Energized medical device with reusable handle

Abstract

An electrosurgical device may include a front portion releasably attached to a reusable handle. The reusable handle may include a single motor configured to actuate a tissue knife mechanism and an articulation mechanism in the front portion. The reusable handle may include a controller configured to sense a position of a knife advancement control in the front portion and actuate the tissue knife via the motor when the knife advancement control is at a predetermined position. The controller may receive data from the front portion indicating that the front portion includes an articulation joint. If the front portion includes an articulation joint, the controller may actuate, via the motor, an articulation mechanism to adjust an angle of the articulation joint when an articulation control in the front portion is at a predetermined position. The reusable handle may be used with a front portion having or lacking an articulation joint.

Description

BACKGROUND

Electrosurgical devices are used in many surgical operations. Electrosurgical devices apply electrical energy to tissue in order to treat tissue. An electrosurgical device may comprise an instrument having a distally-mounted end effector comprising one or more electrodes. The end effector can be positioned against tissue such that electrical current is introduced into the tissue. Electrosurgical devices can be configured for bipolar or monopolar operation. During bipolar operation, current is introduced into and returned from the tissue by active and return electrodes, respectively, of the end effector. During monopolar operation, current is introduced into the tissue by an active (or source) electrode of the end effector and returned through a return electrode (e.g., a grounding pad) separately located on a patient's body. Heat generated by the current flow through the tissue may form hemostatic seals within the tissue and/or between tissues and thus may be particularly useful for sealing blood vessels, for example. The end effector of an electrosurgical device sometimes also comprises a cutting member that is movable relative to the tissue and the electrodes to transect the tissue.

Electrical energy applied by an electrosurgical device can be transmitted to the instrument by a generator. The electrical energy may be in the form of radio frequency (“RF”) energy that may be in a frequency range described in EN 60601-2-2:2009+A11:2011, Definition 201.3.218—HIGH FREQUENCY. For example, the frequency in monopolar RF applications are typically restricted to less than 5 MHz. However, in bipolar RF applications, the frequency can be almost anything. Frequencies above 200 kHz can be typically used for MONOPOLAR applications in order to avoid the unwanted stimulation of nerves and muscles which would result from the use of low frequency current. Lower frequencies may be used for BIPOLAR techniques if the RISK ANALYSIS shows the possibility of neuromuscular stimulation has been mitigated to an acceptable level. Normally, frequencies above 5 MHz are not used in order to minimize the problems associated with HIGH FREQUENCY LEAKAGE CURRENTS. However, higher frequencies may be used in the case of BIPOLAR techniques. It is generally recognized that 10 mA is the lower threshold of thermal effects on tissue. During its operation, an electrosurgical device can transmit RF energy through tissue, which can cause ionic agitation, or friction, in effect resistive heating or Joule heating, thereby increasing the temperature of the tissue. Because a sharp boundary may be created between the affected tissue and the surrounding tissue, surgeons can operate with a high level of precision and control, without sacrificing un-targeted adjacent tissue. The low operating temperatures of RF energy may be useful for removing, shrinking, or sculpting soft tissue while simultaneously sealing blood vessels. RF energy may work particularly well on connective tissue, which is primarily comprised of collagen and shrinks when contacted by heat.

Electrosurgical devices may incorporate additional features in addition to the end effector and electrodes. In some non-limiting examples, such electrosurgical devices may include mechanisms to clamp tissue together, such as a stapling device, and/or mechanisms to sever tissue, such as a tissue knife. An electrosurgical device may include a shaft for placing the end effector proximate to tissue undergoing treatment. The shaft may be straight or curved, bendable or non-bendable. In an example of an electrosurgical device including a straight and bendable shaft, the shaft may include one or more articulation joints to permit controlled bending of the shaft. Such joints may permit a user of the electrosurgical device to place the end effector in contact with tissue at an angle to the shaft when the tissue being treated is not readily accessible using an electrosurgical device having a straight, non-bending shaft.

SUMMARY

In one aspect, an electrosurgical device may include a reusable handle. The reusable handle may include a housing, a motor disposed within the housing, a controller configured to actuate the motor, an electrical interface portion configured to interface with a front portion of the electrosurgical device, and a mechanical interface portion configured to interface with the front portion of the electrosurgical device. The electrical interface portion may include a plurality of sensors including at least a knife actuation sensor, a cauterization actuation sensor, and an articulation actuation sensor, as well as and at least one tissue cauterization current terminal. Each of the plurality of sensors may be in data communication with the controller. The mechanical interface portion may include a first mechanical coupling configured to couple one or more motions of the motor to a tissue cutting mechanism, a second mechanical coupling configured to couple the one or more motions of the motor to an articulation mechanism, and a latching mechanism configured to releasably latch the front portion of the electrosurgical device to the housing.

In one aspect of a reusable handle, the plurality of sensors incorporates one or more of a Hall sensor, an RF sensor, an optical sensor, and an electronic sensor.

In one aspect of a reusable handle, the first mechanical coupling and the second mechanical coupling independently comprise one or more of a spur gear, a worm gear, a planetary gear set, a helical gear, a bevel gear, a miter gear, and a rack and pinion gear set.

In one aspect of a reusable handle, the reusable handle further incorporates one or more power sources configured to supply power to the motor and the controller.

In one aspect of a reusable handle, the one or more power sources incorporate one or more batteries disposed within the housing.

In one aspect of a reusable handle, the reusable handle further incorporates a source of tissue cauterization power in electrical communication with the at least one tissue cauterization power terminal.

In one aspect of a reusable handle, the source of tissue cauterization power incorporates one or more batteries disposed within the housing.

In one aspect of a reusable handle, the controller is configured to activate the one or more motions of the motor at least in response to receiving data from one or more of the a plurality of sensors.

In one aspect of a reusable handle, the reusable handle further incorporates an identification sensor configured to receive identification information from the front portion of the electrosurgical device.

In one aspect of a reusable handle, the second mechanical coupling is configured to couple the one or more motions of the motor to the articulation mechanism independent of a coupling of the one or more motions of the motor to the tissue cutting mechanism.

In one aspect, an electrosurgical system may include a front portion assembly, a reusable handle assembly, and a latching mechanism in which the front portion assembly is releasably attached to the reusable handle assembly. The front portion assembly may include a front portion housing, an end effector comprising a first jaw movably disposed to contact a second jaw, a first electrode configured to be in electrical communication with a first RF current terminal, and a second electrode configured to be in electrical communication with a second RF current terminal, a tissue knife movably disposed within the end effector, a tissue knife advancement component configured to move the tissue knife within the end effector, a jaw closure trigger, a knife advancement control, an energy activation control, and an elongated shaft having a distal end in mechanical communication with the end effector. The reusable handle assembly may include a reusable handle housing, a motor disposed within the reusable handle housing, a controller configured to actuate the motor, an electrical interface portion configured to interface with the front portion assembly, a mechanical interface portion configured to interface with the front portion of the electrosurgical device, and a latching mechanism configured to releasably latch the front portion housing to the reusable handle housing. The electrical interface portion may include a knife actuation sensor configured to sense a position of the knife advancement control, a cauterization actuation sensor configured to sense a position of the energy activation control, an articulation actuation sensor, the first RF current terminal, and the second RF current terminal. The knife actuation sensor, the cauterization actuation sensor, and the articulation actuation sensor may be in data communication with the controller. The mechanical interface portion may include a first mechanical coupling configured to couple one or more motions of the motor to the tissue knife advancement component, and a second mechanical coupling configured to couple the one or more motions of the motor to an articulation mechanism. In one example of the electrosurgical system, the front portion assembly may further include an articulation joint in the elongated shaft, in which the articulation joint is configured to permit the shaft to move in a plane orthogonal to a plane of a motion of the first jaw with respect to the second jaw, an articulation mechanism configured to move the articulation joint, and an articulation control in which the articulation actuation sensor is configured to sense the position of the articulation control.

In one aspect of an electrosurgical system, the front portion assembly further incorporates: an articulation joint in the elongated shaft, in which the articulation joint is configured to permit the shaft to move in a plane orthogonal to a plane of a motion of the first jaw with respect to the second jaw; an articulation mechanism, configured to move the articulation joint; and an articulation control, in which the articulation actuation sensor is configured to sense the position of the articulation control.

In one aspect of an electrosurgical system, the knife actuation sensor, the cauterization actuation sensor, and the articulation actuation sensor independently comprise one or more of a Hall sensor, an RF sensor, an optical sensor, and an electronic sensor.

In one aspect of an electrosurgical system, the front portion assembly releasably attached to the reusable handle assembly incorporates an electrosurgical system configured for single-handed operation.

In one aspect of an electrosurgical system, the electrosurgical system further incorporates an RF current source in electrical communication with the first RF current terminal and the second RF current terminal.

In one aspect of an electrosurgical system, the electrosurgical system further incorporates: an information storage device disposed within the front portion assembly; and an identification sensor disposed within the reusable handle assembly, in which the identification sensor is in data communication with the controller, and in which the identification sensor is configured to receive information from the information storage device.

In one aspect of an electrosurgical system, the information storage device comprises one or more of a non-volatile device, a read/write device, and a WORM device.

In one aspect of an electrosurgical system, the information storage device comprises one or more of an RFID tag, a PROM device, an EPROM device, and an EEPROM device.

In one aspect of an electrosurgical system, the information comprises one or more of an identifier of a front portion assembly type, a front portion assembly model number, a front portion assembly serial number, a value of the number of uses of the front portion assembly, and a configuration of one or more components of the front portion assembly.

