Surgical instrument with single drive input for two end effector mechanisms

Patent metadata

Field	Value
Publication number	US-11684381-B2
Application number	US-202016836292-A
Country	US
Kind code	B2
Filing date	Mar 31, 2020
Priority date	May 31, 2011
Publication date	Jun 27, 2023
Grant date	Jun 27, 2023

Abstract

Methods for treating tissue, and surgical assemblies and related methods are disclosed in which a single input is used to sequentially articulate two members. A medical device includes an input link movable through an input link range of motion, a jaw coupled with the input link, and a tissue manipulation member coupled to the input link and positioned to manipulate a tissue gripped by the jaw. The input link range of motion includes a first portion and a second portion. The input link within the first portion of the input link range of motion drives the jaw through a jaw range of motion. The input link within the second portion of the input link range of motion drives the tissue manipulation member through a tissue manipulation member range of motion.

First claim

What is claimed is:

1. A medical device, comprising:
a base;
an input link mounted to the base, the input link being rotatable around an input link rotation axis relative to the base;
a first slotted member attached to the input link to rotate with the input link around the input link rotation axis, the first slotted member comprising a first slot having a first shape;
a second slotted member attached to the input link to rotate with the input link around the input link rotation axis, the second slotted member comprising a second slot having a second shape different from the first shape;
a first output link drivingly engaged with the first slot; and
a second output link drivingly engaged with the second slot.

2. The medical device of claim 1 , wherein:
the medical device further comprises an input coupler attached to the input link; and
the input coupler is configured to be rotationally driven by an output coupler of a surgical instrument manipulator.

3. The medical device of claim 1 , wherein:
the first output link is constrained to translate along a first output link direction of motion relative to the base; and
the first output link direction of motion intersects the input link rotation axis.

4. The medical device of claim 1 , wherein:
the first slotted member comprises a first rotational center at which the first slotted member is attached to the input link;
the second slotted member comprises a second rotational center at which the second slotted member is attached to the input link;
within a first range of rotational motion of the input link, the first slot comprises a varying radius relative to the first rotational center, and the second slot comprises a constant radius relative to the second rotational center;
within a second range of rotational motion of the input link, the first slot comprises a constant radius relative to the first rotational center, and the second slot comprises a varying radius relative to the second rotational center; and
the second range of rotational motion is different from the first range of rotational motion.

5. The medical device of claim 4 , wherein:
the medical device further comprises an input coupler attached to rotationally drive the input link; and
the input coupler is configured to be rotationally driven by an output coupler of a surgical instrument manipulator.

6. The medical device of claim 1 , wherein:
on a condition the input link moves through a first range of rotation, the first output link translates relative to the base, and the second output link remains stationary relative to the base; and
on a condition the input link moves through a second range of rotation different from the first range of rotation, the second output link translates relative to the base, and the first output link remains stationary relative to the base.

7. The medical device of claim 6 , wherein:
the medical device further comprises an input coupler attached to rotationally drive the input link; and
the input coupler is configured to be rotationally driven by an output coupler of a surgical instrument manipulator.

8. The medical device of claim 6 , wherein:
the medical device further comprises an end effector, and the end effector comprises a jaw and an additional mechanism;
the first output link is drivingly coupled with the jaw; and
the second output link is drivingly coupled with the additional mechanism.

9. The medical device of claim 8 , wherein:
the jaw is operable to grip tissue; and
the additional mechanism is a cutter operable to cut tissue gripped by the jaw.

10. A medical device, comprising:
a base;
an input link mounted to the base and rotatable around an input link rotation axis relative to the base;
a drive member attached to the input link to rotate with the input link relative to the base; and
an output link drivingly engaged with the drive member such that the output link translates relative to the base through a first range of rotation of the input link, and such that the output link remains stationary relative to the base through a second range of rotation of the input link different from the first range of rotation.

11. The medical device of claim 10 , wherein:
the medical device further comprises an input coupler attached to the input link; and
the input link is configured to be rotationally driven by an output coupler of a robotic surgical instrument manipulator.

12. The medical device of claim 11 , wherein the output link translates relative to the base in an output link direction of motion that intersects the input link rotation axis.

13. The medical device of claim 10 , wherein:
the medical device comprises an end effector;
the end effector comprises a jaw; and
the output link is drivingly coupled with the jaw.

14. The medical device of claim 10 , wherein:
the medical device comprises a staple deploying mechanism; and
the output link is drivingly coupled with the staple deploying mechanism.

15. The medical device of claim 10 , wherein:
the medical device comprises an end effector orientation control mechanism; and
the output link is drivingly coupled with the end effector orientation control mechanism.

16. A medical device comprising:
an input link, a first slotted member coupled to be driven by the input link, a second slotted member coupled to be driven by the input link, a first output link, and a second output link;
the first slotted member comprising a first slot,
the first slot comprising a first segment and a second segment,
the first segment of the first slot having a first shape, and
the second segment of the first slot having a second shape different from the first shape of the first segment of the first slot;
the second slotted member comprising a second slot,
the second slot comprising a first segment and a second segment,
the first segment of the second slot having a first shape,
the second segment of the second slot having a second shape,
the first shape of the first segment of the second slot being different from the first shape of the first segment of the first slot, and
the second shape of the second segment of the second slot being different from the second shape of the second segment of the first slot;
the first output link being drivingly engaged with the first slot of the first slotted member; and
the second output link being drivingly engaged with the second slot of the second slotted member.

17. The medical device of claim 16 , wherein:
an axis of rotation is defined for the input link, and the input link rotates about the axis of rotation in a first range of rotation and a second range of rotation different from the first range of rotation;
the first slotted member comprises a first center of rotation and is coupled to the input link at the first center of rotation;
the second slotted member comprises a second center of rotation and is coupled to the input link at the second center of rotation;
during rotation of the input link in the first range of rotation, the first output link is drivingly engaged with the first segment of the first slot, and the second output link is drivingly engaged with the first segment of the second slot; and
during rotation of the input link in the second range of rotation, the first output link is drivingly engaged with the second segment of the first slot, and the second output link is drivingly engaged with the second segment of the second slot.

18. The medical device of claim 17 , wherein:
the first shape of the first segment of the first slot is a varying

Assignees

• Intuitive Surgical Operations

Inventors

• Brisson Gabriel F
• Loh Alan E
• Kerver Lawrence

Classifications

• A61B17/295 Primary

  combined with cutting implements · CPC title

• A61B2018/1455

  having a moving blade for cutting tissue grasped by the jaws · CPC title

• A61B17/285

  combined with cutting implements · CPC title

• A61B17/320016

  Endoscopic cutting instruments, e.g. arthroscopes, resectoscopes (A61B10/0233, A61B17/29, A61B17/3207 take precedence) · CPC title

• A61B34/30

  Surgical robots · CPC title