Patent Application
20250228605
Aspects of this disclosure relate generally to instrument end effectors and related devices, systems, and methods, for example, for use in computer-assisted teleoperated manipulator systems. More specifically, aspects of the disclosure relate to end effectors capable of performing multiple functions, and remotely-controlled instruments including such end effectors.
Remotely-controlled instruments generally comprise end effectors, which are often disposed at a distal end portion of the instrument and comprise one or more functional elements, such as, for example, a jaw mechanism, a stapler, a blade, a camera, an electrode, a sensor, etc., to perform one or more functions of the instrument, such as cutting, sealing, grasping, imaging, etc. The functions performed by an end effector may be controlled and driven by the forces, torques, other drive inputs, and/or flow function inputs (e.g., electrical energy, illumination, irrigation, etc.) received by the instrument via various interfaces generally located at a proximal end portion of the instrument. In some such instruments, actuation elements run from the proximal end portion along an instrument shaft to transmit forces and/or other functionality from a transmission mechanism at the proximal end portion of the instrument to the end effector. Such remotely-controlled instruments can be manually operated, for example, via a manually-actuated inputs at a handle or other interface mounted at the proximal end portion. Alternatively, such remotely-controlled instruments may be coupled to or configured to be coupled to computer-assisted manipulator systems, which may be operably coupled to a remotely located console that provides the interface to receive input from a user.
Computer-assisted manipulator systems (“manipulator systems”), sometimes referred to as robotically assisted systems or robotic systems, may comprise one or more manipulators that can be operated with the assistance of an electronic controller (e.g., computer) to move and control functions of one or more instruments when coupled to the manipulators. A manipulator generally comprises a plurality of mechanical links connected by joints. An instrument is removably couplable to (or permanently coupled to) one of the links, typically a distal link of the plural links. The joints are operable to cause the links to move (i.e., rotate and/or translate) relative to one another, imparting various degrees of freedom to the manipulator to enable the manipulator to move the instrument around a worksite. The manipulators of a manipulator system can be used to transmit a variety of forces and torques to the instruments to perform various procedures, such as medical procedures or non-medical procedures (e.g., industrial procedures). The link to which the instrument is couplable or coupled (e.g., an instrument carriage) comprises drive outputs to interface with and mechanically transfer driving forces to corresponding drive inputs of the instrument to control degrees of freedom of motion and/or other functions of the instrument. Electrical power, data signals, vacuum suction, insufflation, irrigation, and/or other useful flows may also be transferred to the instrument via various interfaces, which may include interfaces of the manipulator or interfaces of other parts or subsystems to which the instrument may be operably couplable or coupled (e.g., an auxiliary system). As mentioned above, the manipulator system may be operably coupled (e.g., through a controller) to a console with user input devices which register user inputs and control operations of the system based on the inputs. In some cases, an input device may be arranged such that as the input device is actuated, the instrument is controlled to follow or mimic the movement of the input device, which may provide the user a sense of directly controlling the instrument.
One type of remotely-controlled instruments is a medical instrument, which may be used to perform medical procedures, such as, for example, surgical, diagnostic, or therapeutic procedures. Medical instruments may include a variety of instruments used to perform medical procedures, such as therapeutic instruments, diagnostic instruments, surgical instruments, and/or imaging instruments. In some examples, the medical instruments may be inserted into a patient through a natural orifice or an incision (including through a port or other guide inserted in the incision). Such instruments that are remotely controlled may be particularly useful, for example, in performing minimally invasive surgical procedures. A minimally invasive surgical procedure may be designed to reduce the amount of tissue that is damaged during a surgical procedure, for example by decreasing the number and/or size of incisions through which medical instruments are inserted.
In some circumstances during a medical procedure, different functions may be performed. For example, in a medical procedure, it may be desirable to both cut and seal tissue, or to apply different types of electrosurgical energy. Still other procedures may utilize different sensed conditions and then perform a function based on that sensed condition. In such cases, if different instruments are used to perform the different functions, a relatively more invasive procedure may result, such as the insertion of two instruments at the same time and/or the consecutive insertion and withdrawal of different instruments. Accordingly, some procedures may benefit from an instrument capable of performing multiple functions. However, challenges can arise in providing instruments having end effectors capable of performing multiple functions (multi-function end effector), including the space that may be needed to provide multiple functions and/or to actuate those functions. Also, such multi-function instruments are relatively more complex in their structure and systems needed to actuate the various functionality, which can result in increased cost and decreased life expectancy of the instrument. Further, it can be difficult to provide an instrument to perform the various respective functions in a reliable and robust manner.
Accordingly, a need exists to provide instruments with multifunction end effectors that are capable of performing multiple functions with high effectiveness while still being relatively simple and compact, and/or to otherwise improve performance of instrument end effectors.
Various embodiments of the present disclosure may solve one or more of the above-mentioned problems and/or may demonstrate one or more of the above-mentioned desirable features. Other features and/or advantages may become apparent from the description that follows.
In accordance with at least one embodiment of the present disclosure an instrument may comprise a shaft and an end effector comprising a jaw mechanism coupled to the shaft. The jaw mechanism may comprise a first jaw member and a second jaw member movable relative to one another by pivoting about a pivot axis between an open configuration of the jaw mechanism and a closed configuration of the jaw mechanism. The second jaw member may be rotatable about a roll axis of the second jaw member between at least two orientations, the roll axis of the second jaw member being transverse to the pivot axis. In a first orientation of the at least two orientations, the jaw mechanism is configured to perform a first function. In a second orientation of the at least two orientations, the jaw mechanism is configured to perform a second function differing from the first function.
In accordance with another embodiment of the present disclosure an instrument may comprise a shaft and a jaw mechanism coupled to the shaft. The jaw mechanism may comprise a first jaw member and a second jaw member movable relative to one another by pivoting about a pivot axis between an open configuration of the jaw mechanism and a closed configuration of the jaw mechanism. The second jaw member is rotatable relative to the shaft about a roll axis of the second jaw member and independently of the first jaw member, the roll axis of the second jaw member being transverse to the pivot axis.
In accordance with another embodiment of the present disclosure an instrument may comprise a shaft and an end effector coupled to the shaft. The end effector may comprise a multifunction member comprising a proximal end, a distal end, an outer peripheral surface, and a longitudinal axis extending between the proximal end and the distal end. The multifunction member is rotatable relative to the shaft about the longitudinal axis. The multifunction member comprises a first functional feature configured to perform a first function and a second functional feature configured to perform a second function. The first functional feature and the second functional feature are positioned on the outer peripheral surface at different angular positions around the longitudinal axis.
In accordance with another embodiment of the present disclosure an instrument may comprise a shaft, an actuatable element extending through the shaft, and an instrument transmission system coupled to the shaft. The instrument transmission system may comprise a chassis, a first drive input, a second drive input, a first gear assembly operably coupled to and driven by the first drive input, and a second gear assembly operably coupled to and driven by the second drive input. Rotation of the first gear assembly and the second gear assembly relative to the chassis at a same angular velocity causes rotation of the actuatable element relative to the shaft. Rotation of the first gear assembly relative to the chassis while the second gear assembly is held stationary relative to the chassis causes translation of the actuatable element relative to the shaft.