In one aspect, a method of using an electrosurgical system may include providing a front portion assembly having a front portion housing, providing a reusable handle assembly having a reusable handle housing, contacting the front portion assembly with the reusable handle assembly and releasably latching the front portion housing to the reusable handle housing. The front portion assembly may further include an end effector comprising a first jaw movably disposed to contact a second jaw, a first electrode configured to be in electrical communication with a first RF current terminal, and a second electrode configured to be in electrical communication with a second RF current terminal, a tissue knife movably disposed within the end effector, a tissue knife advancement component configured to move the tissue knife within the end effector, a jaw closure trigger, a knife advancement control, an energy activation control, and an elongated shaft having a distal end in mechanical communication with the end effector. The reusable handle assembly may further include a motor disposed within the reusable handle housing; a controller configured to actuate the motor; an electrical interface portion configured to interface with the front portion assembly, a mechanical interface portion configured to interface with the front portion assembly, and a latching mechanism configured to releasably latch the front portion housing to the reusable handle housing.

The electrical interface portion may include a knife actuation sensor configured to sense a position of the knife advancement control, a cauterization actuation sensor configured to sense a position of the energy activation control, an articulation actuation sensor, the first RF current terminal, and the second RF current terminal. The knife actuation sensor, the cauterization actuation sensor, and the articulation actuation sensor may be in data communication with the controller.

The mechanical interface portion may include a first mechanical coupling configured to couple one or more motions of the motor to the tissue knife advancement component and a second mechanical coupling configured to couple the one or more motions of the motor to an articulation mechanism.

The method may further include using the jaw closure trigger to move the first jaw relative to the second jaw thereby capturing a material therebetween, moving the energy activation control, sensing, by the cauterization activation sensor, the position of the energy activation control, causing an RF current to flow between the first RF current terminal and the second RF current terminal when the position of the energy activation control sensed by the cauterization activation sensor is at least at a predetermined position, sensing, by the knife actuation sensor, the position of the knife advancement control, and causing, by the controller, the motor to move the tissue knife advancement component via the first mechanical coupling when the position of the knife advancement control sensed by the knife actuation sensor is at least at a predetermined position. In one example of the method, the front portion assembly may further include an articulation joint in the elongated shaft, in which the articulation joint is configured to permit the shaft to move in a plane orthogonal to a plane of a motion of the first jaw with respect to the second jaw, an articulation mechanism configured to move the articulation joint, and an articulation control.

The example of the method may further include having the articulation actuation sensor configured to sense the position of the articulation control, sensing, by the articulation actuation sensor, the position of the articulation control, and causing, by the controller, the motor to move the articulation mechanism via the second mechanical coupling when the position of the articulation control sensed by the articulation actuation sensor is at least at a predetermined position.

In one aspect of the method of using an electrosurgical system, providing a front portion assembly further incorporates providing a front portion assembly comprising: an articulation joint in the elongated shaft, in which the articulation joint is configured to permit the shaft to move in a plane orthogonal to a plane of a motion of the first jaw with respect to the second jaw; the articulation mechanism, configured to move the articulation joint; and an articulation control; in which providing a reusable handle assembly further comprises providing a reusable handle assembly wherein the articulation actuation sensor is configured to sense the position of the articulation control; sensing, by the articulation actuation sensor, the position of the articulation control; and causing, by the controller, the motor to move the articulation mechanism via the second mechanical coupling when the position of the articulation control sensed by the articulation actuation sensor is at least at a predetermined position.

BRIEF DESCRIPTION OF THE FIGURES

The features of the various aspects are set forth with particularity in the appended claims. The various aspects, however, both as to organization and methods of operation, together with advantages thereof, may best be understood by reference to the following description, taken in conjunction with the accompanying drawings as follows:

FIG. 1A illustrates a perspective view of one aspect of an electrosurgical device separated into a front portion assembly and a reusable handle assembly, according to one aspect of the present disclosure.

FIG. 1B illustrates a perspective view of one aspect of an electrosurgical device, according to one aspect of the present disclosure.

FIG. 10 illustrates a perspective view of a portion of one aspect of an electrosurgical device, according to one aspect of the present disclosure.

FIG. 2 illustrates a sectional view of one aspect of the electrosurgical device illustrated in FIG. 1B, according to one aspect of the present disclosure.

FIG. 3 illustrates a partial cut-away view of one aspect of a reusable handle assembly for an electrosurgical device, according to one aspect of the present disclosure.

FIG. 4 illustrates a perspective view of one aspect of an electrosurgical device having an articulated shaft, according to one aspect of the present disclosure.

FIG. 5 depicts a perspective view of one aspect of components of the shaft assembly and end effector of the electrosurgical device illustrated in FIG. 4, according to one aspect of the present disclosure.

FIGS. 6A and 6B illustrate partial perspective views of one aspect of articulation control components of the electrosurgical device of FIG. 5, along a first side and along a second side of the support member, respectively, according to one aspect of the present disclosure.

FIG. 7 illustrates a perspective view of one aspect of an articulation control assembly of the front portion assembly of FIG. 4, coupled with the articulation control components of FIGS. 5, 6A and 6B, according to one aspect of the present disclosure.

FIG. 8 illustrates depicts a side cross-sectional view of one aspect of the articulation control assembly components of FIG. 7, taken along line 8-8 of FIG. 15, according to one aspect of the present disclosure.

FIG. 9 illustrates a partial sectional view of one aspect of the front portion housing of the electrosurgical device illustrated in FIG. 4, according to one aspect of the present disclosure.

FIG. 10A illustrates a perspective view of a proximal end of the front portion housing of one aspect of the electrosurgical device illustrated in FIG. 4, according to one aspect of the present disclosure.

FIG. 10B illustrates a top sectional view of a proximal end of the front portion housing of one aspect of the electrosurgical device illustrated in FIG. 4, according to one aspect of the present disclosure.

DETAILED DESCRIPTION

Reference will now be made in detail to several aspects, including example implementations of electrosurgical medical instruments for cutting and coagulating tissue. Wherever practicable similar or like reference numbers may be used in the figures and may indicate similar or like functionality. The figures depict examples of the disclosed surgical instruments and/or methods of use for purposes of illustration only. One skilled in the art will readily recognize from the following description that alternative examples of the structures and methods illustrated herein may be employed without departing from the principles described herein.

Various aspects of surgical instruments use therapeutic and/or sub-therapeutic electrical energy to treat tissue. One aspects are adapted for use in a hand operated manner, although electrosurgical instruments may be utilized in robotic applications as well. In one non-limiting example, an electrosurgical system may include a proximal handle, a distal working end or end effector, and an introducer or elongated shaft disposed in-between.

The electrosurgical system can be configured to source energy, such as electrical energy, RF energy, ultrasonic energy, heat energy, or any combination thereof, to the tissue of a patient either independently or simultaneously. In one example, the electrosurgical system may include a power source in electrical communication with the electrosurgical instrument. The power source may be connected to the electrosurgical instrument via a suitable transmission medium such as a cable. The power source may be separate from the electrosurgical instrument or may be formed integrally with the electrosurgical instrument to form a unitary electrosurgical system. In one non-limiting example, the power source may include one or more batteries located within a portion of the electrosurgical instrument. It may be understood that the power source may source energy for use on the tissue of the patient as well as for any other electrical use by the electrosurgical system, including, without limitation, lights, sensors, communication systems, indicators, and displays.

As disclosed above, an electrosurgical system may incorporate components to grasp a tissue via an end effector, deliver energy to the tissue via one or more electrodes, and cut the tissue via a dissecting device such as a tissue knife. The structural capabilities of any aspect of an electrosurgical system may be designed for use in one or more of a variety of surgical procedures. In some surgical procedures, the treated tissue may be readily accessible to an end effector affixed to a relatively straight and unbendable shaft. In some alternative surgical procedures, the tissue may not be readily accessible to the end effector on such a shaft. In such procedures, the electrosurgical system may incorporate a shaft designed to bend so that the end effector may contact the tissue requiring treatment. However, despite such differences between electrosurgical systems, many electrosurgical systems incorporate common features of use, such as tissue grasping, cauterizing, and cutting. Consequently, it may be recognized that a modular design for electrosurgical systems may be useful to reduce the number and types of devices required for such surgeries. Thus, a front portion assembly may be designed for a specific surgical procedure, while a reusable handle assembly, configured to releasably attach to a front portion assembly, may be designed to provide control of surgical functions common to each front portion assembly.

It may be recognized that the reusable handle assembly may also be designed to automate common functions of the electrosurgical device. Device intelligence may be provided by a controller located in the reusable handle assembly that is configured to receive information from a front portion assembly. Such information may include data regarding the type and use of the front portion assembly. Alternatively, information may include data indicative of the position and/or activation of control components (such as buttons or slides which can be manipulated) that may indicate what system functions should be activated and in what manner.

FIGS. 1A, 1B, and 1C are perspective views of one example of an electrosurgical instrument 100. FIG. 1A illustrates the electrosurgical instrument 100 disassembled into a front portion assembly 110 and a reusable handle assembly 130. The front portion assembly 110 may include a shaft 115 affixed to a front portion housing at a proximal end, and an end effector 120 at a distal end. The end effector 120 may include a pair of opposable jaws 123a, 123b. In a non-limiting example, the shaft 115 may be rotatable through the rotary motion of a shaft rotation knob 117. The shaft 115 may have a cylindrical or rectangular cross-section, for example, and can comprise a thin-wall tubular sleeve that extends from the front portion assembly housing. The shaft 115 may include a bore extending therethrough for carrying actuator mechanisms, for example, an axially moveable member for actuating the jaws 123a, 123b and for carrying electrical leads for delivery of electrical energy to electrosurgical components of the end effector 120. The front portion assembly may include a jaw closure trigger 127 configured to adjust the position of the jaws 123a, 123b with respect to each other. In one non-limiting example, the jaw closure trigger 127 may be coupled to an axially moveable member disposed within the shaft 115 by a shuttle operably engaged to an extension of the jaw closure trigger 127. The front portion assembly 110 may also include a proximal interface end 125 designed to contact an equivalent distal interface end of the reusable handle assembly 130. The reusable handle assembly 130 may include a reusable handle housing including a handle 133 that may operate in conjunction with the jaw closure trigger 127 to permit control of the motion of the jaws 123a, 123b. The front portion assembly 110 may be configured to carry actuator levers, triggers or sliders for controlling the functions of the components of the front portion assembly.

