Robotic arms and methods for tissue resection and imaging
US-12089907-B2 · Sep 17, 2024 · US
US2016345994A1 · US · A1
| Field | Value |
|---|---|
| Publication number | US-2016345994-A1 |
| Application number | US-201514722769-A |
| Country | US |
| Kind code | A1 |
| Filing date | May 27, 2015 |
| Priority date | May 27, 2015 |
| Publication date | Dec 1, 2016 |
| Grant date | — |
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A forceps includes a shaft defining first opposed distal recesses, a drive bar slidably disposed within the shaft and defining second opposed distal recesses, and an end effector assembly including first and second jaw members. Each jaw member defines a proximal flange and a distal jaw body. The proximal flanges each define an aperture and a cam slot. A pivot pin extends through the apertures with ends of the pivot pin extending outwardly from the jaw members to be at least partially disposed within the first recesses and fixedly engaged therewith. A drive pin extends through the cam slots with ends of the drive pin extending outwardly from the jaw members to be at least partially disposed within the second recesses and fixedly engaged therewith such that translation of the drive bar relative to the end effector assembly pivots the jaw members between spaced-apart and approximated positions.
Opening claim text (preview).
What is claimed is: 1 . A forceps, comprising: a shaft including opposed first recesses defined at a distal end thereof; a drive bar slidably disposed within the shaft, the drive bar including opposed second recesses defined at a distal end thereof; and an end effector assembly, including: first and second jaw members, each of the first and second jaw members including a proximal flange and a distal jaw body extending distally from the proximal flange, the proximal flange of each of the first and second jaw members including a transverse aperture and a cam slot defined therein; a pivot pin extending through the transverse apertures of the first and second jaw members, wherein ends of the pivot pin extend outwardly from the proximal flanges of the first and second jaw members, the ends of the pivot pin at least partially disposed within the first recesses of the shaft and fixedly engaged therewith; and a drive pin extending through the cam slots of the first and second jaw members, wherein ends of the drive pin extend outwardly from the proximal flanges of the first and second jaw members, the ends of the drive pin at least partially disposed within the second recesses of the drive bar and fixedly engaged therewith such that translation of the drive bar relative to the end effector assembly urges the drive pin through the cam slots, thereby pivoting the first and second jaw members about the pivot pin between a spaced-apart position and an approximated position. 2 . The forceps according to claim 1 , wherein the ends of the pivot pin are welded at least partially within the first recesses of the shaft. 3 . The forceps according to claim 1 , wherein the ends of the drive pin are welded at least partially within the second recesses of the drive bar. 4 . The forceps according to claim 1 , wherein the distal jaw bodies of the first and second jaw members include tissue-treating surfaces configured to grasp tissue therebetween in the approximated position. 5 . The forceps according to claim 4 , wherein the tissue-treating surfaces are configured to conduct energy through tissue grasped therebetween to treat tissue. 6 . The forceps according to claim 1 , further including: a housing having the shaft extending distally therefrom; and a handle assembly coupled to the housing and the drive bar, the handle assembly including a movable handle selectively actuatable for translating the drive bar through the shaft. 7 . The forceps according to claim 1 , wherein the first recesses are at least partially complementary in shape to the pivot pin. 8 . The forceps according to claim 1 , wherein the second recesses are at least partially complementary in shape to the drive pin. 9 . A forceps, comprising: a shaft including a first inwardly-extending lip defined at a distal end thereof; and an end effector assembly, including: first and second jaw members, the first jaw member including a first proximal flange and a first distal jaw body extending distally from the first proximal flange, the first proximal flange including a first notch defined therein and configured to at least partially receive the first lip to define a fulcrum about which the first jaw member is pivotable relative to the second jaw member and the shaft between a spaced-apart position relative to the second jaw member and an approximated position relative to the second jaw member. 10 . The forceps according to claim 9 , further including a drive bar slidably disposed within the shaft, the drive bar including a transverse drive pin disposed at a distal end thereof, wherein the first proximal flange further includes a cam slot defined therethrough, the transverse drive pin operably engaged within the cam slot such that translation of the drive bar relative to the shaft pivots the first and second jaw members between the spaced-apart and approximated positions. 11 . The forceps according to claim 10 , wherein the operable engagement of the transverse drive pin within the cam slot retains the first lip at least partially within the first notch. 12 . The forceps according to claim 10 , further including: a housing having the shaft extending distally therefrom; and a handle assembly coupled to the housing and the drive bar, the handle assembly including a movable handle selectively actuatable for translating the drive bar through the shaft. 13 . The forceps according to claim 9 , wherein the shaft includes a second inwardly-extending lip defined at the distal end thereof, and wherein the second jaw member includes a second proximal flange and a second distal jaw body extending distally from the second proximal flange, the second proximal flange including a second notch defined therein and configured to at least partially receive the second lip to define a fulcrum about which the second jaw member is pivotable relative to the first jaw member and the shaft between the spaced-apart position and the approximated position. 14 . The forceps according to claim 13 , wherein the first and second distal jaw bodies of the first and second jaw members define first and second tissue-treating surfaces configured to grasp tissue therebetween in the approximated position. 15 . The forceps according to claim 14 , wherein the first and second tissue-treating surfaces are configured to conduct energy through tissue grasped therebetween to treat tissue. 16 . A forceps, comprising: a shaft; a drive bar slidably disposed within the shaft, the drive bar including a transverse drive pin engaged thereto towards a distal end thereof; and an end effector assembly including first and second jaw members, the first and second jaw members including respective first and second proximal flanges and respective first and second distal jaw bodies extending distally from the first and second proximal flanges, the first and second proximal flanges fixedly engaged with the shaft at a distal end of the shaft, the first jaw member including a living hinge interconnecting the first proximal flange and the first distal jaw body so as to permit deflection of the first distal jaw body relative to the first proximal flange and the shaft, the first jaw member including a first upright and a first slot defined between the first upright and the first proximal flange, the first slot configured to at least partially receive the transverse drive pin such that translation of the drive bar relative to the end effector assembly urges the transverse drive pin into contact with the first upright, thereby deflecting the first distal jaw body relative to the shaft and the second distal jaw body from an approximated position to a spaced-apart position. 17 . The forceps according to claim 16 , wherein the second distal jaw body is rigidly engaged with the second proximal flange. 18 . The forceps according to claim 16 , wherein the second jaw member includes a living hinge interconnecting the second proximal flange and the second distal jaw body so as to permit deflection of the second distal jaw body relative to the second proximal flange and the shaft, the second jaw member including a second upright and a second slot defined between the second upright and the second proximal flange, the second slot configured to at least partially receive the transverse drive pin such that translation of the drive bar relative to the end effector assembly urges the transverse drive pin into contact with the second upright, thereby deflecting the second distal jaw body relative to the shaft and the first distal jaw body from the approximated posit
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