In accordance with another embodiment of the present disclosure a method of using an instrument that has a jaw mechanism may comprise, while a first jaw member of the jaw mechanism is in a first orientation, causing the first jaw member to perform a first function on material grasped by the jaw mechanism. The method may further comprise rotating the first jaw member from the first orientation to a second orientation about a rotation axis extending from a proximal end of the first jaw member to a distal end of the first jaw member. The method may further comprise, while the first jaw member is in the second orientation, causing the first jaw member to perform a second function, different from the first function, on material grasped by the jaw mechanism.
The present disclosure can be understood from the following detailed description, either alone or together with the accompanying drawings. The drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification. The drawings illustrate one or more embodiments of the present teachings and together with the description explain certain principles and operation. In the drawings:
As noted above, it may be desirable under some circumstances for an end effector of an instrument to be capable of performing multiple functions. With multiple functions being performed by one end effector, it may be possible to avoid (or reduce the frequency of) switching between different instruments during a procedure, thus reducing the complexity and duration of the procedure. In addition, using a multifunction end effector may reduce the number of instruments that are needed for a given procedure, as functions previously performed by multiple instruments are now performed by one. This reduction in the number of instruments reduces costs, as fewer instruments need be purchased, and may also reduce the amount of space that is occupied in the worksite during the procedure, as the space previously occupied by multiple instruments may now be occupied by one. In addition, this reduction in the amount of space occupied may allow for a reduction in size of the worksite and/or in the number of access points to a worksite (e.g., use of smaller or fewer number of incisions in medical procedures).
However, as also noted above, existing instruments with multifunction end effectors can be relatively large, relatively complex, and/or relatively less effective at performing one or more of their functions. As a non-limiting example, in the context of medical procedures, there exist various multifunction end effectors for transecting vessels (e.g., blood vessels). Such end effectors for transecting vessels may provide both a vessel cutting function and a vessel sealing function. However, these vessel cutting and sealing end effectors may be relatively larger than is desired in some circumstances, relatively more complex than is desired in some circumstances, and/or not as robust at sealing and/or cutting as is desired in some circumstances.
For example, one type of end effector for transecting vessels has a jaw mechanism comprising two electrodes for performing a bipolar electrical sealing function and a movable (e.g., translating) blade for performing a mechanical cutting function. Such an end effector seals a vessel by grasping the vessel between opposing jaws that have an electrode grasping surface (e.g., the jaw itself may be an electrode or may support an electrode) and passing electrical energy between the electrodes and through the tissue to seal (e.g., coagulate) a portion of the vessel. The end effector also can perform a cutting function, for example after sealing, by passing the movable blade through the sealed portion of the vessel still grasped between the jaws. The movable blade and the mechanism that drives the blade can result in the end effector being relatively large and mechanically complex. Moreover, the blade may dull over time and the end effector may otherwise experience wear due to the sliding function of the blade, which can reduce the lifespan for the end effector.
Another type of end effector for transecting vessels uses bipolar electrical energy passed between the opposing electrodes of jaw members for both the sealing and cutting functions. The end effector may seal and cut a vessel grasped between the electrodes by alternately applying different modes of electrical energy between the electrodes at controlled timings so as to cut and seal the vessel grasped between the jaws supporting the electrodes. Such end effectors may be relatively small and mechanically less complex (e.g., fewer moving parts), as compared to the end effectors comprising the moving blade to perform the cutting function. However, to obtain simultaneous sealing and cutting, a relatively complex control system may be needed to precisely control the modes of energy and the timings of their application. Moreover, the speed and/or effectiveness of the sealing and/or cutting functions can pose challenges because the sealing and cutting operations may have different optimal electrode configurations. But because the electrodes in these end effectors are used for both sealing and cutting, they may not be optimally configured to perform either or both functions.
To address some (or all) of the issues noted above and otherwise improve instrument end effectors, in embodiments disclosed herein an end effector is provided that is capable of performing multiple functions while also being relatively compact, relatively simple, and relatively effective in performing the functions. Moreover, in embodiments disclosed herein, end effectors may be actuatable through robust drive mechanisms that offer ease in use and manufacture, and that provide durability and reliability, while maintaining relatively low space requirements.
According to various embodiments disclosed herein, an end effector comprises a jaw mechanism with two opposing jaw members. One of the jaw members (referred to herein as a “multifunction jaw member”) has multiple different functional features located at different positions on the jaw member, with each functional feature being a part of the multifunction jaw member that is configured to facilitate the performance of a particular function of the instrument. For example, functional features could include but are not limited to: an electrode having a first shape (e.g., a shape adapted to perform bipolar sealing), an electrode having a second shape (e.g., a shape adapted to perform bipolar cutting), a surface adapted for grasping (e.g., a surface with friction enhancing features), a blade for mechanical cutting, etc. In embodiments disclosed herein, the multifunction jaw member is capable of being reconfigured during usage to change which one of the functional features is positioned for active use. In some embodiments, the functional feature that is positioned for active use can be changed by changing the pose of the multifunction jaw member, which may include, for example rotating the multifunction jaw member. For example, a given functional feature may be usable to perform its respective function when it is located in an “active position,” such as a position in which the functional feature faces the other jaw member of the jaw mechanism. The multifunction jaw member may be movable between various poses in which different functional features are in the active position.
In some embodiments, the functional features are arranged around a peripheral surface of the jaw member, such as at different angular positions relative to a longitudinal axis of the jaw member. In some of these embodiments, the multifunction jaw member, which extends distally from a shaft of the instrument, is rotated about a longitudinal axis of the jaw member to bring different functional features at different positions around the peripheral surface into the active position. In some embodiments, the longitudinal axis of the multifunction jaw member extends generally parallel to a longitudinal axis of the instrument shaft. Thus, by rotating the multifunction jaw member between different orientations, the end effector can be selectively reconfigured, including during a medical procedure, between multiple different functions so as to permit more than one function to be performed without the need to exchange instruments.
In some embodiments, one of the functional features of the multifunction jaw member comprises a sealing electrode configured for use in bipolar electrical sealing, and another of the functional features comprises a cutting electrode configured for use in bipolar electrical cutting. In such embodiments, the end effector can be configured for a bipolar electrical sealing function by moving the multifunction jaw member into a first pose (e.g., rotating the multifunction jaw member about a longitudinal axis of the jaw member to a first orientation) in which the sealing electrode is in the active position, and the end effector can be reconfigured for a bipolar electrical cutting function by moving the multifunction jaw member to a second pose (e.g., rotating the multifunction jaw member to a second orientation) in which the cutting electrode is in the active position. In some embodiments, the active positions of the sealing and cutting electrodes of the multi-function jaw member correspond to position in which the respective sealing or cutting electrode is opposite from another electrode of the opposing jaw member.
In embodiments disclosed herein, the end effector is relatively compact. In particular, because multiple functional features are provided as parts of the same jaw member, at least some of their structure is shared in common, thus reducing the amount of space that is needed as compared to a configuration in which each functional feature were provided as a separate component of the end effector.