The end effector 120 may be adapted for capturing and transecting tissue and for contemporaneously welding the captured tissue with controlled application of energy (e.g., RF energy). The first jaw 123a and the second jaw 123b may be closed thereby capturing or engaging tissue. The first jaw 123a and second jaw 123b may also apply compression to the tissue. In some aspects, the shaft 115, along with the first jaw 123a and second jaw 123b, can be rotated a full 360° degrees relative to the jaw closure trigger 127. For example, a rotation knob 117 may be rotatable about the longitudinal axis of the shaft 115 and may be coupled to the shaft 115 such that rotation of the knob 117 causes corresponding rotation of the shaft 115. The first jaw 123a and the second jaw 123b can remain openable and/or closeable while rotated.

The reusable handle assembly 130 may include a reusable handle housing which may, in some non-limiting examples, be formed into a handle 133.

FIG. 1A illustrates an example in which the front portion assembly 110 may be brought into contact with the reusable handle assembly 130 by vertically sliding the front portion assembly against the reusable handle assembly (downward arrow). In another non-limiting example, the front portion assembly 110 may be brought into contact with the reusable handle assembly 130 by horizontally aligning the front portion assembly against the reusable handle assembly. In still another non-limiting example, the front portion assembly 110 may be brought into contact with the reusable handle assembly 130 by twisting the front portion assembly against the reusable handle assembly. It may be understood that alternative means of placing the front portion assembly 110 in contact with the reusable handle assembly 130 may be used. Once the front portion assembly 110 is placed in contact with the reusable handle assembly 130, the two assemblies may be releasably affixed to each other using any means known in the art, such as through the use of one or more latches. Such latches may be placed on the housing of the front portion assembly 110, the housing of the reusable handle assembly 130, or on the housing of each of the assemblies as may be required to form a secure contact.

In one non-limiting example, a secure contact between the front portion assembly 110 and the reusable handle assembly 130 may be made by assuring that the front portion assembly proximal interface end 125 is placed in proper mechanical and electrical contact with the distal interface end of the reusable handle assembly 130. Proper mechanical contact may be understood to mean that the mechanical components of the reusable handle assembly 130 may correctly actuate the mechanical components of the front portion assembly 110 according to the electrosurgical system 100 design. Similarly, proper electrical contact may be understood to mean that the electrical components of the reusable handle assembly 130 are in correct data and electrical communication with the electrical and signal components of the front portion assembly 110 according to the electrosurgical system 100 design. It may be appreciated that such an electrosurgical system 100 may be optimized for single-handed operation.

FIG. 1B illustrates a perspective view of one aspect of an electrosurgical system 100 comprising an assembled device composed of the front portion assembly 110 and the reusable handle assembly 130. FIG. 1B illustrates the relative position of the jaw closure trigger 127 with respect to the handle 133 in the assembled electrosurgical system 100. Particularly, jaw closure trigger 127 may be moved through an arc 135 to bring the jaw closure trigger proximate to the handle 133. Such a motion, for example, may result in the closure of the jaws 123a, 123b thereby securing a tissue placed therebetween.

Also illustrated in FIG. 1B are a knife advancement control 140 and an energy activation control 145 located on the front portion assembly housing. In some non-limiting examples, the knife advancement control 140 and the energy activation control 145 may be depressible buttons positioned to permit a user to control knife advancement or energy activation by the use of one or more fingers. In some non-limiting examples, the knife advancement control 140 and the energy activation control 145 may affect knife advancement or energy activation directly by means of one or more mechanical and/or electrical components disposed solely within the front portion assembly 110. In some non-limiting examples, the knife advancement control 140 and the energy activation control 145 may affect knife advancement or energy activation by means of one or more mechanical and/or electrical components disposed within the front portion assembly 110 in coordination with one or more mechanical and/or electrical components disposed within the disposable handle assembly 130. In one non-limiting example, motions of the knife advancement control 140 and the energy activation control 145 may be sensed by one or more sensors disposed within the reusable handle assembly 130. Such sensors may communicate data to a control device disposed within the reusable handle assembly 130. The control device may, in turn, actuate mechanical and/or electrical components within the reusable handle assembly 130 that couple mechanically and/or electrically with components disposed within the front portion assembly 110 to affect knife advancement and/or energy activation at the end effector 120.

FIG. 10 illustrates a close-up perspective view of one aspect of an electrosurgical system 100 to further illustrate components of the end effector 120. It may be appreciated that the jaws 123a, 123b are configured to hold and compress tissue for an electrosurgical procedure. The tissue held by jaws 123a, 123b may be subjected to an electrical current that may heat the tissue sufficiently to cauterize the tissue. Such electrical current may include RF current. In one non-limiting example, the tissue may comprise a blood vessel that may be sealed by compressing and cauterizing the vessel wall. The electrical current may be delivered to the tissue via one or more energy delivery surfaces 127a, 127b located on an inner surface of each jaw 123a, 123b. Each energy delivery surface, in turn, may be in electrical communication with a current supplying terminal. In one non-limiting example, the first energy delivery surface 127a may receive current through an electrode in electrical communication with a source terminal of a current source. Similarly, the second energy delivery surface 127b may source current through an electrode in electrical communication to a drain or ground terminal of the current source. The electrical current used to cauterize the tissue may be supplied by a source of tissue cauterization power. The source of tissue cauterization power may be independent of the electrosurgical system 100 or may be incorporated in the electrosurgical system. In one non-limiting example, the source of tissue cauterization power may comprise one or more batteries disposed within the electrosurgical device 100, for example within a housing of the reusable handle assembly 130.

FIG. 2 illustrates a cross-sectional view of one aspect of an assembled electrosurgical device 100. It may be understood that the components illustrated in FIG. 2, as well as those illustrated in FIGS. 3-6 (following), represent non-limiting examples of mechanical and electromechanical components that may affect the functions of the electrosurgical device 100. Fewer, alternative, or additional components are similarly contemplated by this disclosure.

As disclosed above, the assembled electrosurgical device 100 may be composed of releasably attached portions including a front portion assembly 110 and a reusable handle assembly 130. The front portion assembly 110 may include a shaft 115 in mechanical communication with a front portion assembly housing at a proximal end, and an end effector 120 at a distal end.

The jaw closure trigger 127 may be adapted to actuate an axially moveable member which may function as a jaw-closing mechanism. For example, the axially moveable member may be urged distally as the jaw closure trigger 127 is pulled proximally along the path 135. Such a distal motion of the axially moveable member may be mechanically coupled to a jaw motion assembly to cause the jaws 123a, 1213b to close, thereby contacting and compressing a tissue placed therebetween. The axially moveable member may comprise one or several pieces, but in any event, may be movable or translatable with respect to the shaft 115 and/or the jaws 123a, 123b. The force applied to the axially movable member via the jaw closure trigger 127 may be controlled or limited by a force limiting spring 230. In addition, the force limiting spring 230 may also protect components from being overloaded when motion of jaws 123a, 123b is restricted due to large amount of tissue. When the jaw closure trigger 127 is returned to a distal position along path 135, the axially moveable member may return to a proximal position, thereby allowing the jaws 123a, 123b to resume an open position and release any tissue compressed therebetween. In some non-limiting examples, the axially moveable member may be returned to its proximal position by means of a return spring 220. The return spring 220 may also act as a force limiting spring that may be used to protect components from being overloaded when the jaw movement is restricted by a large amount of tissue.

In addition to the jaws 123a and 123b, the end effector 120 may also incorporate a tissue knife movably disposed therein. One or both of the jaws 123a, 123b may include a channel disposed on an inner surface. The channels within first jaw 123a and within the second jaw 123b may be sized and configured to accommodate the movement of the tissue knife, which may slidably move within the channels. In at least one example, the tissue knife may be made of 17-4 precipitation hardened stainless steel. The tissue knife may be moved in a distal manner to sever any tissue compressed between the jaws 123a, 123b. The tissue knife may be actuated by means of a knife advancement component 210. The knife advancement component 210 may be an axially moveable component disposed within shaft 115. In one non-limiting example, the knife advancement component 210 may be a rod disposed through shaft 115. In another non-limiting example, the knife advancement component 210 may comprise a tube disposed through shaft 115. A conductor may be disposed inside of a tubular knife advancement component 210 to conduct electrical current from a current supplying terminal to the one or more energy delivery surfaces 127a, 127b located on the inner surface of each jaw 123a, 123b. The knife advancement component 210 may be coupled within the front portion housing to a knife advancement coupling 270. As disclosed below, the knife advancement coupling 270 may form a mechanical interface between the knife advancement component 210 and a helical drive screw 265 disposed within the reusable handle assembly.

