Surgical instrument with robotic and manual actuation features

Patent metadata

Field	Value
Publication number	US-11517379-B2
Application number	US-201916575095-A
Country	US
Kind code	B2
Filing date	Sep 18, 2019
Priority date	Jun 30, 2005
Publication date	Dec 6, 2022
Grant date	Dec 6, 2022

Abstract

A surgical instrument comprises a housing and a valve mounted in the housing. The valve is configured to control a flow of a fluid into or out of a surgical site in response to either a robotic actuation of the valve or a manual actuation of the valve. The valve comprises a valve shaft, a receiving member structurally coupled to the valve shaft, and a manual actuation component structurally coupled to the valve shaft and extending from the housing. The receiving member is configured to releasably couple to a driver of a robotic manipulator to receive the robotic actuation from the driver remotely controlled by a surgeon to adjust a state of the valve. The manual actuation component is configured to receive the manual actuation to adjust the state of the valve.

First claim

What is claimed is:

1. A surgical instrument, comprising:
a housing;
a fluid channel; and
a valve mounted in the housing;
wherein the valve is configured to control a flow of a fluid into or out of a surgical site in response to either a robotic actuation of the valve or a manual actuation of the valve and wherein the valve is positioned to control fluid flow within the fluid channel;
wherein the valve comprises:
a valve shaft,
a receiving member structurally coupled to the valve shaft, and
a manual actuation component structurally coupled to the valve shaft and extending from the housing;

wherein the receiving member is configured to releasably couple to a driver of a robotic manipulator to receive the robotic actuation from the driver remotely controlled by a surgeon to adjust a state of the valve; and
wherein the manual actuation component is configured to receive the manual actuation to adjust the state of the valve.

2. The surgical instrument of claim 1 , wherein the robotic actuation of the valve and the manual actuation of the valve both adjust the state of the valve in a same manner.

3. The surgical instrument of claim 1 , wherein rotation of the receiving member causes the valve shaft to control fluid flow by rotating to a first position to open the valve and to a second position to close the valve.

4. The surgical instrument of claim 1 , wherein the valve comprises a pinion gear coupled to the valve shaft.

5. The surgical instrument of claim 1 , wherein the robotic actuation comprises a rotary motion.

6. The surgical instrument of claim 1 , wherein the manual actuation comprises a rotary motion.

7. The surgical instrument of claim 1 , wherein the valve comprises at least one of an electrically operated valve and a magnetically operated valve.

8. The surgical instrument of claim 1 :
wherein the receiving member is a rotatable receiving member; and
wherein the driver is a rotatable driver.

9. The surgical instrument of claim 8 , wherein the rotatable receiving member comprises:
a plurality of inner pins that align with a first opening of the rotatable driver; and
a plurality of outer pins that align with a second opening of the rotatable driver.

10. The surgical instrument of claim 1 :
wherein the valve shaft is a cylindrical shaft comprising a flow channel; and
wherein the surgical instrument further comprises a seal wrapped around the cylindrical shaft to seal the flow channel.

11. The surgical instrument of claim 10 :
wherein the seal is a slanted seal; and
wherein the cylindrical shaft comprises a slanted channel to receive the seal and keep the seal in position as the valve is operated.

12. The surgical instrument of claim 1 , wherein the housing comprises a release lever at a side of the housing to release the surgical instrument from a robotic arm.

Assignees

• Intuitive Surgical Operations

Inventors

• Millman Paul A
• Bailey David W
• Hoornaert Dean F
• Larkin David Q
• Mintz David S

Classifications

• A61B2017/00203

  with speech control or speech recognition · CPC title

• A61B34/37

  Leader-follower robots (A61B34/35 takes precedence) · CPC title

• A61B2034/305

  Details of wrist mechanisms at distal ends of robotic arms · CPC title

• A61M13/003

  Blowing gases other than for carrying powders, e.g. for inflating, dilating or rinsing · CPC title

• A61B34/30 Primary

  Surgical robots · CPC title