Moreover, the end effectors of embodiments disclosed herein may be relatively effective at performing their intended functions. In some applications, the effectiveness with which a functional feature performs a given function may depend on the configuration (e.g., shape and/or size) of the functional feature, with some configurations being more effective than others. For example, an electrode having a relatively broad contact surface may be more effective at performing a bipolar sealing function than an electrode with a relatively narrow contact surface, while the opposite may be true for a bipolar cutting function. In embodiments disclosed herein, each functional feature can be specialized for a particular function, and therefore each functional feature may be provided with a configuration that promotes its effectiveness at performing its intended function. For example, a functional feature for bipolar sealing may comprise an electrode with a relatively broad tissue contact surface, while a functional feature for bipolar cutting may comprise an electrode with a relatively narrow tissue contact surface. The ability of disclosed embodiments to provide different electrode configurations that are better suited for performing different respective functions thus alleviates the need to choose a single electrode configuration to perform both functions, in which case one function may be optimized to a detriment of the other or neither function is optimized and thus neither is performed as well.
Furthermore, in embodiments disclosed herein, the end effectors may be relatively simple in terms of construction and use. The end effectors can have relatively few moving parts and relatively uncomplicated control schemes. This can result in the end effectors being more robust, more precise, and/or having smaller overall dimensions.
In the description above and with regard to various figures below, cutting and sealing electrodes are described as two non-limiting examples of the functional features of the multi-function end effector member. But those having ordinary skill in the art would appreciate that the present disclosure is not limited to those particular functional features and that other types of functional features may be included in the multi-function jaw member, in addition to or in lieu of the sealing and cutting electrodes. Moreover, any number of two or more functional features may be included. Examples of other functional features, which are described in greater detail below, include mechanical cutting features (e.g., a mechanical blade), grasping features (e.g., a surface with friction enhancing features), a light emitting device, an optical device (e.g., a lens), etc.
Turning now to the figures, various embodiments will be described in greater detail.
The manipulator assembly 110 comprises one or more manipulators 114.
Each manipulator 114 may be configured to support and/or operate one or more instruments 102. In some examples the instruments 102 may be fixedly coupled to the manipulator 114, while in other examples one of the links 115 may be configured to have one or more separate instruments 102 removably coupled thereto. The instruments 102 may include any tool or instrument, including for example industrial instruments and medical instruments (e.g., surgical instruments, imaging instruments, diagnostic instruments, therapeutic instruments, etc.).
The system 100 can also include a user input and feedback system 104 operably coupled to the control system 106. The user input and feedback system 104 comprises one or more input devices to receive input control commands to control operations of the manipulator assembly 110. Such input devices may include but are not limited to, for example, telepresence input devices, triggers, grip input devices, buttons, switches, pedals, joysticks, trackballs, data gloves, trigger-guns, gaze detection devices, voice recognition devices, body motion or presence sensors, touchscreen technology, or any other type of device for registering user input. In some cases, an input device may be provided with the same degrees of freedom as the associated instrument that they control, and as the input device is actuated, the instrument, through drive inputs from the manipulator assembly, is controlled to follow or mimic the movement of the input device, which may provide the user a sense of directly controlling the instrument. Telepresence input devices may provide the operator with telepresence, meaning the perception that the input devices are integral with the instrument. The user input and feedback system 104 may also include feedback devices, such as a display device (not shown) to display images (e.g., images of the worksite as captured by one of the instruments 102), haptic feedback devices, audio feedback devices, other graphical user interface forms of feedback, etc.
The control system 106 may control operations of the system 100. In particular, the control system 106 may send control signals (e.g., electrical signals) to the manipulator assembly 110 to control movement of the joints 116 and to control operations of the instruments 102 (e.g., through drive interfaces at the manipulators 114). In some embodiments, the control system 106 may also control some or all operations of the user input and feedback system 104, the auxiliary system 108, or other parts of the system 100. The control system 106 may include an electronic controller to control and/or assist a user in controlling operations of the manipulator assembly 110. The electronic controller comprises processing circuitry configured with logic for performing the various operations. The logic of the processing circuitry may comprise dedicated hardware to perform various operations, software (machine readable and/or processor executable instructions) to perform various operations, or any combination thereof. In examples in which the logic comprises software, the processing circuitry may include a processor to execute the software instructions and a memory device that stores the software. The processor may comprise one or more processing devices capable of executing machine readable instructions, such as, for example, a processor, a processor core, a central processing unit (CPU), a controller, a microcontroller, a system-on-chip (SoC), a digital signal processor (DSP), a graphics processing unit (GPU), etc. In examples in which the processing circuitry includes dedicated hardware, in addition to or in lieu of the processor, the dedicated hardware may include any electronic device that is configured to perform specific operations, such as an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a Complex Programmable Logic Device (CPLD), discrete logic circuits, a hardware accelerator, a hardware encoder, etc. The processing circuitry may also include any combination of dedicated hardware and processor plus software.
As noted above, differing degrees of user control versus autonomous control may be utilized in the system 100, and embodiments disclosed herein may encompass fully user-controlled systems, fully autonomously-controlled systems, and systems having any combination of user and autonomous control. For operations that are user-controlled, the control system 106 generates control signals in response to receiving a corresponding user input command via the user input and feedback system 104. For operations that are autonomously controlled, the control system 106 may execute pre-programmed logic (e.g., a software program) and may determine and send control commands based on the programming (e.g., in response to a detected state or stimulus specified in the programming). In some systems, some operations may be user controlled and others autonomously controlled. Moreover, some operations may be partially user controlled and partially autonomously controlled-for example, a user input command may initiate performance of a sequence of events, and then the control system 106 may perform various operations associated with that sequence without needing further user input.
The auxiliary system 108 may comprise various auxiliary devices that may be used in operation of the system 100. For example, the auxiliary system 108 may include power supply units, auxiliary function units (e.g., functions such as irrigation, evacuation, energy supply, illumination, sensors, imaging, etc.). As one example, in a system 100 for use in a medical procedure context, the auxiliary system 108 may comprise a display device for use by medical staff assisting a procedure, while the user operating the input devices may utilize a separate display device that is part of the user input and feedback system 104. As another example, in a system 100 for use in a medical context, the auxiliary system 108 may comprise flux supply units that provide surgical flux (e.g., electrical power) to instruments 102. An auxiliary system 108 as used herein may thus encompass a variety of components and does not need to be provided as an integral unit.
As noted above, one or more instruments 102 can be mounted to the manipulator 114. In some embodiments, an instrument carriage physically supports the mounted instrument 102 and has one or more actuators (not illustrated) to provide driving forces to the instrument 102 to control operations of the instrument 102. The actuators may provide the driving forces by actuating drive outputs (not illustrated), such as rotary disc outputs, joggle outputs, linear motion outputs, etc. The drive outputs may interface with and mechanically transfer driving forces to corresponding drive inputs of the instrument 102 (directly, or via intermediate drive outputs, which may be part of a sterile instrument adaptor (ISA) (not illustrated)). The ISA may be placed between the instrument 102 and the instrument carriage to maintain sterile separation between the instrument 102 and the manipulator 114. The instrument carriage may also comprise other interfaces (not illustrated), such as electrical interfaces to provide and/or receive electrical signals to/from the instrument 102.