The reusable handle assembly 130 may include a reusable handle housing, a portion of which may form the handle 133. The reusable handle housing may enclose one or more mechanical, electromechanical, and electrical components. In aggregate, the mechanical components may be referred to as one or more mechanical couplings which may be designed to couple motions from electromechanical devices in the reusable handle assembly 130 to the mechanical devices disposed in the front portion assembly 110. Some non-limiting examples of such mechanical components may include one or more of a spur gear, a worm gear, a planetary gear set, a helical gear, a bevel gear, a miter gear, and a rack and pinion gear set. Additional non-limiting examples of such mechanical, electromechanical, and electrical components may include a motor 240, one or more gear-sets 245 (for example, a planetary gear set) in mechanical communication with an output shaft of the motor, and one or more additional gears, such as a spur gear 250, that may transfer mechanical motion from the one or more gear-sets to additional mechanical components. The motor 240 may be any type of motor that may provide sufficient torque and speed as may be required for actuation of the mechanical components. Non-limiting examples of such a motor 240 may include a DC motor, an AC motor, and a stepper motor. In one non-limiting example, the motor 240 may receive power from a power source external to the electrosurgical system 100. The handle 133 may also include a mobile power source (such as a battery) that may be used to provide electrical power for the motor 240 and other components of the electrosurgical device.

The handle 133 may also include a controller configured to control the motor 240, receive data from one or more sensors (disclosed below), and/or activate other electromechanical devices disposed within the reusable handle assembly 130. Such a controller may also receive electrical power from a power source such as an external power source or a mobile power source disposed within the reusable handle assembly 130.

In some non-limiting examples, the controller may comprise a processor subsystem, an input/output subsystem, a memory subsystem, a communications interface, and a system bus. In some non-limiting examples, the controller may comprise other components such as an independent power subsystem. In some non-limiting examples, the controller may comprise multiple memory subsystems.

The processor subsystem may comprise any processing circuitry operative to control the operations and performance of the controller. In various aspects, the processor subsystem may be implemented as a general purpose processor, a chip multiprocessor (CMP), a dedicated processor, an embedded processor, a digital signal processor (DSP), a network processor, a media processor, an input/output (I/O) processor, a media access control (MAC) processor, a radio baseband processor, a co-processor, a microprocessor such as a complex instruction set computer (CISC) microprocessor, a reduced instruction set computing (RISC) microprocessor, and/or a very long instruction word (VLIVV) microprocessor, or other processing device. The processor subsystem also may be implemented by a microcontroller, an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a programmable logic device (PLD), and so forth.

In various non-limiting examples, the processor subsystem may be arranged to run an operating system (OS), preferably a real-time operating system (RTOS). Examples of an OS comprise, for example, operating systems generally known under the trade name of Apple Mac® OS, Microsoft Windows® OS, Android® OS, QNX4®, embedded Linux®, VxWorks®, and any other proprietary or open source OS.

The memory subsystem may comprise any machine-readable or computer-readable media capable of storing data, including both volatile and non-volatile memory. For example, memory may include read-only memory (ROM), random-access memory (RAM), dynamic RAM (DRAM), Double-Data-Rate DRAM (DDR-RAM), synchronous DRAM (SDRAM), static RAM (SRAM), programmable ROM (PROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory (e.g., NOR or NAND flash memory), content addressable memory (CAM), polymer memory (e.g., ferroelectric polymer memory), phase-change memory (e.g., ovonic memory), ferroelectric memory, silicon-oxide-nitride-oxide-silicon (SONOS) memory, disk memory (e.g., floppy disk, hard drive, optical disk, magnetic disk), or card (e.g., magnetic card, optical card), or any other type of media suitable for storing information.

In some aspects, the controller may comprise a system bus that couples various system components including the processing subsystem, the input/output subsystem, and the memory subsystem. The system bus can be any of several types of bus structure(s) including a memory bus or memory controller, a peripheral bus or external bus, and/or a local bus using any variety of available bus architectures including, but not limited to, 9-bit bus, Industrial Standard Architecture (ISA), Micro-Channel Architecture (MSA), Extended ISA (EISA), Intelligent Drive Electronics (IDE), VESA Local Bus (VLB), Peripheral Component Interconnect Card International Association Bus (PCMCIA), Small Computers Interface (SCSI) or other proprietary bus, or any custom bus suitable for mobile computing device applications.

In addition, the controller may include components to receive electrical data from one or more sensors, and/or components to source one or more control signals to one or more electromechanical devices. In one non-limiting example, the controller may include components to receive data from sensors configured to detect to motion or position of the knife advancement control 140 and the energy activation control 145. In another non-limiting example, the controller may include components to source control signals may be used to control the motion of the motor 240. Such motor control signals may include controls of the direction of shaft rotation and the speed of the shaft rotation.

The controller may include instructions resident within components of the memory subsystem that, when active, may cause the processor subsystem to calculate data values and/or control the sourcing of the one or more control signals. In one non-limiting example, the processor subsystem may receive data from a sensor associated with the activation of knife advancement control 140 and calculate if the knife advancement control has been moved to a predetermined position. When the controller determines that the knife advancement control 140 is at the predetermined position, the controller may then source a control signal to the motor 240 to activate a motor motion that may result in motion of the tissue knife. In one non-limiting example, the controller may include fixed instructions and data within the memory subsystem. In another non-limiting example, the controller may be programmable and may receive updated instructions and/or data for storage in the memory subsystem.

In addition to the mechanical, electrical, and/or electromechanical components disposed within the handle 133, the reusable handle assembly 130 may include additional mechanical, electrical, and/or electromechanical components disposed within other portions of the reusable handle housing. In one non-limiting example, additional components may include one or more bevel or miter gears 255 to transfer the rotary force generated by the spur gear 250 to one or more other mechanical devices. For example, the spur gear 250 may be mechanically coupled to a helical drive nut 260. The spur gear 250 may drive bevel gear 255 by means of a second spur gear that is directly coupled to the bevel gear 255 through a shaft attached to the bevel gear. It may be understood that, in another aspect, the bevel gear 255 may be driven directly by the shaft of the motor 240 or by an output shaft of one or more gear-sets 245 mechanically driven by the motor.

Bevel gear 255 may drive a second bevel gear that is part of helical drive nut 260. The bevel gear and helical drive nut 260 may be internally threaded. A helical drive screw 265 has an external threaded component that mates with the internal thread of the helical drive nut 260. Rotation of helical drive nut 260 may transfer motion to the interior helical drive screw 265. The helical drive screw 265, in turn, may advance or return based on the rotational direction of the helical drive nut 260. The helical drive screw 265 may form a contact with knife advancement coupling 270 and impart a motion to the tissue knife at the end effector 120.

FIG. 3 illustrates a partial cut-away view of one aspect of the reusable handle assembly 130. In addition to the spur gear 250, miter gear 255, and helical drive screw 265 depicted in FIG. 2, FIG. 3 illustrates additional components that may be included in the reusable handle assembly 130. One such additional component may be a latch 330 incorporated into the reusable handle housing. Such a latch 330 may be readily manipulated to secure the connection between the front portion assembly 110 and the reusable handle assembly 130.

Additional sensors and electrical contacts are also depicted in FIG. 3. For example, a cauterization actuation sensor 360 may detect the presence or motion of the energy activation control 145. Another sensor may include a knife actuation sensor (not shown) to detect the presence or motion of the knife advancement control 140. In addition, an articulation sensor 355 may detect the presence or motion of an articulation control for an electrosurgical device that has an articulating front end (see FIG. 4, below). It may be understood that sensors 355, and 360 may include, without limitation, one or more of any type of appropriate sensor include a Hall sensor, an RF sensor, a proximity sensor, an inductance sensor, a capacitance sensor, a mechanical sensor, a potentiometer, an optical sensor, and an electronic sensor. One or more tissue cauterization current terminals 340 may be used to conduct tissue cauterization current from a source of tissue cauterization power to the one or more energy deliver surfaces 127a, 127b incorporated in the inner surfaces of the jaws 123a, 123b. The front portion assembly 110 may include one or more tissue cauterization power contacts (730, see FIG. 7), wherein the tissue cauterization power contacts are configured to be in electrical communication with equivalent cauterization current terminals 340 from the reusable handle assembly 130.

Additional sensors may include one or more identification sensors configured to receive identification information from an information storage device disposed within the front portion assembly 110. Data information received by any of the sensors, including, without limitation, the cauterization actuation sensor 360, the knife actuation sensor (not shown), an articulation sensor 355, and the one or more identification sensors may be transmitted to the controller. The information storage device may include one or more non-volatile devices, read/write devices, and WORM devices. In some non-limiting examples, the information storage device may include one or more RFID tags, PROM devices, EPROM devices, and EEPROM devices. The information provided by the information storage device may include an identifier of a front portion assembly type (for example, a non-articulated shaft or an articulated shaft), a front portion assembly model number, a front portion assembly serial number, a value of the number of uses of the front portion assembly 110, and a configuration of one or more components of the front portion assembly. In some non-limiting examples, the information storage device may provide its information through a non-contact sensor, for example through an antenna to receive an RF signal from an RFID. In other non-limiting examples, the information storage device may provide its information directly via one or more electrical contacts disposed in the reusable handle assembly distal interface.

As disclosed above, a variety of electrosurgical devices have been developed for use in a variety of procedures. In some procedures, a straight and non-bendable shaft may be used to permit access to some tissues. Alternatively, some tissues may be located in places not readily accessible to a device having a straight and non-bendable shaft. Specific devices may be used that permit a health professional to treat tissue by using an electrosurgical device having a bendable shaft. In one example of such an instrument, the shaft may include one or more articulated joints that may permit the shaft to bend under control by the user. A reusable handle assembly 130, designed for use with both types of devices, may require components configured to active articulation mechanisms that may not exist in front portion assemblies lacking an articulated shaft. Thus, FIG. 3 further illustrates an articulation drive gear 320 that may couple one or more motions of the motor 240 to an articulation mechanism present in a front portion assembly having an articulated shaft.

