Surgical instrument and surgery assist robot

Patent metadata

Field	Value
Publication number	US-12508028-B2
Application number	US-202318339129-A
Country	US
Kind code	B2
Filing date	Jun 21, 2023
Priority date	Jul 28, 2022
Publication date	Dec 30, 2025
Grant date	Dec 30, 2025

Abstract

A surgical instrument according to one or more embodiments may include: a base to be attached to a robot arm; a shaft including one end connected to the base; and a pair of jaw members provided to the other end of the shaft and provided to be rotatable about a first rotation axis so as to be opened and closed to each other, wherein opposing surfaces of the pair of jaw members include groove-shaped recesses, respectively, to hold a clip, and the recess of each of the jaw members includes a first section provided on a side of a distal end of the jaw member and having a first depth and a second section provided on a side of a first rotation axis of the jaw member with respect to the first section and having a second depth greater than the first depth.

First claim

The invention claimed is:

1 . A surgical instrument comprising:
a base to be attached to a robot arm; a shaft including one end connected to the base; and a pair of jaw members provided to the other end of the shaft and provided to be rotatable about a first rotation axis so as to be opened and closed to each other, wherein opposing surfaces of the pair of jaw members include groove-shaped recesses, respectively, to hold a clip, the recess of each of the jaw members includes; a first section provided on a side of a distal end of the jaw member, extending to a distal edge of the jaw member, and having a first depth; a second section provided on a side of the first rotation axis of the jaw member with respect to the first section and having a second depth greater than the first depth; and a connecting portion provided between and connecting the first section and the second section, the first depth of the first section is substantially uniform and the second depth of the second section is substantially uniform, and a depth of the connecting portion gradually changes from the first depth to the second depth in a direction from the first section toward the second section.

2 . The surgical instrument according to claim 1 , wherein
the pair of jaw members are configured to deform the clip to collapse the clip by closing while sandwiching the clip, the clip having a substantially U-shape with a folded portion at a center thereof, and the second section of the recess is provided at a position corresponding to the folded portion of the clip.

3 . The surgical instrument according to claim 2 , wherein
the clip includes a bend portion between the folded portion and each of distal ends of the clip, and the first section of the recess has a predetermined length from the side of the distal end of the jaw member toward the side of the first rotation axis of the jaw member such that the bend portion of the clip comes in contact with the first section of the recess.

4 . The surgical instrument according to claim 1 , wherein
the second section of the recess has the second depth smaller than a thickness, in a depth direction of the recess, of the clip before deformation of the clip.

5 . The surgical instrument according to claim 1 , wherein
the recess of the jaw member is provided such that a length of the first section is larger than a length of the second section in a direction from the side of the distal end of the jaw member toward the side of the first rotation axis.

6 . The surgical instrument according to claim 1 , wherein
each of the first section, the connecting portion, and the second section of the recess of the jaw member has a substantially V-shape in a cross-section thereof.

7 . The surgical instrument according to claim 1 , further comprising
a support member that supports the pair of jaw members to be rotatable about the first rotation axis, wherein the shaft supports the support member to be rotatable about a second rotation axis.

8 . The surgical instrument according to claim 1 , wherein
the first section has a first width and the second section has a second width greater than the first width, and the first width of the first section is substantially uniform and the second width of the second section is substantially uniform, such that the connecting portion gradually changes in width from the first width to the second width in the direction from the first section toward the second section.

9 . A surgical instrument comprising:
a base to be attached to a robot arm; a shaft including one end connected to the base; and a first jaw member and a second jaw member which are provided to the other end of the shaft and provided to be rotatable about a first rotation axis so as to be opened and closed to each other, wherein an opposing surface of the first jaw member opposed to the second jaw member includes a groove-shaped first recess to hold a clip, an opposing surface of the second jaw member opposed to the first jaw member includes a groove-shaped second recess to hold the clip, the first recess includes a first section provided on a side of a distal end of the first jaw member, extending to a distal edge of the first jaw member, and having a first depth; a second section provided on a side of the first rotation axis of the first jaw member with respect to the first section and having a second depth greater than the first depth; and a first connecting portion provided between and connecting the first section and the second section, the first depth of the first section is substantially uniform and the second depth of the second section is substantially uniform, a depth of the connecting portion gradually changes from the first depth to the second depth in a direction from the first section toward the second section, the second recess includes; a third section provided on a side of a distal end of the second jaw member, extending to the distal edge of the second jaw member, and having a third depth; a fourth section provided on a side of the first rotation axis of the second jaw member with respect to the third section and having a fourth depth greater than the third depth; and a second connecting portion provided between and connecting the third section and the fourth section, the third depth of the third section is substantially uniform and the fourth depth of the fourth section is substantially uniform, and a depth of the second connecting portion gradually changes from the third depth to the fourth depth in a direction from the third section toward the fourth section.

10 . The surgical instrument according to claim 9 , wherein
the first and second jaw members are configured to deform the clip to collapse the clip by closing while sandwiching the clip, the clip having a substantially U-shape with a folded portion at a center of the clip, and the second section of the first recess and the fourth section of the second recess are provided at positions corresponding to the folded portion of the clip.

11 . The surgical instrument according to claim 10 , wherein
the clip includes a first bend portion between the folded portion and a first distal end of the clip and a second bend portion between the folded portion and a second distal end of the clip, the first section of the first recess has a predetermined length from the side of the distal end of the first jaw member to the side of the first rotation axis such that the first bend portion of the clip comes in contact with the first section of the first recess, and the third section of the second recess has a predetermined length from the side of the distal end of the second jaw member toward the side of the first rotation axis such that the second bend portion of the clip comes in contact with the third section of the second recess.

12 . The surgical instrument according to claim 9 , wherein
the second section of the first recess has the second depth smaller than a thickness of the clip before deformation of the clip, and the fourth section of the second recess has the fourth depth smaller than the thickness of the clip before deformation of the clip.

13 . The surgical instrument according to claim 9 , wherein
the first recess of the first jaw member is provided such that, in a direction from the side of the distal end of the first jaw member toward the side of the first rotation axis, a length of the first section is larger than a length of the second section, and the second recess of the second jaw member is provided such that, in a direction from the side of the distal end of the second jaw member toward the side of the first rotation a

Assignees

• Medicaroid Corp

Inventors

• Takahashi Kaoru
• Kurihara Gen

Classifications

• A61B34/30

  Surgical robots · CPC title

• A61B2017/00477

  Coupling (A61B2017/0046 takes precedence) · CPC title

• A61B17/122

  Clamps or clips, e.g. for the umbilical cord {(for the vas deferens A61F6/206)} · CPC title

• A61B17/10 Primary

  for applying or removing wound clamps {, e.g. containing only one clamp or staple (A61B17/076 takes precedence; containing multiple wound clamps A61B17/068)}; Wound clamp magazines · CPC title

• A61B17/1285 Primary

  for minimally invasive surgery · CPC title