Electrosurgical instrument with otomy feature for a teleoperated medical system

Patent metadata

Field	Value
Publication number	US-11534232-B2
Application number	US-201816492608-A
Country	US
Kind code	B2
Filing date	Mar 8, 2018
Priority date	Mar 10, 2017
Publication date	Dec 27, 2022
Grant date	Dec 27, 2022

Abstract

An electrosurgical end effector for a surgical tool to perform teleoperated surgical operations. The electrosurgical end effector comprises a first end effector jaw; a second end effector jaw coupled to the first end effector jaw; and a coupling pin configured to rotatingly couple the first end effector jaw to the second end effector jaw so as to cooperatively rotate open and close about an axis of rotation. The electrosurgical end effector further comprises an actuation mechanism coupled to an end of the first end effector jaw to rotate the first end effector jaw about the coupling pin; an otomy feature coupled to the second end effector jaw; and a first electrical conductor to electrically couple the otomy feature to a generator. In one embodiment, the otomy feature is electrically activated by contact with a cam portion of the first end effector jaw, when opened beyond a predetermined jaw angle.

First claim

What is claimed is:

1. An electrosurgical end effector comprising:
a first end effector jaw;
a second end effector jaw coupled to the first end effector jaw;
a coupling pin extending through the first end effector jaw and the second end effector jaw, the coupling pin configured to rotatingly couple the first end effector jaw to the second end effector jaw;
an actuation mechanism coupled to an end of the first end effector jaw to rotate the first end effector jaw about the coupling pin;
an otomy feature coupled to the second end effector jaw; and
a first electrical conductor to electrically couple the otomy feature to a generator;
wherein the otomy feature is electrically activated by contact with a cam portion of the first end effector jaw;
wherein the cam portion of the first end effector jaw rotates in a first direction about the coupling pin, and at a predetermined jaw angle, the cam portion contacts a base of the otomy feature conducting electrical energy to the otomy feature.

2. The electrosurgical end effector of claim 1 , wherein
the otomy feature is electrically active when the first end effector jaw is opened at and beyond the predetermined jaw angle about the coupling pin with respect to the second end effector jaw; and
the otomy feature is electrically inactive when the first end effector jaw is opened below the predetermined jaw angle about the coupling pin with respect to the second end effector jaw.

3. The electrosurgical end effector of claim 1 , wherein the first end effector jaw is electrically isolated from the second end effector jaw.

4. The electrosurgical end effector of claim 1 , wherein the otomy feature is actuated by the actuation mechanism that rotates the first and second end effector jaws.

5. The electrosurgical end effector of claim 1 , wherein the otomy feature is slideably housed in the second end effector jaw and opening the first end effector jaw past the predetermined jaw angle causes the cam portion of the first end effector jaw to push on the base of the otomy feature thereby sliding the otomy feature distally.

6. The electrosurgical end effector of claim 5 , wherein the otomy feature is biased by a spring to retract into a retracted position within a nonconductive shroud.

7. An electrosurgical tool for a teleoperated surgical system, the
electrosurgical tool comprising:
a pair of end effector jaws rotatingly coupled together at a pivot axis by a pin, a first end effector jaw of the pair of end effector jaws to pivot about the pivot axis with respect to a second end effector jaw of the pair of end effector jaws;
a slidable otomy feature housed in the second end effector jaw;
an actuation mechanism coupled to the first end effector jaw, the actuation mechanism to pivot the first end effector jaw about the second end effector jaw;
a shaft having a distal end coupled to the pair of end effector jaws, the shaft to extend the pair of end effector jaws into a surgical site; and
an interface base coupled to a proximal end of the shaft, the interface base to couple to a robotic slave, the interface base including a first spool to control at least the first end effector jaw;
wherein the otomy feature is mechanically actuated by pivoting of the first end effector jaw about the second end effector jaw.

8. The electrosurgical tool of claim 7 , wherein the otomy feature is mechanically actuated by a drive mechanism in the interface base.

9. The electrosurgical tool of claim 7 , wherein pivoting of the first end effector jaw causes a cam portion of the first end effector jaw to push on an end of the otomy feature, sliding the otomy feature distally.

10. The electrosurgical tool of claim 7 , further comprising:
a spring coupled to the otomy feature to bias the otomy feature in a retracted position within a nonconductive shroud.

11. The electrosurgical tool of claim 10 , further comprising:
a distal stop to hold the spring in place within the nonconductive shroud, the distal stop to prevent the otomy feature from retracting past the distal stop.

12. The electrosurgical tool of claim 10 , further comprising:
a collar around the otomy feature to receive a spring force from the spring to bias the otomy feature in a retracted position within the nonconductive shroud.

13. A method of electrosurgery using an electrosurgical end effector in a
teleoperated surgical system, the method comprising:
rotating a first end effector jaw in a first rotational direction about a second end effector jaw at a coupling pin to a first jaw angle with the second end effector jaw, the first jaw angle between the first end effector jaw and the second end effector jaw sufficient to contact a cam portion of the first end effector jaw to an end of a slideable otomy feature slidingly coupled to the second end effector jaw;
rotating the first end effector jaw in the first rotational direction to a second jaw angle greater than the first jaw angle to slide a second end of the otomy feature past a distal end of the second end effector jaw; and
contacting tissue with the otomy feature to perforate the tissue.

14. The method of claim 13 , further comprising:
retracting the otomy feature by rotating the first end effector jaw in a second rotational direction opposite the first rotational direction to a third jaw angle lesser than the first jaw angle, allowing a biasing spring to slide the otomy feature to a retracted position inside the second end effector jaw.

15. The method of claim 13 , further comprising:
energizing an electrical conductor coupled to the otomy feature.

Assignees

• Intuitive Surgical Operations

Inventors

• Reid Robert C
• Ross Adam
• Orton Michael
• Manzo Scott E
• Schoettgen Benjamin J

Classifications

• A61B2018/00595

  Cauterization · CPC title

• A61B2017/00477

  Coupling (A61B2017/0046 takes precedence) · CPC title

• A61B18/1442

  Probes having pivoting end effectors, e.g. forceps · CPC title

• A61B2018/1452

  including means for cutting (A61B2018/146 takes precedence) · CPC title

• A61B2018/1495

  Electrodes being detachable from a support structure · CPC title