FIG. 4 illustrates one aspect of an electrosurgical device 400 having an articulated shaft 415 as a component of a front portion assembly 410. It may be appreciated that many of the features depicted in FIG. 4 are equivalent to those depicted in FIG. 1B. Thus, the electrosurgical device 400 incorporates a reusable handle assembly 130 having a housing that forms, in part, a handle 133. A jaw closure trigger 127 is incorporated in the front portion assembly 410 as well as a knife advancement control 140 and an energy activation control 145. The end effector 120 additionally is composed of a pair of jaw 123a, 123b. The articulated shaft 415 extends in a distal direction from the front portion assembly housing and is in mechanical communication with the end effector 120. Although not shown, a tissue knife is disposed within the end effector 120 and is configured to cut tissue that may be compressed and cauterized by the jaws 123a, 123b.

The articulated shaft 415 incorporates an articulation joint 425. The articulation joint 425 is configured to permit a portion of the shaft 415 distal to the articulation joint to move in a plane orthogonal to a plane of a motion of the first jaw 123a with respect to the second jaw 123b. The articulation joint 425 may be moved by means of an articulation mechanism. The articulation mechanism may include one or more articulation bands 427. The articulation mechanism may be actuated by means of one or more articulation controls, 440a, 440b. In one non-limiting example, a single articulation control (for example 440a) may be included in the front portion assembly 410. In another non-limiting example, each articulation control 440a, 440b may act independently of the other, thereby permitting ambidextrous control of the articulated shaft 415. In yet another non-limiting example, activation of one of the articulation controls (for example 440a) may result in the articulation mechanism bending the articulated shaft 415 in a first direction, while activation of the second articulation control (for example 440b) may result in the articulation mechanism bending the articulated shaft 415 in a second direction.

FIG. 5 depicts one aspect of components of the articulating shaft 415. As shown in FIG. 5, these components include a separator 1150, a first articulation band 1170 (see FIG. 6B) on a first side of the separator and a second articulation band 1160 disposed on a second side and opposing side of the separator. Separator 1150 may include a first side recess along the first side of the separator along which the first articulation band 1170 may travel, and a second side recess along the second side of the separator along which the second articulation band 1160 may travel. Separator 1150 is disposed within the articulated shaft 415 at a fixed longitudinal position during operation of electrosurgical device. Thus, separator 1150 remains stationary relative to the articulated shaft 415. The distal end 1166 of second articulation band 1160 is secured to one side of the proximal portion 1148 of end effector 120 at an anchor point. Similarly, a distal end of a first articulation band 1170 may be secured to the other side of proximal portion 1148 of end effector 120 at an anchor point. As will be described in greater detail below, an articulation control assembly is operable to selectively advance one articulation band distally while simultaneously retracting the other articulation band proximally, and vice-versa. It should be understood that this opposing translation will cause articulation joint 425 to bend, thereby articulating end effector 120. In particular, end effector 120 will deflect toward whichever articulation band is being retracted proximally; and away from whichever articulation band is being advanced distally.

As depicted in FIGS. 6A and 6B, each articulation band has associated with it a drive member configured to move its associated articulation band in a proximal or distal direction relative to the articulation shaft 415. Thus, a first drive member 1172 having a first notch 1174 extending laterally inwardly may be unitarily secured to the first articulation band 1170. Similarly, a second drive member 1162 having a second notch 1164 extending laterally inwardly may be unitarily secured to the second articulation band 1160.

In some aspects, the drive members 1162, 1172 may comprise one or more tubes or half-shafts comprising a lengthwise portion of a tube. Thus, the first drive member 1172 may comprise a first half-shaft, and the second drive member 1162 may comprise a second half-shaft. Each half-shaft may be attached to an articulation band at a first end and an articulation mechanism bushing at a second end. The half-shafts may be configured to surround a tubular knife advancement component 210 thereby allowing the knife advancement component to move axially therebetween. In some aspects, the two half-shafts may be disposed within a second tube configured to actuate jaws 123a, 123b. It may be recognized that such one aspect may comprise nested tubular components configured to allow independent actuation of the jaws 123a, 123b, knife, and articulation joint 425. In another aspect, each drive member 1162,1172, the knife advancement component 210, and one or more members to actuate jaws 123a, 123b may comprise an individually actuated rod disposed axially and parallel to each other within the shaft 115. It may be understood that additional components within the shaft 115 may be disposed to maintain the axial and parallel orientation of such rods and to prevent the rods from interfering with each other upon actuation.

FIG. 7 depicts one aspect of an articulation control assembly that may be used to manipulate the drive members 1162 and 1172 to move the respective articulation bands 1160 and 1170 in either a proximal or distal direction. As depicted in FIG. 7, articulation control assembly may comprise a first lead screw 1183 and a second lead screw 1184 that are slidably disposed along a pair of pins 1123 within the articulation drive gear 610 (See FIG. 9). Thus, lead screws 1183, 1184 are operable to translate within the articulation drive gear 610 but are prevented from rotating within it. First lead screw 1183 includes exterior threading 1185 that is engaged with a first portion of the internal threading of articulation drive gear 610, and second lead screw 1184 includes exterior threading 1186 that is engaged with a second portion of the internal threading of articulation drive gear 610. It should therefore be understood that, due to the opposing pitch angles, rotation of articulation drive gear 610 in a first direction will drive lead screw 1183 distally while simultaneously driving lead screw 1184 proximally. Similarly, rotation of articulation drive gear 610 in a second direction will drive lead screw 1183 proximally while simultaneously driving lead screw 1184 distally.

The angles of threading 1185, 1186 are also configured such that articulation joint 425 will be effectively locked in any given articulated position, such that transverse loads on end effector 120 will generally not bend articulation joint 425 due to friction between threading 1185, 1186 and the internal threading of the articulation drive gear 610. In other words, articulation joint 425 will only change its configuration when articulation drive gear 610 is rotated. While the angles of threading may substantially prevent bending of articulation joint 425 in response to transverse loads on end effector 120, the angles may still provide ready rotation of articulation drive gear 610 to translate lead screws 1183, 1184. By way of example only, the angles of threading 1185, 1186 may be approximately +1-2 degrees or approximately +1-3 degrees. Other suitable angles will be apparent to those of ordinary skill in the art in view of the teachings herein. It should also be understood that threading 1185, 1186 may have a square or rectangular cross-section or any other suitable configuration.

As best seen in FIGS. 7-8, a first tensioner gear 1191 is threadably engaged with first lead screw 1183, while a second tensioner gear 1192 is threadably engaged with second lead screw 1184. Thus, the longitudinal position of first tensioner gear 1191 relative to first lead screw 1183 may be adjusted by rotating first tensioner gear 1191 relative to first lead screw 1183, while the longitudinal position of second tensioner gear 1192 relative to second lead screw 1184 may be adjusted by rotating second tensioner gear 1192 relative to second lead screw 1184. Otherwise, first tensioner gear 1191 will translate unitarily with first lead screw 1183, while second tensioner gear 1192 will translate unitarily with second lead screw 1184.

First tensioner gear 1191 is also engaged with a first washer 1193, which is further engaged with notch 1174 of first drive member 1172. The engagement between first washer 1193 and first drive member 1172 is such that first washer 1193 and first drive member 1172 will translate together. In some versions, first washer 1193 is secured to first tensioner gear 1191 in such a manner that first tensioner gear 1191 both pulls first washer 1193 distally and pushes first washer 1193 proximally. Thus, in some such versions, first lead screw 1183 is operable to both push first articulation band 1170 distally and pull first articulation band 1170 proximally, depending on which direction articulation drive gear 610 is rotated. In the present example, however, first tensioner gear 1191 merely abuts first washer 1193, such that first tensioner gear 1191 is operable to push first washer 1193 proximally but cannot pull first washer 1193 distally. Thus, in the present example, first lead screw 1183 is operable to pull first articulation band 1170 proximally but cannot actively push first articulation band 1170 distally. Instead, first lead screw 1183 may simply pull first tensioner gear 1191 distally to enable first articulation band 1170, first drive member 1172, and first washer 1193 to be driven distally in response to proximal retraction of second articulation band 1160 as communicated through articulation joint 425. Other suitable relationships will be apparent to those of ordinary skill in the art in view of the teachings herein. It should also be understood that first drive member 1172 and/or first washer 1193 may be rotatable relative to first tensioner gear 1191. As described in greater detail below, first tensioner gear 1191 may be used to take out any tolerance gaps between first drive member 1172 and first lead screw 1183.

Similarly, second tensioner gear 1192 is engaged with second washer 1194, which is further engaged with second notch 1164 of second drive member 1162. The engagement between second washer 1194 and second drive member 1162 is such that second washer 1194 and second drive member 1162 will translate together. In some versions, second washer 1194 is secured to second tensioner gear 1192 in such a manner that second tensioner gear 1192 both pulls second washer 1194 distally and pushes second washer 1194 proximally. Thus, in some such versions, second lead screw 1184 is operable to both push second articulation band 1160 distally and pull second articulation band 1160 proximally, depending on which direction articulation drive gear 610 is rotated. In the present example however, second tensioner gear 1192 merely abuts second washer 1194, such that second tensioner gear 1192 is operable to push second washer 1194 proximally but cannot pull second washer 1194 distally. Thus, in the present example, second lead screw 1184 is operable to pull second articulation band 1160 proximally but cannot actively push second articulation band 1160 distally. Instead, second lead screw 1184 may simply pull second tensioner gear 1192 distally to enable second articulation band 1160, second drive member 1162, and second washer 1194 to be driven distally in response to proximal retraction of first articulation band 1170 as communicated through articulation joint 425. Other suitable relationships will be apparent to those of ordinary skill in the art in view of the teachings herein. It should also be understood that second drive member 1162 and/or second washer 1194 may be rotatable relative to second tensioner gear 1192. As described in greater detail below, second tensioner gear 1192 may be used to take out any tolerance gaps between second drive member 1162 and second lead screw 1184.