As shown in
The end effector 293 of the instrument 202 is capable of performing at least two functions, as described above. In some embodiments the end effector 293 comprises a multifunction member 252 having at least two functional features to perform different functions. As described above, a functional feature is a part of the multifunction member 252 that is configured to facilitate the performance of a particular function of the instrument. For example, a functional feature may be a part of the member 252 that has a distinguishing characteristic (e.g., particular shape, size, sharpness, and/or other functional capability (e.g., electrical conductivity) that makes the feature useful for performing a particular function. For example, a functional feature for a bipolar sealing function may comprises an electrode (a piece of conductive material coupled to a power source) shaped to have a relatively broad contact surface (surface exposed to come into contact with tissue), while a functional feature for a bipolar cutting function may comprise an electrode having a relatively narrow contact surface. As another example, a functional feature for mechanical cutting may comprise a sharp edge. As another example, a functional feature for securely grasping objects may comprise a contact surface with friction enhancing features (e.g., grooves, protrusions, roughening elements, knurling, etc.). Other examples of functional features include a monopolar electrode (e.g., for monopolar sealing and/or monopolar cutting), a stapler for firing staples, an anvil for closing staples, a lens of a camera system, and an inlet/outlet of a flow removal/delivery system such as a vacuum suction system or fluid (gas or irrigation) delivery system. The functional features may be integral with a main body of the multifunction member 252, or the functional features may be distinct from and coupled to the main body of the multifunction member 252. For example, in some embodiments in which the functional features comprise one or more electrodes, the electrodes may be formed from different portions of the main body of the multifunctional member 252, such as different faces or surface features of the multifunctional member 252, which are all integral with one another (in which case a main body of the multifunctional member 252 may be a conductive material). Thus, in such embodiments the electrodes of the multifunction member 252 may all be electrically coupled together. In other embodiments, the electrodes may be separate parts that are coupled to the multifunctional member 252. Similarly, an electrode of an opposing member (if present) may be integral with a main body of the opposing member, or may be a separate part that is coupled to the main body.
In some embodiments, the end effector 293 comprises a functional member 251 in addition to the multifunction member 252. In some of embodiments, the multifunction member 252 is movable relative to the rest of the end effector 293 (i.e., relative to the other member 251), such that the pose (position and/or orientation) of the multifunction member 252 can be changed. The pose of the multifunction member 252 can be changed such that each of the functional features of the multifunction member 252 is brought selectively into an active position. The active position is a position in which the functional feature is ready to perform the functional feature's corresponding function. For example, the active position may be a position in which the functional feature is located opposite from and facing the other member 251. Thus, by moving different functional features into the active position, the end effector 293 can be reconfigured to perform different functions.
In some embodiments, the end effector 293 comprises a jaw mechanism and the members 251 and 252 are jaw members of the jaw mechanism that can open and close relative to each other, with one or both jaw members configured to move to open and close the jaw mechanism. In such embodiments, the active position may be a position in which the functional feature is located opposite from and facing the other member 251 such that the functional feature can come into contact with an object that is grasped by the jaw mechanism between the members 251 and 252.
In some embodiments, the changing of the pose of the multifunction member 252 comprises rotating (rolling) the multifunction member 252 about a roll axis of the member (e.g., a longitudinal axis of the multifunction member 252). In such embodiments, the functional features may be arranged around a peripheral surface of the multifunction member 252, such that each functional feature is brought into the active position as the multifunction member 252 is rotated at a respectively corresponding orientation of the multifunction member 252. In some embodiments, the roll axis of the multifunction member 252 may be parallel to a longitudinal axis of the shaft 291, or in other words extending parallel to a proximal-to-distal direction. Rotation of the multifunction member 252 about the roll axis may also be referred to herein as rotation in a roll degree of freedom of motion.
The movement of the multifunction member 252 to reconfigure the end effector 293 may be driven by forces transferred from the drive inputs 223 through the instrument shaft 291 via a force transmission system. Moreover, the movement of the multifunction member 252 to reconfigure the end effector 293 may occur while using the instrument 202 during a medical procedure, as opposed to during maintenance, repair, or reprocessing. Thus, for example, a user is able to switch between performing multiple different functions during a procedure without having to change between multiple instruments and/or without having to stop the procedure to withdraw an instrument for manual reconfiguration of the end effector.
In some embodiments, the functions performed by the functional features of the multifunction member 252 comprise any combination of two or more of: bipolar electrical sealing, bipolar electrical cutting, grasping, mechanical cutting, monopolar electrical cutting, cauterization, or stapling. For example, in some embodiments, the multifunction member 252 has a first functional feature comprising a first electrode for performing bipolar sealing and a second functional feature comprising a second electrode for performing bipolar cutting. The first electrode and second electrode may be arranged at different angular orientations around a peripheral surface of the multifunction member 252 such that, by rotating the multifunction member 252 around a roll axis thereof, the first electrode and second electrode are alternatively brought into an active position opposite from another member 251 of the end effector 293. Further embodiments of the end effector 293 and functional features thereof are described in greater detail below with respect to
The instrument 202 may have various degrees of freedom of motion, which may include degrees of freedom of motion associated with performing the functions of the instrument 202 (e.g., opening and closing of the jaw mechanism), as well as degrees of freedom of motion to move the shaft 291 and/or the end effector 293 about the workspace and change the pose of the end effector 293 relative to the remainder of the instrument 202 (above and beyond the motion imparted by moving a manipulator to which the instrument 202 may be mounted). For example, the instrument 202 may comprise one or more joints 296, such as a wrist mechanism, to allow the end effector 293 to be moved relative to the remainder of the shaft 291, for example by changing the pitch, yaw, roll, or any combination thereof of the end effector 293. As another example, the shaft 291 may be rotatable so as to roll relative to the force transmission system 292 or otherwise have degrees of freedom of motion.
As noted above, the force transmission system 292 may comprise drive inputs 223 that interface with and are driven by the drive outputs of the manipulator (directly or via an intermediary such as an ISA). In addition, the force transmission system 292 may contain various force conversion components (not visible in
The shaft 291 comprises an outer housing through which various components are routed to transmit force or other functionality to the end effector 293. For example, the housing of the shaft 291 may be shaped as a hollow tube having a central bore through which the components are routed and/or with bores around a periphery of the tube, such as in a thickness of the tube wall, through which components are routed. Components that are routed through the housing of the shaft 291 may include, for example, the actuation elements described above (e.g., push-pull, pull-pull, and/or rotary elements) to drive movement and/or actuate movement of the instrument 202, electrical power transmission lines, data communication lines, vacuum suction delivery lines, fluid delivery lines, electromagnetic energy delivery lines, etc. As noted above, in some embodiments, the shaft 291 comprises one or more joints 296, and articulation of the joints 296 may also be driven by corresponding actuation elements (e.g., cables, rods, etc.) that are routed through the shaft 291. The end effector 293 is coupled to and supported at a distal portion of the shaft 291, directly or via intermediate parts such as a wrist mechanism.
In some embodiments, the instrument 202 may be a medical instrument. Medical instruments may comprise surgical instruments (e.g., grasping instruments, cutting instruments, electrocautery instruments, stapling instruments, suturing instruments, etc.), imaging instruments (e.g., endoscopes), diagnostic instruments, and therapeutic instruments, which can have a variety of configurations, for example, with and without end effectors.
