Wristed robotic tool with replaceable end-effector cartridges

Patent metadata

Field	Value
Publication number	US-9358031-B2
Application number	US-23879405-A
Country	US
Kind code	B2
Filing date	Sep 28, 2005
Priority date	Apr 19, 2001
Publication date	Jun 7, 2016
Grant date	Jun 7, 2016

Abstract

In one embodiment of the invention, a replaceable electrosurgical end effector cartridge is provided to couple to a mechanical wrist of a surgical instrument for a robotic surgical system. The replaceable electrosurgical end effector cartridge includes two end effectors, a fastener to rotatably couple the two end effectors together, and a cam mechanism. At least one of the two end effectors is a moveable end effector having a jaw portion, an off-center portion, and a base portion. The cam mechanism is coupled to the base portion of the at least one moveable end effector to pivot it about the fastener to open and close the jaw portion of the at least one moveable end effector with respect to the other.

First claim

What is claimed is:

1. A robotic surgical tool comprising:
a pair of end effectors rotatingly coupled together at a pivot point, a first end effector of the pair of end effectors being moveable about the pivot point to open and close relative to a second end effector of the pair of end effectors;
a cam mechanism, including a drive pin within at least one linear cam slot, the cam mechanism coupled to an end of at least the first end effector to pivot the first end effector about the pivot point, the cam mechanism to translate a linear motion of the drive pin into the pivotal motion of the first end effector;
an actuation mechanism to couple to the cam mechanism to control the pivotal motion of the first end effector about the pivot point;
a shaft having a distal end to extend the pair of end effectors 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.

2. The robotic surgical tool of claim 1 , wherein
the pair of end effectors and the cam mechanism are part of a replaceable cartridge and the robotic surgical tool further comprises
a receptacle to receive and hold the replaceable cartridge.

3. The robotic surgical tool of claim 2 , wherein
the robotic surgical tool is an electro-surgical tool,
the pair of end effectors are formed of a conductive material,
the interface base includes an electrical connector to couple to a generator, and
the robotic surgical tool further includes
at least one wire having a first end coupled to the electrical connector, the at least one wire routed down the shaft to the receptacle, the at least one wire having a second end to electrically couple to at least one of the pair of end effectors for electro-cautery.

4. The robotic surgical tool of claim 1 , further comprising
a first cable routed in the shaft between the actuation mechanism and the interface base, the first cable coupled to the actuation mechanism and the first spool to control the pivotal motion of at least the first end effector, wherein
the actuation mechanism is a pulley, and
the first cable is a first cable loop coupled to the pulley, the first cable loop having a first end wrapped around the first spool of the interface base in a first direction and a second end wrapped around the first spool in a second direction opposite the first to control the pivotal motion of at least the first end effector.

5. The robotic surgical tool of claim 1 , further comprising:
a mechanical wrist coupled between the distal end of the shaft and the cam mechanism, the mechanical wrist to yaw, pitch, or yaw and pitch the pair of end effectors.

6. The robotic surgical tool of claim 5 , wherein
the shaft is rotatable to rotate the pair of end effectors together.

7. The robotic surgical tool of claim 1 , wherein
the cam mechanism translates the linear motion of a rod into the pivotal motion of the first end effector.

8. The robotic surgical tool of claim 1 , wherein
the pair of end effectors are rotatingly coupled together with a nut and a bolt.

9. The robotic surgical tool of claim 1 , wherein
the pair of end effectors are rotatingly coupled together with a rivet.

10. A robotic surgical system including:
an electrical generator to generate an electrical current; and
a robotic surgical tool having an electrical connector to couple to the electrical generator to receive the electrical current, the robotic surgical tool further comprising:
an interface base coupled to the electrical connector,
a shaft having a first end coupled to the interface base,
a replaceable end effector cartridge including a first flexible latch to selectively couple to a second end of the shaft and to selectively decouple from the second end of the shaft, the replaceable end effector cartridge formed of a conductive material and including at least one moveable end effector responsive to a control cable from the interface base, and
a wire having a first end coupled to the electrical connector and a second end to electrically couple to the replaceable end effector cartridge, the wire to couple electrical current to tissue through the replaceable end effector cartridge.

11. The robotic surgical system of claim 10 , wherein
the robotic surgical tool further includes
a receptacle coupled between the shaft and the replaceable end effector cartridge, the receptacle formed of an insulative material to receive the replaceable end effector cartridge and electrically isolate the pair of end effectors from the shaft and the interface base.

12. The robotic surgical system of claim 11 , wherein
the robotic surgical tool further includes
a mechanical wrist coupled between the shaft and the receptacle, the mechanical wrist to yaw, pitch, or yaw and pitch the replaceable end effector cartridge.

13. A robotic surgical system including:
an electrical generator to generate an electrical current; and
a robotic surgical tool having an electrical connector to couple to the electrical generator to receive the electrical current, the robotic surgical tool further comprising:
an interface base coupled to the electrical connector,
a shaft having a first end coupled to the interface base,
a replaceable end effector cartridge to selectively couple to a second end of the shaft and to selectively decouple from the second end of the shaft, the replaceable end effector cartridge formed of a conductive material and including at least one moveable end effector responsive to a control cable from the interface base, and
a wire having a first end coupled to the electrical connector and a second end to electrically couple to the replaceable end effector cartridge, the wire to couple electrical current to tissue through the replaceable end effector cartridge;
a receptacle coupled between the shaft and the replaceable end effector cartridge, the receptacle formed of an insulative material to receive the replaceable end effector cartridge and electrically isolate the pair of end effectors from the shaft and the interface base; and
a mechanical wrist coupled between the shaft and the receptacle, the mechanical wrist to yaw, pitch, or yaw and pitch the replaceable end effector cartridge; wherein
the mechanical wrist has a pulley with a crank pin, the pulley coupled to the control cable of the cable loop from the interface base;
the receptacle includes
a cylinder,
a piston slidingly coupled in the cylinder, the piston having a piston pin,
a connecting rod coupled between the piston and the pulley, the connecting rod having a first end coupled to the crank pin and a second end coupled to the piston pin;

and
the replaceable end effector cartridge has
a drive sleeve to couple to the piston, and
a pin coupled to the drive sleeve engaged within a cam slot of the at least one moveable end effector.

14. The robotic surgical system of claim 13 , wherein
the mechanical wrist is a toggle wrist and includes
an insulated sleeve to receive the replaceable end effector cartridge, the insulated sleeve formed of an insulative material to electrically isolate the replaceable end effector cartridge from the mechanical wrist, shaft, and interface base.

15. The robotic surgical system of claim 13 , wherein
the replaceable end effector cartridge includes
a cam mechanism to couple to the at least one moveable end effector to pivot the at least one moveable end effector at a pivot point,

and
the robotic surgical tool further includes
an actuation mechanism to couple to the cam mechanism

Assignees

• Manzo Scott E
• Intuitive Surgical Operations

Inventors

• Manzo Scott E

Classifications

• A61B90/361

  Image-producing devices, e.g. surgical cameras · CPC title

• A61B34/71

  Manipulators operated by drive cable mechanisms · CPC title

• A61B34/37

  Leader-follower robots (A61B34/35 takes precedence) · CPC title

• A61B2017/2933

  camming or guiding means · CPC title

• A61B2017/2932

  Transmission of forces to jaw members · CPC title