FIG. 9 depicts a close-up view of a section of the front portion assembly 410 including the articulating shaft 415 and an articulation drive assembly. As shown in FIG. 9, articulation drive gear 610 may be coaxially positioned about the proximal portion of knife advancement coupling 270 and may encompass drive members 1162, 1172. Articulation drive gear 610 may be rotatable about the longitudinal axis defined by shaft 415. As will be described in greater detail below, such rotation of articulation drive gear 610 may cause opposing translation of drive members 1162, 1172, with the directions of such opposing translations depending on the direction in which articulation drive gear 610 rotates. In such a manner, rotation of articulation drive gear 610 may articulate end effector 120 about articulation joint 425. Articulation drive gear 610 may include a first internal threading 615 and a second internal threading 620. Threadings 615, 620 may have opposing pitch angles or orientations and may be configured to mate with the exterior threadings 1185 and 1186 of lead screws 1183 and 1184, respectively. Thus, a rotation of articulation drive gear 610 in a first direction may cause first lead screw 1183 to move distally and second lead screw 1184 to move proximally. The distal motion of first lead screw 1183 may cause first drive member 1172 to move distally, while the proximal motion of second lead screw 1184 may cause second drive member 1162 to move in a proximal direction. The resulting push-pull motion of drive members 1172 and 1162, respectively, may result in the bending of the articulation joint 425 to bend in a first direction. Similarly, a rotation of articulation drive gear 610 in a second direction may cause first lead screw 1183 to move proximally and second lead screw 1184 to move distally. The proximal motion of first lead screw 1183 may cause first drive member 1172 to move proximally, while the distal motion of second lead screw 1184 may cause second drive member 1162 to move in a distal direction. The resulting pull-push motion of drive members 1172 and 1162, respectively, may result in the bending of the articulation joint 425 to bend in a second direction. Rotation of the articulation drive gear 610 may be driven by rotation of an articulation coupling gear 630.

FIG. 10A depicts an example of a proximal interface of a front portion assembly of an electrosurgical device that incorporates an articulated shaft. Many of the components illustrated in FIG. 10A are common to electrosurgical devices that incorporate a fixed shaft. For example, FIG. 10A illustrates the proximal end of the knife advancement coupling 270. Additionally, FIG. 10A illustrates common controls such as the knife advancement control 140 and the energy activation control 145. As noted above, the reusable handle assembly 130 may include sensors to detect motions of knife advancement control 140 and the energy activation control 145. In a non-limiting example, a cauterization actuation sensor 360 may detect the presence or motion of the energy activation control 145, and a knife actuation sensor (not shown) may detect the presence or motion of the knife advancement control 140. In some non-limiting examples, the cauterization actuation sensor 360 and the knife actuation sensor (not shown) may comprise Hall sensors that may sense the proximity of a magnet 745 associated with the energy activation control 145, and a magnet 740 associated with the knife advancement control 140, respectively. The proximal interface illustrated in FIG. 10A also depicts one or more tissue cauterization power contacts 730 which may be configured to be in electrical communication with equivalent cauterization current terminals 340 (see FIG. 3) in the reusable handle assembly 130.

FIGS. 10A and 10B together disclose one aspect of a mechanism for adjusting an articulation angle in an articulation shaft. Articulation drive gear 610 may be mechanically coupled to articulation coupling gear 630. Articulation coupling gear 630 may be reversibly coupled to an articulation engagement gear 720 using mechanical components attached to the articulation controls 440a, 440b as depicted in FIG. 10B. Manipulation or position of the articulation controls, 440a, 440b, may be sensed by one or more articulation actuation sensors (FIG. 10B, 355a, 355b). In one non-limiting example, the articulation actuation sensors 355a, 355b may comprise Hall sensors that can sense the proximity of articulation magnets 750a, 750b, respectively. Articulation magnets 750a, 750b may be affixed to the mechanical components of the articulation controls 440a, 440b, respectively. Motion of the articulation controls 440a, 440b in direction A, A′ (FIG. 10B) may simultaneously cause articulation magnets 750a, 750b to move proximate to the articulation actuation sensors 355a, 355b as well as cause the articulation engagement gear 720 to mechanically couple with articulation drive gear 320. Bias spring 760, co-axial with a shaft of the articulation engagement gear 720, may provide a restoring force that can disengage the articulation engagement gear 720 from the articulation drive gear 320 when pressure to articulation controls 440a or 440b is released. The bias spring 760 may also cause the articulation magnets 750a, 750b to move away from the articulation actuation sensors 355a, 355b when pressure is released from the articulation controls 440a, 440b.

In practice, an electrosurgical system comprising separable front portion assemblies and reusable handle assemblies as disclosed above may be used as follows. The front portion assembly having a front portion housing may be contacted with the reusable handle assembly having a reusable handle housing, and the front portion housing may be releasably latched to the reusable handle housing. Upon contacting the front portion housing with the reusable handle housing, mechanical, electrical, and data components of the front portion assembly may be contacted with mating mechanical, electrical, and data components of the reusable handle housing. The mechanical components of the front portion assembly may include, without limitation, mechanical components to actuate a tissue cutting knife and mechanical components to cause a portion of the front portion assembly shaft to bend about an articulation joint. Electrical components of the front portion assembly may include, without limitation, contacts to transfer an electrical current from a current source in the reusable handle housing to one or more energy delivery surfaces associated with one or more jaws at the distal end of the front portion assembly shaft. In one non-limiting example, a data component may include one or more information storage devices to provide data to or receive data from the controller in the reusable handle assembly. Such information storage devices may be active or passive, and may be read-only or read/write devices.

Upon securing the front portion assembly to the reusable handle assembly, a data storage device in the front portion assembly may provide data to the reusable handle assembly. Such data may include, without limitation, data identifying a type of front portion assembly, data indicating types of mechanical functions available to the front portion assembly, data indicating prior use of the front portion assembly, data indicating the number of times the front portion assembly may be used, data giving an expiration date for use of the front portion assembly, and data indicating limitations of electrical current that may be sourced to the front portion assembly. Identification data may include, without limitation, a part number identifier and a serial number identifier. Mechanical functionality data may include, without limitation, indications that the front portion assembly includes an articulation joint and control interfaces therefor, indications regarding limitations on the angle and distance that the jaws may move, and indications on the length that a tissue cutting knife may move. The information in the data storage device may be altered by the reusable handle assembly upon use of the front portion assembly to track the number of uses of the front portion assembly during one or more surgical procedures. In some non-limiting examples, the reusable handle assembly may receive use data from the data storage device and determine that the front portion assembly may not be useable for additional procedures due to prior use. In another non-limiting example, the reusable handle assembly may receive expiration date data from the data storage device and determine that the front portion assembly may not be useable because the front portion assembly is beyond its expiration date.

Once the front portion assembly and the reusable handle assembly are releasably secured together, the controller in the reusable handle assembly may determine if the two assemblies are properly secured together to allow use. In one non-limiting example, the controller may prevent any subsequent action of the assembled electrosurgical device if it determines that the front portion assembly and the reusable handle assembly are not properly secured together.

The jaw closure trigger of the assembled electrosurgical device may be moved thereby causing the first jaw to move relative to the second jaw thereby capturing a tissue therebetween. The energy activation control may be manipulated, and its motion may be sensed by the cauterization activation sensor. The cauterization activation sensor may transmit a signal to the controller in response to an activation of the energy activation control. In one non-limiting example, the cauterization activation sensor may be a Hall sensor which may detect a magnetic field of a magnet incorporated in the energy activation control when the energy activation control is manipulated. Upon receiving an appropriate signal from the cauterization activation sensor, the controller may cause an RF current to flow between a first RF current terminal and a second RF current terminal when the controller determines that the energy activation control is at least at a predetermined position. The RF current may be sourced to one or more tissue cauterization power contacts in the reusable handle assembly which may conduct the RF current through mating tissue cauterization current terminals in the front portion assembly. The RF current may then be conducted through one or more conductors to the energy delivery surfaces on the jaws of the front portion assembly. In some non-limiting examples, the controller may supply the RF current only while the energy activation control is placed in an activating position by the user. In some alternative non-limiting examples, the controller may supply the RF current for a predetermined period of time once the energy activation control is placed in an activing position. In yet another non-limiting example, the controller may receive data related to the position of the jaws and prevent the RF current from being supplied to the to the one or more tissue cauterization power contacts if the jaws are not in a closed position.

The knife advancement control may be manipulated, and its motion may be sensed by the knife actuation sensor. The knife actuation sensor may transmit a signal to the controller in response to an activation of the knife advancement control. In one non-limiting example, the knife actuation sensor may be a Hall sensor which may detect a magnetic field of a magnet incorporated in the knife advancement control when the knife advancement control is manipulated. Upon receiving an appropriate signal from the knife actuation sensor, the controller may transmit a signal to cause a rotation of the motor to be coupled to the tissue knife advancement component when the position of the knife advancement control is at least at a predetermined position. In one non-limiting example, the knife advancement control may comprise a toggle switch. A single activation of such a toggle switch may signal the controller to activate instructions that may cause the tissue knife to extend and retract in one continuous motion. In an alternative example, the knife advancement control may comprise a push-button. Activation of such a push-button switch may signal the controller to activate instructions that may cause the tissue knife to extend and retract only while the button is pressed.

