Actuator apparatus for operating a surgical instrument

Patent metadata

Field	Value
Publication number	US-11717340-B2
Application number	US-202117405128-A
Country	US
Kind code	B2
Filing date	Aug 18, 2021
Priority date	May 11, 2017
Publication date	Aug 8, 2023
Grant date	Aug 8, 2023

Abstract

A coupler apparatus for coupling electrical signals between an actuator and an end effector is disclosed. The end effector is disposed at a distal end of an elongate articulated positioner and used to position the end effector for performing surgical operations. The articulated positioner has a central lumen and the apparatus includes an elongate body sized to be slidingly received within the central lumen of the articulated positioner, at least a portion of the body being operable to flex during movement of the articulated positioner. The apparatus also includes a plurality of electrical conductors extending through the body, and a plurality of proximal electrical contacts disposed at a proximal end of the body for removably connecting each of the electrical conductors to respective electrical signal lines at the actuator.

First claim

What is claimed is:

1. A coupler apparatus for coupling electrical signals between an actuator and an end effector disposed at a distal end of an elongate articulated positioner and used to position the end effector for performing surgical operations, the articulated positioner having a central lumen, the apparatus comprising:
an elongate body sized to be slidingly received within the central lumen of the articulated positioner, wherein at least a portion of the body is configured to flex during movement of the articulated positioner;
an electrical conductor extending through the body; and
an electrical contact disposed at a proximal end of the body and being configured to removably connect the electrical conductor to a respective electrical signal line at the actuator.

2. The apparatus of claim 1 , wherein the body includes a channel extending therethrough, the electrical conductor being received in the channel.

3. The apparatus of claim 1 , wherein the proximal electrical contact is peripherally disposed about an outside surface of the proximal end of the body, the electrical contact being electrically connected to the electrical conductor and configured to make contact with a corresponding electrical contact of the actuator.

4. The apparatus of claim 1 , wherein the electrical contact includes an annular ring disposed on an outside surface of the proximal end of the body, the annular ring being electrically connected to the electrical conductor and configured to make contact with a corresponding electrical contact of the actuator while facilitating rotation of the body with respect to the electrical contact of the actuator.

5. The apparatus of claim 1 , wherein the end effector is irremovably attached to a distal end of the body and wherein the electrical conductor terminates in electrical contact with a portion of the end effector.

6. The apparatus of claim 1 , wherein the end effector is removably attached to a distal end of the body and wherein the electrical conductor terminates in a distal electrical contact at a distal end of the body, the distal electrical contact configured to make contact with a corresponding contact of the end effector when connected to the distal end of the body.

7. The apparatus of claim 1 , wherein the body is configured to provide a degree of torsional rigidity and wherein the actuator comprises a mechanical interface configured to receive and retain the body, the mechanical interface further configured to deliver a rotational torque to the body to cause rotation of the end effector.

8. The apparatus of claim 1 , wherein the body comprises a central conduit configured to slidably receive a control link, the control link extending between the actuator and the end effector and configured to cause mechanical actuation of the end effector.

9. The apparatus of claim 1 , further comprising:
a plurality of electrical conductors extending through the body; and
a plurality of proximal electrical contacts disposed at a proximal end of the body and being configured to removably connect each of the electrical conductors to respective electrical signal lines at the actuator.

10. The apparatus of claim 9 , wherein the body comprises a plurality of channels extending therethrough, each electrical conductor being received in one of the plurality of channels.

11. The apparatus of claim 10 , wherein the plurality of proximal electrical contacts are peripherally disposed about an outside surface of the proximal end of the body, each electrical contact being electrically connected to one of the electrical conductors and configured to make contact with corresponding electrical contacts of the actuator.

12. The apparatus of claim 11 , wherein the plurality of proximal electrical contacts comprise a plurality of annular rings spaced apart on an outside surface of the proximal end of the body, each annular ring being electrically connected to one of the electrical conductors and configured to make contact with corresponding electrical contacts of the actuator while facilitating rotation of the body with respect to the electrical contacts of the actuator.

13. An actuator apparatus for operating a surgical instrument comprising an elongate articulated positioner, a coupler, and an end effector, the actuator apparatus comprising:
a mechanical interface configured to at least partially receive and retain an elongate body of the coupler, the mechanical interface being separable from the coupler such that the mechanical interface is configured to removably receive a proximal end of the elongate body, the elongate body configured to be enclosed by the elongate articulated positioner, a distal end of the elongate body connected to the end effector, the mechanical interface further configured to cause actuation of at least one of the elongate articulated positioner, the coupler, or the end effector; and
an actuator electrical contact configured to make electrical contact with a coupler electrical contact of the elongate body when the mechanical interface receives the coupler.

14. The actuator apparatus of claim 13 , wherein the mechanical interface is further configured to transmit a rotational torque to rotate the elongate body, and wherein the actuator electrical contact is further configured to maintain electrical connection with the coupler electrical contact during rotation of the elongate body.

15. The actuator apparatus of claim 14 , wherein the mechanical interface comprises a plurality of gears configured to cause rotation of the mechanical interface.

16. The actuator apparatus of claim 15 , wherein the plurality of gears comprises a gear train and a linear rack gear being configured to drive the gear train.

17. The actuator apparatus of claim 13 , wherein the actuator electrical contact is disposed within a central opening of the mechanical interface.

18. The actuator apparatus of claim 17 , wherein the mechanical interface further comprises one or more surface features in the central opening, and wherein the one or more surface features are configured to engage one or more keyed surfaces of the elongate body of the coupler to prevent rotation of the coupler.

19. The actuator apparatus of claim 13 , wherein the mechanical interface comprises:
an opening configured to receive and retain the proximal end of the elongate body; and
a spool with an electrical conductor wound around the spool, the electrical conductor connected to at least one electrical contact of the plurality of actuator electrical contacts.

20. The actuator apparatus of claim 19 , wherein the spool is configured to be rotated.

21. The actuator apparatus of claim 20 , wherein a portion the electrical conductor is configured to be wound up on the spool or released from the spool during the rotation of the spool.

22. The actuator apparatus of claim 20 , wherein the mechanical interface further comprises a geared drive mechanism, and wherein the spool comprises a geared interface configured to be in contact with the geared drive mechanism such that the geared drive mechanism is configured to cause rotation of the spool.

23. The actuator apparatus of claim 13 , further comprising a control link actuator configured to receive and actuate a control link to cause actuation of the end effector.

Assignees

• Titan Med Inc

Inventors

• Haughton Tim
• Robert Rene

Classifications

• A61B18/1445 Primary

  at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod · CPC title

• A61B34/30

  Surgical robots · CPC title

• A61B90/06

  Measuring instruments not otherwise provided for · CPC title

• A61B2018/00172

  Connectors and adapters therefor · CPC title

• A61B2018/00178

  Electrical connectors · CPC title