Turning now to
Some elements of the end effector 393 are illustrated in multiple figures. As elements of the end effector 393 are described, one or a few figures which are thought to be particularly pertinent to the aspect will be noted, but it should be understood that other figures besides those that are identified may also illustrate the same element from other perspectives. Thus, the description below will not necessarily describe the figures
As shown in
The jaw mechanism 350 comprises two jaw members 351, 352 (see
The first jaw member 351 is driven to pivot about the pivot axis 341 by the actuation element 398 (see
The closure block 370 comprises pegs 371 extending laterally from the sides of the closure block 370 (see
The jaw mechanism 350 is also capable of changing between multiple functional configurations to perform multiple different functions, as described above with respect to the end effector 293. The jaw mechanism 350 changes between these configurations by changing a pose of at least one of the jaw members 351, 352 and thereby moving different functional features of that jaw member 351, 352 into the active position. In the embodiment illustrated in
For example, in the embodiment illustrated in
The second jaw member 352 is driven to rotate about the roll axis 342 by one of the actuation elements. Specifically, in the embodiment illustrated in
As would be appreciated by those of ordinary skill in the art, other mechanisms and configurations could be used to constrain the second jaw member 352 to rotate with the rotational coupling 380 while allowing the rotational coupling 380 to translate relative to the second jaw member 352. For example, in some embodiments, instead of ridges 383 being provided in the rotational coupling 380 and complementary grooves 359 being provided in the second jaw member 352, the reverse arrangement is used—i.e., ridges are provided protruding from an outer surface of the proximal end portion 358 of the second jaw member 352 and grooves are provided in the inner surface of the rotational coupling 380. Further, other numbers and/or arrangements around the periphery of such ridges and bores could be used without departing from the scope of the present disclosure. In addition, those having ordinary skill in the art would appreciate that other anti-rotational features than the grooves and ridges can be provided to achieve the desired constrained rotational movement of the second jaw member with the rotational coupling 380.
As another example, rather than the rotational coupling 380 comprising a bore 382 and the proximal end portion 358 of the second jaw member 352 being received inside the rotational coupling 380, in some embodiments the proximal end portion 358 of the second jaw member 352 comprises a bore and the distal end portion 385 of the rotational coupling 380 is received inside the second jaw member 352. In yet another embodiment, a ball-spline mechanism can be used to couple the second jaw member 352 to the rotational coupling.
As noted above, the rotational coupling 380 is coupled to the closure block 370 such that the rotational coupling 380 is rotatable relative to the closure block 370. Thus, rotation of the actuation element 398 to rotate the second jaw member 352 about the roll axis 342 does not affect the closure block 370, and hence does not affect a position/orientation of the second jaw member 352. Similarly, the rotational coupling 380 is coupled to the second jaw member 352 such that the rotational coupling 380 is translatable relative to the second jaw member 352. Thus, translation of the actuation element 398 to pivot the first jaw member 351 about axis 341 does not affect a position/orientation of the second jaw member 352. In other words, the coupling mechanism 375 that couples the actuation element 398 to the first and second jaw members 351, 352 allows the same actuation element 398 to independently actuate the first jaw member 351 to pivot and the second jaw member 352 to rotate.
As described above, in the embodiment illustrated in
As noted above, in the embodiment illustrated in
The second jaw member 352 is rotatable about the roll axis 342 such that either one of the electrodes 354a and 354b can be brought into an active position, which is a position in which the electrode 354a or 354b is opposite from and facing the electrode 353. When an object, such as a blood vessel, is positioned between the jaw members 351, 352 and the jaw mechanism is closed (moved to the closed position), the electrode 353 and whichever of the electrodes 354a and 354b is in the active position may contact opposite sides of the object. This is referred to herein as the object being grasped by the jaw mechanism 350 or grasped between the jaw members 351, 352. Electrical power may then be supplied to the electrodes 353, and 353a or 354b, causing electricity to be transmitted through the grasped object. The electrical power transmitted through the grasped object causes sealing or cutting to occur in a portion of the object, depending on which electrode 354a or 354b is in the active position and the mode of electrical power that is applied, as described in greater detail below.
The electrode 354a is configured for a bipolar sealing function, while the electrode 354b is configured for a bipolar cutting function. The electrodes 354a and 354b are thus examples of functional features configured for performing particular functions. The electrode 354a is configured for bipolar sealing by virtue of having a contact surface for contacting the grasped object that is relatively broad in a lateral dimension (i.e., the width w1 as illustrated in
One way that the amount of heat that is generated is controlled is by controlling the mode of the electrical power, such as the voltage, current, frequency, and duty cycle at which the electrical power is applied. However, the area over which the electrical power is applied also affects the amount of heat generated. Because the electrode 354a dissipates the electrical energy over a relatively wider area by virtue of the relatively broad contact surface, the amount of heat generated by the electrical energy at any given point is relatively lower (all other things being equal), thus reducing the likelihood of inadvertent vaporization of tissue or collateral tissue damage. Moreover, the relatively broader contact surface may result in a wider sealing area (i.e., a wider region of coagulation), which may result in a surer seal (e.g., less likelihood of the vessel leaking or reopening). On the other hand, because the electrode 354b concentrates the electrical power in a relatively small area by virtue of the relatively narrow contact surface, the heat generated by the electrical power is relatively higher (all other things being equal), thus facilitating the vaporization of the tissue. Moreover, the relatively narrow contact surface results in a relatively narrow region of the tissue being vaporized, thus reducing the amount of tissue that is destroyed by the cutting function, or in other words allowing for more precise and narrow cuts to be performed.
It should be noted that sealing and cutting do not necessarily require broad and narrow electrodes, respectively. Instead, sealing can be performed with relatively narrow electrodes and cutting can be performed with relatively broad electrodes, if the appropriate mode of electrical power is delivered under the appropriate circumstances. However, all other things being equal, an electrode with a broader contact surface may be better able to perform sealing (e.g., may generate a surer seal, more efficiently, and/or with less collateral tissue damage), and an electrode with a narrower contact surface may be better able to perform cutting (e.g., may generate a narrower cut, more efficiently, and/or with less collateral tissue damage). Thus, references herein to the electrodes 354a and 354b being configured to perform sealing or cutting functions, respectively, should not be misunderstood as implying that the electrodes 354a and 354b can perform only sealing or only cutting functions. Similarly, references herein to the electrodes 354a and 354b being configured to perform “different” functions should not be misunderstood as implying that the electrodes 354a and 354b perform mutually exclusive functions or cannot perform the same function as one another. Rather, it should be understood that such references mean that the electrodes 354a and 354b each have something different about their respective configurations (e.g., their shapes, sizes, surface features, material, etc.) that adapts the electrodes to be more suitable for a particular function, without necessarily precluding their ability to perform other functions. Thus, for example, two electrodes may be considered as being configured to perform different functions if one of the electrodes is relatively wider in a lateral dimension than the other.