In another non-limiting example, the helical drive screw, knife advancement coupling, and/or knife advancement component may be sized to provide overtravel of the tissue cutting knife. In such one aspect, activation of the knife advancement control may result in a linear motion of the tissue cutting knife that may not, at least in part, engage the tissue. Thus, for a knife retracted to its full proximal position, the overtravel may result in the tissue cutting knife not engaging any tissue at least during an initial motion of the knife in the distal direction. Tissue engagement, leading to subsequent severing of the tissue, may occur as the tissue cutting knife advances after this initial motion of the tissue cutting knife. In some non-limiting examples, the pitch of the helical drive nut may be non-uniform. As a result, a length of travel of the tissue cutting knife may be less per rotation of the helical drive nut while the knife advancement coupling is at a proximal location than when the knife advancement coupling is at a more distal location.

The controller may determine that the front portion assembly has a shaft incorporating an articulation joint based on data received from the one or more information storage devices in the front portion assembly. Upon such a determination, the controller may accept data from the one or more articulation sensors. The one or more articulation sensors may transmit one or more signals to the controller in response to an activation of the one or more articulation controls. In one non-limiting example, the one or more articulation sensors may be Hall sensors that may detect a magnetic field of a magnet incorporated into the articulation controls when the articulation controls are manipulated. If the controller determines that a position of the one or more articulation controls is at least at a predetermined position, the controller may activate one or more mechanical and/or electromechanical components to cause the articulation mechanism to move, thereby bending the shaft at the articulation joint.

In one non-limiting example, when an articulation control is positioned forward by an operator, an articulation engagement gear may be translated proximally thereby engaging it with an articulation drive gear. Upon receiving a signal from the one or more articulation sensors, the controller may provide instructions to the motor to rotate. Rotation of the motor may be coupled through one or more miter gears or spur gears to the articulation drive gear. The mechanical coupling of the articulation drive gear with the articulation engagement gear, via the articulation control, may result in the rotation of the motor shaft being coupled to the articulation drive gear. Rotation of the articulation drive gear may result in translation motions of the first and second lead screws which may result in relative translation of the first and second drive members thereby causing the shaft to bend at the articulation joint.

In one non-limiting example, the articulation control may act as a push-button switch. Activation of such a push-button switch may signal the controller to activate instructions that may result in the articulation joint moving first in one direction and then in the opposite direction in one continuous motion only while the button is pressed. In an alternative example, the articulation control may comprise a double-pole switch. Activation of such a double-pole switch may signal the controller to activate instructions that may result in the articulation joint bending in a first direction while the switch contacts a first pole, and may result in the articulation joint bending in a second direction while the switch contacts a second pole. In yet another example, the activation of a first articulation control may signal the controller to move the articulation joint in a first direction, while the activation of a second articulation control may signal the controller to move the articulation joint in a second direction. In some non-limiting examples, the controller may also retain information related to the angle formed by the articulation joint.

In one non-limiting example, a single motor may be used to advance the tissue cutting knife and bend the articulation joint. In a non-limiting example, the tissue cutting knife and the articulation joint may both move when the one or more articulation controls is actuated. In such an example, overtravel may be provided for the motion of the tissue cutting knife so that the knife may advance in a distal direction but not engage tissue while the articulation joint moves. Alternatively, the pitch of the helical drive screw may be non-uniform, so that the tissue cutting knife initially advances to a smaller extent while the shaft articulates than when the articulation control is not actuated and the knife has advanced past a predetermined distal position.

It may be recognized that an alternative aspect of the electrosurgical device may include separate motors to move the tissue cutting knife and articulate the shaft at the articulation joint. In yet another alternative aspect, a single motor may actuate the tissue cutting knife and the articulation joint, but the motions of the knife and the joint may be independent. In such an alternative aspect, actuation of the one or more articulation controls may couple only the articulation mechanisms to the motor while preventing the knife advancement mechanisms from engaging the motor. Similarly, actuation of the knife advancement control may couple only the knife advancement mechanisms to the motor while preventing the articulation mechanisms from engaging the motor.

Additional details regarding electrosurgical end effectors, jaw closing mechanisms, and electrosurgical energy delivery surfaces are described in the following U.S. patents and published patent applications: U.S. Pat. Nos. 7,087,054; 7,083,619; 7,070,597; 7,041,102; 7,011,657; 6,929,644; 6,926,716; 6,913,579; 6,905,497; 6,802,843; 6,770,072; 6,656,177; 6,533,784; and 6,500,112; and U.S. Pat. App. Pub. Nos. 2010/0036370 and 2009/0076506, all of which are incorporated herein by reference in their entirety and made part of this specification.

It will be appreciated that the terms “proximal” and “distal” are used throughout the specification with reference to a clinician manipulating one end of an instrument used to treat a patient. The term “proximal” refers to the portion of the instrument closest to the clinician and the term “distal” refers to the portion located furthest from the clinician. It will further be appreciated that for conciseness and clarity, spatial terms such as “vertical,” “horizontal,” “up,” or “down” may be used herein with respect to the illustrated aspects. However, surgical instruments may be used in many orientations and positions, and these terms are not intended to be limiting or absolute.

Various aspects of surgical instruments and robotic surgical systems are described herein. It will be understood by those skilled in the art that the various aspects described herein may be used with the described surgical instruments and robotic surgical systems. The descriptions are provided for example only, and those skilled in the art will understand that the disclosed aspects are not limited to only the devices disclosed herein, but may be used with any compatible surgical instrument or robotic surgical system.

Reference throughout the specification to “various aspects,” “some aspects,” “one example,” or “one aspect” means that a particular feature, structure, or characteristic described in connection with one aspect is included in at least one example. Thus, appearances of the phrases “in various aspects,” “in some aspects,” “in one example,” or “in one aspect” in places throughout the specification are not necessarily all referring to the same aspect. Furthermore, the particular features, structures, or characteristics illustrated or described in connection with one example may be combined, in whole or in part, with features, structures, or characteristics of one or more other aspects without limitation.

While various aspects herein have been illustrated by description of several aspects and while the illustrative aspects have been described in considerable detail, it is not the intention of the applicant to restrict or in any way limit the scope of the appended claims to such detail. Additional advantages and modifications may readily appear to those skilled in the art. As disclosed herein, the present disclosure has been discussed in terms of endoscopic procedures and apparatus. However, use herein of terms such as “endoscopic”, should not be construed to limit the present disclosure to an instrument for use only in conjunction with an endoscopic tube (e.g., trocar). On the contrary, it is believed that the present disclosure may find use in any procedure where access is limited to a small incision, including but not limited to laparoscopic procedures, as well as open procedures and natural orifice procedures, such as a transvaginal hysterectomy.

It is to be understood that at least some of the figures and descriptions herein have been simplified to illustrate elements that are relevant for a clear understanding of the disclosure, while eliminating, for purposes of clarity, other elements. Those of ordinary skill in the art will recognize, however, that these and other elements may be desirable. However, because such elements are well known in the art, and because they do not facilitate a better understanding of the disclosure, a discussion of such elements is not provided herein.

While several aspects have been described, it should be apparent, however, that various modifications, alterations and adaptations to those aspects may occur to persons skilled in the art with the attainment of some or all of the advantages of the disclosure. For example, according to various aspects, a single component may be replaced by multiple components, and multiple components may be replaced by a single component, to perform a given function or functions. This application is therefore intended to cover all such modifications, alterations and adaptations without departing from the scope of the disclosure as defined by the appended claims.

Any patent, publication, or other disclosure material, in whole or in part, that is said to be incorporated by reference herein is incorporated herein only to the extent that the incorporated materials does not conflict with existing definitions, statements, or other disclosure material set forth in this disclosure. As such, and to the extent necessary, the disclosure as explicitly set forth herein supersedes any conflicting material incorporated herein by reference. Any material, or portion thereof, that is said to be incorporated by reference herein, but which conflicts with existing definitions, statements, or other disclosure material set forth herein will only be incorporated to the extent that no conflict arises between that incorporated material and the existing disclosure material.

Various aspects of the subject matter described herein are set out in the following numbered clauses:

Clause 1. A reusable handle for an electrosurgical device, the reusable handle comprising:

a housing;

a motor disposed within the housing;

a controller configured to actuate the motor;

an electrical interface portion configured to interface with a front portion of the electrosurgical device comprising:

• • a plurality of sensors comprising at least a knife actuation sensor, a cauterization actuation sensor, and an articulation actuation sensor, wherein each of the plurality of sensors is in data communication with the controller, and
  • at least one tissue cauterization current terminal;

a mechanical interface portion configured to interface with the front portion of the electrosurgical device comprising:

• • a first mechanical coupling configured to couple one or more motions of the motor to a tissue cutting mechanism,
  • a second mechanical coupling configured to couple the one or more motions of the motor to an articulation mechanism, and
  • a latching mechanism configured to releasably latch the front portion of the electrosurgical device to the housing.

Clause 2. The reusable handle of Clause 1, wherein the plurality of sensors comprises one or more of a Hall sensor, an RF sensor, an optical sensor, and an electronic sensor.

Clause 3. The reusable handle of any one of Clauses 1-2, wherein the first mechanical coupling and the second mechanical coupling independently comprise one or more of a spur gear, a worm gear, a planetary gear set, a helical gear, a bevel gear, a miter gear, and a rack and pinion gear set.

Clause 4. The reusable handle of any one of Clauses 1-3, further comprising one or more power sources configured to supply power to the motor and the controller.

