Surgical instrument with single drive input for two end effector mechanisms

Patent metadata

Field	Value
Publication number	US-9730719-B2
Application number	US-201414498750-A
Country	US
Kind code	B2
Filing date	Sep 26, 2014
Priority date	May 31, 2011
Publication date	Aug 15, 2017
Grant date	Aug 15, 2017

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 surgical assembly includes an end effector, a base supporting the end effector, an input link movable relative to the base through a range of motion between a first configuration and a second configuration, and an actuation mechanism. The end effector includes a first articulated member and a second articulated member. The actuation mechanism drivingly couples the input link to the first articulated member within a first portion of the range of motion and drivingly coupling the input link with the second articulated member within a second portion of the range of motion so that a movement of the input link from the first configuration to the second configuration articulates the first articulated member and then articulates the second articulated member.

First claim

What is claimed is:

1. A method of treating tissue comprising:
moving an input link relative to a base through a range of motion;
articulating a jaw within a first portion of the range of motion so as to grasp the tissue, the articulating of the jaw comprising preventing relative movement between the input link and an output link during the first portion of the range of motion, the output link being drivingly coupled with the jaw; and
articulating a cutter within a second portion of the range of motion so as to cut the tissue, the articulating of the cutter comprising moving the output link relative to the input link during the second portion of the range of motion.

2. The method of claim 1 , wherein the preventing of the relative movement between the input link and the output link during the first portion of the range of motion comprises constraining the output link to move in conjunction with the input link via a spring coupled with the input link and the output link.

3. The method of claim 2 , wherein the moving of the output link relative to the input link during the second portion of the range of motion comprises deflecting the spring.

4. The method of claim 3 , wherein the spring comprises an extension spring.

5. The method of claim 3 , wherein the spring comprises a torsion spring.

6. The method of claim 1 , wherein the articulating of the jaw and the cutter comprises translating the input link relative to the base.

7. The method of claim 1 , wherein:
the input link comprises an input drive shaft;
the output link comprises an output drive shaft drivingly coupled with the jaw;
the moving of the input link relative to the base through the range of motion comprises rotating the input drive shaft through a first range of orientations and a second range of orientations different than the first range of orientations;
the articulating of the jaw comprises preventing relative rotation between the input drive shaft and the output drive shaft during the first range of orientations; and
the articulating of the cutter comprises rotating the input drive shaft relative to the output drive shaft during the second range of orientations.

8. A method for articulating an end effector of a surgical assembly, the method comprising:
rotating an input drive shaft relative to a base through a range of motion, the input drive shaft being drivingly coupled with a first member of the end effector and a second member of the end effector;
articulating the first member via the rotating of the input drive shaft within a first portion of the range of motion;
inhibiting articulation of the second member during the articulating of the first member via the rotating of the input drive shaft within the first portion of the range of motion;
articulating the second member via the rotating of the input drive shaft within a second portion of the range of motion; and
inhibiting articulation of the first member during the articulating of the second member via the rotating of the input drive shaft within the second portion of the range of motion.

9. The method of claim 8 , wherein:
the input drive shaft is drivingly coupled with a slotted member having a slot, the slotted member rotating in response to the rotating of the input drive shaft relative to the base; and
the second member is drivingly coupled with the slotted member via a follower in engagement with the slot.

10. The method of claim 9 , wherein:
the slotted member is configured to rotate about an axis of rotation relative to the base, the slot including a first segment having a centerline with a constant radius relative to the axis of rotation and a second segment having a centerline with a varying radius relative to the axis of rotation;
the follower is in engagement with the first segment during the first portion of the range of motion; and
the follower is in engagement with the second segment during the second portion of the range of motion.

11. The method of claim 8 , wherein:
the first member includes a jaw configured to grip tissue; and
the second member includes a cutter configured to cut the tissue.

12. The method of claim 11 , wherein:
the jaw has a grip articulation range in which tissue is gripped;
the cutter has a cut articulation range in which tissue gripped by the jaw is cut; and
gripping of tissue by the jaw and cutting of the tissue by the cutter are independent of one another by the movement of the input drive shaft actuating the jaw throughout the grip articulation range primarily within the first portion of the range of motion, and actuating the cutter throughout the cut articulation range within the second portion of the range of motion.

13. The method of claim 11 , comprising inhibiting relative movement between the input drive shaft and an output drive shaft during the first portion of the range of motion with a spring coupled with the input drive shaft and the output drive shaft, the output drive shaft being drivingly coupled with the jaw.

14. The method of claim 13 , comprising at least partially decoupling motion of the output drive shaft from motion of the input drive shaft during the second portion of the range of motion by deflecting the spring.

15. The method of claim 11 , comprising:
rotating a first member having a first slot in response to the rotating of the input drive shaft relative to the base through the range of motion;
articulating a first follower via the rotating of the first member relative to the base, the first follower being drivingly coupled with the jaw and in engagement with the first slot;
rotating a second member having a second slot in response to the rotating of the input drive shaft relative to the base through the range of motion; and
articulating a second follower via the rotating of the first member relative to the base, the second follower being drivingly coupled with the cutter and in engagement with the second slot.

16. The method of claim 15 , comprising inhibiting relative movement between the input drive shaft and an output drive shaft during the first portion of the range of motion with a spring coupled with the input drive shaft and the output drive shaft, the output drive shaft being drivingly coupled with the jaw.

17. The method of claim 16 , comprising at least partially decoupling motion of the output drive shaft from motion of the input drive shaft during the second portion of the range of motion by deflecting the spring.

Assignees

• Intuitive Surgical Operations

Inventors

• Brisson Gabriel F
• Loh Alan
• Kerver Lawrence

Classifications

• A61B17/320016 Primary

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

• A61B17/295 Primary

  combined with cutting implements · CPC title

• A61B2017/2915

  arcuate shaped guiding means · CPC title

• A61B2017/00389

  Button or wheel for performing multiple functions, e.g. rotation of shaft and end effector · CPC title

• A61B2018/1455

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