An insulation layer 348 is provided between the electrode 353 and a top portion 349 of the first jaw member 351. The insulation layer 348 comprises a non-conductive material (i.e., a material with negligible electrical conductivity, such as a plastic, a polymer, rubber, ceramic, glass, etc.), and insulates the electrode 353 from the top portion 349 to prevent or reduce leakage current or unintentional electrical discharge to the top portion 349 in embodiments in which the top portion 349 is conductive. The first jaw member 351 may also include non-conductive standoffs 347 to prevent the electrode 353 from directly contacting the second jaw member 352 and forming a short circuit.
The electrode 353 of the first jaw member 351 is electrically coupled to an electrical energy transmission line 345 (see
In some embodiments, the electrical energy transmission line to which the electrodes 354a and 354b are coupled may be formed from another component of the instrument that also serves another purpose. For example, any one or more of the actuation element 398 (or some other actuation element), the first housing 397 that houses the actuation element 398, and/or another conductive component running through the shaft 391 may be used as part of the electrical energy transmission line for the electrodes 354a and 354b. Furthermore, in some embodiments, various components of the end effector 393 comprise electrically conductive materials and may form a portion of the electrical energy transmission line of the electrodes 354a and 354b, such as for example, any one or more of the closure block 370, the rotational coupling 380, the retention pin 362, and/or the clevis 360. Thus, existing components that have other functions may be used to form part (or all) of the electrical energy transmission line for the electrodes 354a and 345b, and a separate electrical energy transmission line does not have to be provided. However, it should be understood that a separate electrical energy transmission line could be provided for the electrodes 354a and 354b, if desired.
In the embodiment of
The above-described embodiments of the multifunction jaw members 352, 452, 552, and 652 are provided as illustrative of how various types and numbers of functional features can be included as parts of a jaw member. However, these examples are not limiting. For example, in some embodiments functional features other than those illustrated are used, in addition to or in lieu of the illustrated functional features, such as: a stapler for firing staples, an anvil for closing staples, a lens of a camera system, an inlet/outlet of a flow removal/delivery system such as a vacuum suction system or gas delivery system, a sensing device (e.g., to sense temperature, electricity, pressure, etc.), a light or other electromagnetic energy delivery feature, or any other functional feature. Moreover, various embodiments disclosed herein include combinations of functional features described herein, including any combination of two or more of the functional features.
Moreover, although some of the embodiments described above focus on jaw mechanisms, embodiments of end effectors disclosed herein are not limited to jaw mechanisms. For example, in some embodiments, an end effector comprises a multifunction member and another member, but the other member is not arranged in opposition to the multifunction member to form a jaw mechanism. In some embodiments, an end effector comprises a multifunction member without necessarily having any other member, such as an opposing jaw member. For example, in some embodiments an end effector comprises a single member with multiple monopolar electrodes or bipolar electrodes that are disposed on (or are part of) the member; the member may be shaped as, for example, a spatula, a hook, or other similar non-jawed end effector.
As described above with respect to the end effector 393, in some embodiments a single actuation element (e.g., actuation element 398) can be used to actuate both the open/close motion of a first jaw member and a rotation of a second jaw member to change a functional configuration of the end effector. Such an actuation element may be independently driven both in translation (e.g., to actuate the first jaw member) and in rotation (e.g., to actuate the second jaw member). Accordingly, in such embodiments a force transmission system of the instrument may be configured to independently impart translation and rotation to a given actuation element, which is coupled directly or indirectly to the end effector.
As shown in
The force transmission system 1200 further comprises force conversion components 1292, which comprise a variety of force conversion mechanisms coupled between the drive inputs 1223 and actuation elements (e.g., actuation element 1205, cables 1238), as shown in
In particular, the force conversion components 1292 comprise a mechanism 1201 to drive a given actuation element 1205 to independently translate and rotate. The actuation element 1205 (see
The force conversion mechanism 1201 for driving translation and rotation of the actuation element 1205 comprises gears 1225 to 1229, which are coupled to and driven by drive inputs 1223_3 and 1223_4. Rotation of the actuation element 1205 relative to the shaft 1291 can be effectuated by rotating the drive input 1223_4. As shown in
Translation of the actuation element 1205 along an axial direction relative to the shaft 1291 can be effectuated by driving the drive input 1223_3 to rotate while the drive input 1223_4 is held stationary. The translation of the actuation element 1205 along the axial direction is controlled by the interaction between the gears 1226 and 1237, specifically by relative rotation between the gears 1226 and 1237 (see
If it is desired to prevent translation of the actuation element 1205 while the actuation element 1205 is being driven to rotate, then the drive input 1223_3 can be driven along with the drive input 1223_4 such that the gears 1226 and 1237 remain stationary relative to one another (i.e., have the same angular velocity). In some embodiments, the gears 1225, 1227, 1228, and 1229 are configured such that rotation of the drive inputs 1223_3 and 1223_4 at the same angular velocity results in rotation of the gears 1226 and 1237 at the same angular velocity. If it is desired to prevent rotation of the actuation element 1205 while the actuation element 1205 is being driven to translate, then the drive input 1223_4 can be held stationary while the drive input 1223_4 is rotated. Thus, the mechanism 1201 allows for the translation and rotation of the actuation element 1205 to be independently driven. On the other hand, if it is desired to simultaneously rotate and translate the actuation element 1205, then the drive input 1223_4 can be driven to rotate while also controlling the drive input 1223_3 such that the gears 1226 and 1237 have different respective angular velocities.
In some embodiments, the gear assembly 1203 is formed as a single unitary body, with the gears 1227 and 1237 being two integrally connected parts of the body, or in other words with the gears 1227 and 1237 being formed from inner and outer surfaces of the same body. In other embodiments, the gears 1227 and 1237 can be separate and distinct parts that are attached together to form the gear assembly 1203. In some embodiments, the gear assembly 1202 is formed as a single unitary body, with the gears 1225 and 1226 being integrally connected parts of the body, or in other words with the gears 1225 and 1226 being formed from two outer surfaces of the same body having different radii. In other embodiments, the gears 1225 and 1226 can be separate and distinct parts that are attached together to form the gear assembly 1202. Those having ordinary skill in the art would appreciate a variety of arrangements for the gear assemblies 1202 and 1203 that could be used without departing from the scope of the present disclosure.
The force transmission system 1200 may also comprise additional drive inputs 1223 besides those described above to drive other actions of the instrument, such as movement of joints or actuation of other functions. For example, in the embodiment illustrated in
The drive input 1223_5 may control a “roll” degree of freedom of motion of the shaft of the instrument. As shown in
In embodiments in which the shaft 1291 is rotatable relative to the chassis 1204 in a roll degree of freedom, the shaft 1291 may be controlled to remain stationary during an operation such that the actuation element 1205 rotates relative to the shaft 1291. Thus, in the illustrated embodiment, the drive input 1223_5 (and hence gear 1234) may be held rotationally stationary while the drive input 1223_4 is rotated during an operation to rotate the actuation element 1205. In other embodiments (not illustrated), the shaft 1291 may be permanently rotationally stationary relative to the chassis 1204.