Clause 5. The reusable handle of Clause 4, wherein the one or more power sources comprise one or more batteries disposed within the housing.

Clause 6. The reusable handle of any one of Clauses 1-5, further comprising a source of tissue cauterization power in electrical communication with the at least one tissue cauterization power terminal.

Clause 7. The reusable handle of Clause 6, wherein the source of tissue cauterization power comprises one or more batteries disposed within the housing.

Clause 8. The reusable handle of any one of Clauses 1-6, wherein the controller is configured to activate the one or more motions of the motor at least in response to receiving data from one or more of the a plurality of sensors.

Clause 9. The reusable handle of any one of Clauses 1-8, further comprising an identification sensor configured to receive identification information from the front portion of the electrosurgical device.

Clause 10. The reusable handle of any one of Clauses 1-9, wherein the second mechanical coupling is configured to couple the one or more motions of the motor to the articulation mechanism independent of a coupling of the one or more motions of the motor to the tissue cutting mechanism.

Clause 11. An electrosurgical system comprising:

a front portion assembly comprising:

• • a front portion housing,
  • an end effector comprising a first jaw movably disposed to contact a second jaw, a first electrode configured to be in electrical communication with a first RF current terminal, and a second electrode configured to be in electrical communication with a second RF current terminal,
  • a tissue knife movably disposed within the end effector,
  • a tissue knife advancement component configured to move the tissue knife within the end effector,
  • a jaw closure trigger,
  • a knife advancement control,
  • an energy activation control, and
  • an elongated shaft having a distal end in mechanical communication with the end effector; and

a reusable handle assembly comprising:

• • a reusable handle housing;
  • a motor disposed within the reusable handle housing;
  • a controller configured to actuate the motor;
  • an electrical interface portion configured to interface with the front portion assembly comprising:
    • a knife actuation sensor configured to sense a position of the knife advancement control,
    • a cauterization actuation sensor configured to sense a position of the energy activation control,
    • an articulation actuation sensor,
    • wherein the knife actuation sensor, the cauterization actuation sensor, and the articulation actuation sensor are in data communication with the controller,
    • the first RF current terminal, and
    • the second RF current terminal;
  • a mechanical interface portion configured to interface with the front portion of the electrosurgical device, the mechanical interface portion comprising:
    • a first mechanical coupling configured to couple one or more motions of the motor to the tissue knife advancement component,
    • a second mechanical coupling configured to couple the one or more motions of the motor to an articulation mechanism, and
    • a latching mechanism configured to releasably latch the front portion housing to the reusable handle housing;

wherein the front portion assembly is releasably attached to the reusable handle assembly.

Clause 12. The electrosurgical system of Clause 11, wherein the knife actuation sensor, the cauterization actuation sensor, and the articulation actuation sensor independently comprise one or more of a Hall sensor, an RF sensor, an optical sensor, and an electronic sensor.

Clause 13. The electrosurgical system of any one of Clauses 11-12, wherein the front portion assembly releasably attached to the reusable handle assembly comprises an electrosurgical system configured for single-handed operation.

Clause 14. The electrosurgical system of any one of Clauses 11-13, further comprising an RF current source in electrical communication with the first RF current terminal and the second RF current terminal.

Clause 15. The electrosurgical system of any one of Clauses 11-14, further comprising:

an information storage device disposed within the front portion assembly; and

an identification sensor disposed within the reusable handle assembly,

wherein the identification sensor is in data communication with the controller, and

wherein the identification sensor is configured to receive information from the information storage device.

Clause 16. The electrosurgical system of Clauses 15, wherein the information storage device comprises one or more of a non-volatile device, a read/write device, and a WORM device.

Clause 17. The electrosurgical system of Clause 15, wherein the information storage device comprises one or more of an RFID tag, a PROM device, an EPROM device, and an EEPROM device.

Clause 18. The electrosurgical system of Clause 15, wherein the information comprises one or more of an identifier of a front portion assembly type, a front portion assembly model number, a front portion assembly serial number, a value of the number of uses of the front portion assembly, and a configuration of one or more components of the front portion assembly.

Clause 19. The electrosurgical system of any one of Clauses 11-18, wherein the front portion assembly further comprises:

an articulation joint in the elongated shaft, wherein the articulation joint is configured to permit the shaft to move in a plane orthogonal to a plane of a motion of the first jaw with respect to the second jaw;

the articulation mechanism, configured to move the articulation joint; and

an articulation control,

wherein the articulation actuation sensor is configured to sense the position of the articulation control.

Clause 20. A method of using an electrosurgical system, the method comprising:

providing a front portion assembly comprising:

• • a front portion housing,
  • an end effector comprising a first jaw movably disposed to contact a second jaw, a first electrode configured to be in electrical communication with a first RF current terminal, and a second electrode configured to be in electrical communication with a second RF current terminal,
  • a tissue knife movably disposed within the end effector,
  • a tissue knife advancement component configured to move the tissue knife within the end effector,
  • a jaw closure trigger,
  • a knife advancement control,
  • an energy activation control, and
  • an elongated shaft having a distal end in mechanical communication with the end effector;

providing a reusable handle assembly comprising:

• • a reusable handle housing;
  • a motor disposed within the reusable handle housing;
  • a controller configured to actuate the motor;
  • an electrical interface portion configured to interface with the front portion assembly comprising:
    • a knife actuation sensor configured to sense a position of the knife advancement control,
    • a cauterization actuation sensor configured to sense a position of the energy activation control,
    • an articulation actuation sensor,
    • wherein the knife actuation sensor, the cauterization actuation sensor, and the articulation actuation sensor are in data communication with the controller,
    • the first RF current terminal, and
    • the second RF current terminal;
  • a mechanical interface portion configured to interface with the front portion of the electrosurgical device, the mechanical interface portion comprising:
    • a first mechanical coupling configured to couple one or more motions of the motor to the tissue knife advancement component,
    • a second mechanical coupling configured to couple the one or more motions of the motor to an articulation mechanism, and
    • a latching mechanism configured to releasably latch the front portion housing to the reusable handle housing;

contacting the front portion assembly with the reusable handle assembly and releasably latching the front portion housing to the reusable handle housing;

using the jaw closure trigger to move the first jaw relative to the second jaw thereby capturing a material therebetween;

moving the energy activation control;

sensing, by the cauterization activation sensor, the position of the energy activation control;

causing an RF current to flow between the first RF current terminal and the second RF current terminal when the position of the energy activation control sensed by the cauterization activation sensor is at least at a predetermined position;

sensing, by the knife actuation sensor, the position of the knife advancement control; and

causing, by the controller, the motor to move the tissue knife advancement component via the first mechanical coupling when the position of the knife advancement control sensed by the knife actuation sensor is at least at a predetermined position.

Clause 21. The method of Clause 20, wherein providing a front portion assembly further comprises providing a front portion assembly comprising:

an articulation joint in the elongated shaft, wherein the articulation joint is configured to permit the shaft to move in a plane orthogonal to a plane of a motion of the first jaw with respect to the second jaw;

the articulation mechanism, configured to move the articulation joint; and

an articulation control;

wherein providing a reusable handle assembly further comprises providing a reusable handle assembly wherein the articulation actuation sensor is configured to sense the position of the articulation control;

sensing, by the articulation actuation sensor, the position of the articulation control; and

causing, by the controller, the motor to move the articulation mechanism via the second mechanical coupling when the position of the articulation control sensed by the articulation actuation sensor is at least at a predetermined position.

Claims

1. A reusable handle for an electrosurgical device, the reusable handle comprising: a housing comprising a handle;a motor disposed within the housing;a controller configured to actuate the motor;an electrical interface portion configured to interface with a front portion of the electrosurgical device comprising: a plurality of electronic sensors comprising at least an electronic knife actuation sensor, an electronic cauterization actuation sensor, and an electronic articulation actuation sensor, wherein each of the plurality of electronic sensors is in data communication with the controller, andat least one tissue cauterization current terminal;a mechanical interface portion configured to interface with the front portion of the electrosurgical device comprising: a first mechanical coupling configured to couple one or more motions of the motor to a tissue cutting mechanism,a second mechanical coupling configured to couple the one or more motions of the motor to an articulation mechanism, anda latching mechanism configured to releasably latch the front portion of the electrosurgical device to the housing,

2. The reusable handle of claim 1, wherein the plurality of electronic sensors comprises one or more of a Hall sensor, an RF sensor, an optical sensor, and an electronic sensor.

3. The reusable handle of claim 1, wherein the first mechanical coupling and the second mechanical coupling independently comprise one or more of a spur gear, a worm gear, a planetary gear set, a helical gear, a bevel gear, a miter gear, and a rack and pinion gear set.

4. The reusable handle of claim 1, further comprising one or more power sources configured to supply power to the motor and the controller.

5. The reusable handle of claim 4, wherein the one or more power sources comprise one or more batteries disposed within the housing.

6. The reusable handle of claim 1, further comprising a source of tissue cauterization power in electrical communication with the at least one tissue cauterization current terminal.

7. The reusable handle of claim 6, wherein the source of tissue cauterization power comprises one or more batteries disposed within the housing.

8. The reusable handle of claim 1, wherein the controller is configured to activate the one or more motions of the motor at least in response to receiving data from one or more of the plurality of electronic sensors.

9. The reusable handle of claim 1, further comprising an identification sensor configured to receive identification information from the front portion of the electrosurgical device.

10. The reusable handle of claim 1, wherein the second mechanical coupling is configured to couple the one or more motions of the motor to the articulation mechanism independent of a coupling of the one or more motions of the motor to the tissue cutting mechanism.