperture in the clamped state being operable to restrain the control link within the actuator for movement in a longitudinal direction substantially aligned with the elongate shaft, wherein the clamp aperture is located within the longitudinally moveable portion of the actuator;
a transversely moveable portion; and
a linkage extending between the transversely moveable portion and the longitudinally moveable portion, the linkage being operably configured to translate transverse movement of the transversely moveable portion into longitudinal movement of the longitudinally moveable portion.

15. The apparatus of claim 14 , further comprising an actuator housing, wherein the elongate shaft extends from the actuator housing.

16. The apparatus of claim 14 , wherein the control link defines an open end operably configured to be received and clamped within the clamp aperture.

Assignees

• Titan Med Inc

Inventors

• Robert Rene
• Hills Jonathan Hess

Classifications

• A61B34/30 Primary

  Surgical robots · CPC title

• A61B2017/00464

  for use with different instruments · CPC title

• A61B2018/00172

  Connectors and adapters therefor · CPC title

• A61B2034/302

  specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities · CPC title

• A61B2017/00314

  Separate linked members · CPC title