The drive inputs 1223_1 and 1223_2 may control “yaw” and “pitch” degrees of freedom of motion of the end effector and/or a wrist of the instrument. As shown in
As noted above, in some embodiments the end effector may comprise a monopolar electrode configured to perform a monopolar electrosurgical function, such as monopolar sealing or cutting. In general, a monopolar electrode is formed from an electrically conductive material, such as stainless steel or other metal, that is coupled to an electrical power source. The monopolar electrode is positioned near tissue that is to be cut or coagulated, and electricity is discharged from the electrode into the tissue to cause the cutting/coagulation. With monopolar devices, the electricity discharged from the electrode into the tissue is not returned to the power source via a return path in the instrument (e.g. via an opposing jaw member). Instead, the electricity flows from the electrodes into the patient's body, which forms the return path for the electrical discharge. A patient return electrode, which is separate from the surgical instrument, is placed in contact with the patient to complete a return circuit for the electricity discharged into the patient's body. In some cases, the monopolar electrode is shaped to have a relatively small tip so as to provide a relatively concentrated electrical discharge from the tip to the target tissue and to allow for increased precision. The electrode tip can have various shapes, such as a sphere, a cone, a wire loop, etc.
In some embodiments, a monopolar electrode is provided as one of the functional features of a rotatable multifunction member, such as the rotatable multifunction jaw member 352 or a rotatable multifunction member that is not part of a jaw mechanism. For example,
As shown in
To supply electrical power to the multifunction jaw member 352 (and hence to the electrodes 1339, 354a, and 354b, which are integral parts of the jaw member 352 in the illustrated embodiment), an electrical power line 1339 may be coupled between one or more power sources (not illustrated) and the multifunction jaw member 352. The electrical power line 1339 may extend through the clevis 360, as shown schematically with dashed lines in
Alternatively, in some embodiments a sperate power supply line 1339 is not provided, and instead other components of the instrument, such as the rotational coupling 380 and actuation element 398, may be made from electrically conductive materials and may be used as part of the power line to couple the jaw member 352 to a power source, as described above.
In some embodiments, the electrodes 354a and 354b of the jaw member 352 may also be configured as monopolar electrodes in addition to or in lieu of providing the monopolar electrode 1338 on the jaw member 352. The electrodes 354a and 354b, being positioned along lateral side surfaces of the jaw member 352, may be used in a different manner than the electrode 1338. For example, instead of pointing the jaw member 352 at the target tissue, the target tissue may be positioned adjacent to the lateral sides of the jaw member (e.g., below the jaw member 352 or between the jaw members 351 and 352) and then electrical power may be supplied to the jaw member 352. In such a state, a relatively larger area of electrode 354a or 354b is near to the target tissue, as compared to when the electrode 1338 is used as described above, resulting in a relatively more diffuse discharge of electricity over a relatively broader area of tissue. In some embodiments the electrodes 354a and 354b may be switched between monopolar and bipolar electrical energy delivery states by changing how electricity is supplied to the end effector 1393. Specifically, by coupling the multifunction jaw member 352 to a power supply line of a monopolar power source while disconnecting the electrode 353 from electrical power (i.e., the electrode 353 is electrically isolated or left “floating”), the electrodes 354a and 354b and the electrode 1338 (if present) are configured to function as monopolar electrodes. The electrode 353 of the opposing jaw member 351 is disconnected from the power source when operating in monopolar mode in order to prevent the electricity discharged from the electrodes 1338, 354a, or 354b from using the electrode 353 as a return path. On the other hand, by connecting the electrode 353 to a power supply line of a bipolar power source and connecting the jaw member 352 to a return line of the bipolar power source (or vice-versa), the electrodes 354a and 354b may be reconfigured to function as bipolar electrodes (the electrode 1338 may be considered as a part of the electrode 354a in such a configuration).
To change the electrical connections to the electrodes 354a and 354b, the power line 1339 (or other electrical path that couples the jaw member 352 to the power source) may be coupled to an electrical switch (e.g., a transistor or other switching device), which is coupled to power lines of one or more power sources. Another electrical switch may also be used to selectively connect and disconnect the power line 345 from the power source. The electrical switches may be part of the instrument 102 or 202, the control system 106, the auxiliary system 108, or the manipulator assembly 110. The switches may be controlled based on a mode selected by a user. As described above, if a bipolar mode is selected by a user, the switches may be actuated (e.g., under control of the control system 106) to couple the electrode 353 to a power supply line or return line of a bipolar power source and to couple the jaw member 352 to the return line or the power supply line of the bipolar power source. On the other hand, if a monopolar mode is selected, the switches may be actuated to disconnect the electrode 353 from all power sources (including return or ground paths) and to couple the jaw member 352 to a supply line of a monopolar power source.
In some embodiments, a monopolar electrode may be provided as part of another portion of the end effector other than the rotatable multifunction jaw member 352. For example,
As shown in
As with the electrodes 345a and 345b, the electrode 353 may also be configurable between monopolar and bipolar configurations by switching the electrical connections between the various electrodes. By coupling the electrode 353 (via the electrical power line 345) to a power supply path of a monopolar power source while the jaw member 352 is disconnected from the power source, the electrode 353 is configured to operate as a monopolar electrode. By coupling the electrode 353 (via the electrical power line 345) to a power supply path or a return path of a bipolar power source while the jaw member 352 is connected to a return path or power supply path of the bipolar power source, the electrode 353 is configured to operate as a bipolar electrode. Electrical switches, as described above with respect to the embodiment of
The embodiments described herein (including the system 100, instrument 202, end effector 393, multifunction jaw members 452, 552, and 652, and/or force transmission system 1200 described above) may be well suited for use in medical applications. In particular, some embodiments are suitable for use in, for example, surgical, teleoperated surgical, diagnostic, therapeutic, and/or biopsy procedures. Such procedures could be performed, for example, on human patients, animal patients, human cadavers, animal cadavers, and portions or human or animal anatomy. Some embodiments may also be suitable for use in, for example, for non-surgical diagnosis, cosmetic procedures, imaging of human or animal anatomy, gathering data from human or animal anatomy, training medical or non-medical personnel, and procedures on tissue removed from human or animal anatomies (without return to the human or animal anatomy). Even if suitable for use in such medical procedures, the embodiments may also be used for benchtop procedures on non-living material and forms that are not part of a human or animal anatomy. Moreover, some embodiments are also suitable for use in non-medical applications, such as industrial robotic uses, and sensing, inspecting, and/or manipulating non-tissue work pieces. In non-limiting embodiments, the techniques, methods, and devices described herein may be used in, or may be part of, a computer-assisted surgical system employing robotic technology such as the da Vinci® Surgical Systems commercialized by Intuitive Surgical, Inc., of Sunnyvale, California. Those skilled in the art will understand, however, that aspects disclosed herein may be embodied and implemented in various ways and systems, including manually operated instruments and computer-assisted, teleoperated systems, in both medical and non-medical applications. Reference to the daVinci® Surgical Systems are illustrative and not to be considered as limiting the scope of the disclosure herein.
