Ultrasonic surgical instruments with control mechanisms

Patent metadata

Field	Value
Publication number	US-9820768-B2
Application number	US-201213538733-A
Country	US
Kind code	B2
Filing date	Jun 29, 2012
Priority date	Jun 29, 2012
Publication date	Nov 21, 2017
Grant date	Nov 21, 2017

Abstract

Various embodiments are directed to surgical instruments for use in handheld applications or with robotic surgical systems. The surgical instruments may comprise an end effector to treat tissue and a shaft extending proximally from the end effector along a longitudinal axis. Some embodiments may be usable with an instrument mounting portion of a robotic surgical instrument. For example, the shaft may extend proximally to the instrument mounting portion.

First claim

What is claimed is:

1. A surgical instrument for use with a robotic surgical system, the surgical instrument comprising:
an end effector to treat tissue;
a shaft extending proximally from the end effector along a longitudinal axis;
a housing, wherein the shaft is coupled to a distal end of the housing;
a first magnetic element positioned within the housing, wherein the first magnetic element comprises a switch;
a first cable coupled to the first magnetic element and extending distally from the first magnetic element and distally through the shaft such that actuation of the first magnetic element causes the first cable to translate along the longitudinal axis;
a rotatable body positioned within the housing and rotatable between a first angular position and a second angular position;
a first actuation member extending from the rotatable body to the switch of the first magnetic element such that, at the first angular position of the rotatable body, the first actuation member causes the switch of the first magnetic element to assume a first position where the first magnetic element is actuated, and, at the second angular position of the rotatable body, the first actuation member causes the switch of the first magnetic element to assume a second position where the first magnetic element is not actuated;
a second magnetic element positioned within the housing, wherein the second magnetic element comprises a switch;
a second cable coupled to the second magnetic element and extending distally from the second magnetic element and distally through the shaft such that actuation of the second magnetic element causes the second cable to translate along the longitudinal axis; and
a second actuation member extending from the rotatable body to the switch of the second magnetic element such that, at the first angular position of the rotatable body, the second actuation member causes the switch of the second magnetic element to assume a first position where the second magnetic element is actuated, and, at the second angular position of the rotatable body, the second actuation member causes the switch of the second magnetic element to assume a second position where the second magnetic element is not actuated.

2. The surgical instrument of claim 1 , wherein the rotatable body is also rotatable to a third angular position at which the first actuation member causes the switch of the first magnetic element to assume the second position where the first magnetic element is not actuated and the second actuation member causes the switch of the second magnetic element to assume the first position where the second magnetic element is actuated.

3. The surgical instrument of claim 1 , further comprising:
a third magnetic element positioned within the housing, wherein the third magnetic element comprises a switch;
a third cable coupled to the third magnetic element and extending distally from the third magnetic element and distally through the shaft such that actuation of the third magnetic element causes the third cable to translate along the longitudinal axis; and
a third actuation member extending from the rotatable body to the switch of the third magnetic element.

4. The surgical instrument of claim 3 , wherein, at the first angular position, the first and second magnetic elements are actuated and the third magnetic element is not actuated, and wherein the rotatable body is rotatable:
to a third angular position where the first magnetic element is actuated and the second and third magnetic elements are not actuated; and
to a fourth angular position where the first, second, and third magnetic elements are not actuated.

5. The surgical instrument of claim 4 , wherein the rotatable body is rotatable:
to a fifth angular position where the first and second magnetic elements are not actuated and the third magnetic element is actuated; and
to a sixth angular position where the first magnetic element is not actuated and the second and third magnetic elements are actuated.

6. A surgical instrument for use with a robotic surgical system, the surgical instrument comprising:
an end effector to treat tissue;
a shaft extending proximally from the end effector along a longitudinal axis;
a housing, wherein the shaft is coupled to a distal end of the housing;
a first magnetic element positioned within the housing, wherein the first magnetic element comprises a switch;
a first cable coupled to the first magnetic element and extending distally from the first magnetic element and distally through the shaft such that actuation of the first magnetic element causes the first cable to translate along the longitudinal axis;
a rotatable body positioned within the housing and rotatable between a first angular position and a second angular position;
a first actuation member extending from the rotatable body to the switch of the first magnetic element such that, at the first angular position of the rotatable body, the first actuation member causes the switch of the first magnetic element to assume a first position where the first magnetic element is actuated, and, at the second angular position of the rotatable body, the first actuation member causes the switch of the first magnetic element to assume a second position where the first magnetic element is not actuated;
a second magnetic element positioned within the housing, wherein the second magnetic element comprises a switch;
a second cable coupled to the second magnetic element and extending distally from the second magnetic element and distally through the shaft such that actuation of the second magnetic element causes the second cable to translate along the longitudinal axis;
a second rotatable body positioned within the housing; and
a second actuation member extending from the second rotatable body to a the switch of the second magnetic element such that rotation of the second rotatable body alternately transitions the switch of the second magnetic element from a first position where the second magnetic element is actuated to a second position where the second magnetic element is not actuated.

7. A surgical instrument for use with a robotic surgical system, the surgical instrument comprising:
an end effector to treat tissue;
a shaft extending proximally from the end effector along a longitudinal axis, wherein the shaft comprises a flexible articulation joint;
a housing, wherein the shaft is coupled to a distal end of the housing;
a first magnetic element positioned within the housing, wherein the first magnetic element comprises a switch;
a first cable coupled to the first magnetic element and extending distally from the first magnetic element and distally through the shaft such that actuation of the first magnetic element causes the first cable to translate along the longitudinal axis;
a rotatable body positioned within the housing and rotatable between a first angular position and a second angular position; and
a first actuation member extending from the rotatable body to the switch of the first magnetic element such that, at the first angular position of the rotatable body, the first actuation member causes the switch of the first magnetic element to assume a first position where the first magnetic element is actuated, and, at the second angular position of the rotatable body, the first actuation member causes the switch of the first magnetic element to assume a second position where the first magnetic element is not actuated;
wherein the first cable is coupled to the shaft distally from the flexible articulation joint and offset from the longitudinal axis such that proximal translation of the first cable causes pivoting of the end effector away from the longitudinal axis towards the first cable.

8. The surgical i

Assignees

• Gee Jacob S
• Stulen Foster B
• Houser Kevin L
• Faller Craig N
• Rhee Sora
• Dannaher William D
• Johnson Gregory W
• Ethicon Llc

Inventors

• Gee Jacob S
• Stulen Foster B
• Houser Kevin L
• Faller Craig N
• Rhee Sora
• Dannaher William D
• Johnson Gregory W

Classifications

• A61F9/00745

  using mechanical vibrations, e.g. ultrasonic · CPC title

• A61B2017/22018

  segmented along its length · CPC title

• A61B2017/22015

  with details of the transmission member · CPC title

• A61B2017/00734

  battery operated · CPC title

• A61B2017/00526

  Methods of manufacturing · CPC title