As used herein, a “functional feature” is a part of a member of an end effector (e.g., a jaw member) that is adapted to a particular function. A functional feature is adapted to a particular function if the functional feature has a configuration (e.g., shape and/or other functional features or attributes) that enables the end effector to perform the particular function or improves the performance of the particular function (e.g., making it more effective, efficient, rapid, or the like). For example, a functional feature for a bipolar sealing function may comprise an electrode (a piece of conductive material coupled to a power source) shaped to have a relatively broad (in a lateral direction) contact surface, while a functional feature for a bipolar cutting function may comprise an electrode having a relatively narrow contact surface. As another example, a functional feature for mechanical cutting may comprise a sharp edge. As another example, a functional feature for securely grasping objects may comprise a contact surface with friction enhancing features (e.g., grooves, protrusions, roughening elements, etc.).
As used herein and in the claims, the term computer-assisted manipulator system (“manipulator system”) should be understood to refer broadly to any system comprising one or more controllable kinematic structures (“manipulators”) comprising one or more links coupled together by one or more joints that can be operated to cause the kinematic structure to move. Such systems may occasionally be referred to in the art and in common usage as robotically assisted systems or robotic systems. The manipulators may have an instrument permanently or removably mounted thereto and may move and operate the instrument. The joints may be driven by drive elements, which may utilize any convenient form of motive power, such as but not limited to electric motors, hydraulic actuators, servomotors, etc. The operation of the manipulator may be controlled by a user (for example through teleoperation), by a computer automatically (so-called autonomous control), or by some combination of these. In examples in which a user controls at least some of the operations of the manipulator, an electronic controller (e.g., a computer) may facilitate or assist in the operation. For example, the electronic controller may “assist” a user-controlled operation by converting control inputs received from the user into electrical signals that actuate drive elements to operate the manipulators, providing feedback to the user, enforcing safety limits, and so on. The term “computer” as used in “computer-assisted manipulator systems” refers broadly to any electronic control device for controlling, or assisting a user in controlling, operations of the manipulator, and is not intended to be limited to things formally defined as or colloquially referred to as “computers.” For example, the electronic control device in a computer-assisted manipulator system could range from a traditional “computer” (e.g., a general-purpose processor plus memory storing instructions for the processor to execute) to a low-level dedicated hardware device (analog or digital) such as a discrete logic circuit or application specific integrated circuit (ASIC), or anything in between. Further, manipulator systems may be implemented in a variety of contexts to perform a variety of procedures, both medical and non-medical. Thus, although some examples described in greater detail herein may be focused on a medical context, the devices and principles described herein are also applicable to other contexts, such as industrial manipulator systems.
It is to be understood that both the general description and the detailed description provide example embodiments that are explanatory in nature and are intended to provide an understanding of the present disclosure without limiting the scope of the present disclosure. Various mechanical, compositional, structural, electrical, and operational changes may be made without departing from the spirit and scope of this description and the claims. In some instances, well-known circuits, structures, and techniques have not been shown or described in detail in order not to obscure the embodiments. Like numbers in two or more figures represent the same or similar elements.
Further, the terminology used herein to describe aspects of the invention, such as spatial and relational terms, is chosen to aid the reader in understanding example embodiments of the invention but is not intended to limit the invention. For example, spatially terms—such as “beneath”, “below”, “lower”, “above”, “upper”, “proximal”, “distal”, “up”, “down”, and the like—may be used herein to describe directions or one element's or feature's spatial relationship to another element or feature as illustrated in the figures. These spatial terms are used relative to the figures and are not limited to a particular reference frame in the real world. Thus, for example, the direction “up” in the figures does not necessarily have to correspond to an “up” in a world reference frame (e.g., away from the Earth's surface). Furthermore, if a different reference frame is considered than the one illustrated in the figures, then the spatial terms used herein may need to be interpreted differently in that different reference frame. For example, the direction referred to as “up” in relation to one of the figures may correspond to a direction that is called “down” in relation to a different reference frame that is rotated 180 degrees from the figure's reference frame. As another example, if a device is turned over 180 degrees in a world reference frame as compared to how it was illustrated in the figures, then an item described herein as being “above” or “over” a second item in relation to the Figures would be “below” or “beneath” the second item in relation to the world reference frame. Thus, the same spatial relationship or direction can be described using different spatial terms depending on which reference frame is being considered. Moreover, the poses of items illustrated in the figure are chosen for convenience of illustration and description, but in an implementation in practice the items may be posed differently.
In addition, the singular forms “a”, “an”, and “the” are intended to include the plural forms as well, unless the context indicates otherwise. And, the terms “comprises”, “comprising”, “includes”, and the like specify the presence of stated features, steps, operations, elements, and/or components but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups. Components described as coupled may be electrically or mechanically directly coupled, or they may be indirectly coupled via one or more intermediate components, unless specifically noted otherwise. Mathematical and geometric terms are not necessarily intended to be used in accordance with their strict definitions unless the context of the description indicates otherwise, because a person having ordinary skill in the art would understand that, for example, a substantially similar element that functions in a substantially similar way could easily fall within the scope of a descriptive term even though the term also has a strict definition.
Elements and their associated aspects that are described in detail with reference to one embodiment may, whenever practical, be included in other embodiments in which they are not specifically shown or described. For example, if an element is described in detail with reference to one embodiment and is not described with reference to a second embodiment, the element may nevertheless be claimed as included in the second embodiment.
As used herein, “proximal” and “distal” are spatial/directional terms that describe locations or directions based on their relationship to the two ends of a kinematic chain. “Proximal” is associated with the end of the kinematic chain that is closer to the base or support of the chain, while “distal” is associated with the opposite end of the kinematic chain, which often comprises an end effector of an instrument. Thus, a “proximal” location is a location that is relatively closer to the base of the kinematic chain. For example, the “proximal end portion” of a link refers to the portion of the link that is closer to the base of the kinematic chain than the rest of the link. Conversely, a “distal” location is a location that is relatively farther from the base of the kinematic chain. For example, the “distal end portion” of a link refers to the portion of the link that is farther from the base of the kinematic chain than the rest of the link. The terms closer and farther as used above refer to proximity along the kinematic chain, rather than absolute distance. “Proximal” and “distal” directions are directions that point generally towards a proximal location or distal location, respectively. For example, each link could be described as having associated proximal and distal directions, with the proximal direction of a link pointing generally from around its distal end to around its proximal end and with the distal direction pointing generally from around its proximal end to somewhere around its distal end. It should be understood that for a given kinematic chain there may be many different directions that could be described as “proximal” or “distal” depending on the context, as there may be many links and many possible poses for those links. For example, a “distal” direction described in relation to one link may point diagonally downward relative to a world reference frame, while a “distal” direction described in relation to another link that is at an angle to the first link may point diagonally upward relative to the world reference frame. Moreover, if the poses of the links change, the proximal and distal directions associated with the links may change. Thus, there is no single “proximal” or “distal” direction, but rather many possible “proximal” or “distal” directions, depending on the context. In the context of an instrument attached to the manipulator, “proximal” refers to the end of the instrument attached to the manipulator, while “distal” refers to the opposite end of the instrument which has an end effector. In the context of a surgical procedure, the “distal” end of the kinematic chain is the end that is inserted into a patient, and thus “distal” may also be used to refer to a location that is closer to a patient or to a direction of insertion into a patient, whereas a “proximal” may refer to a location that is further from to the patient or a direction of removal from the patient. In the context of an end effector, the term “proximal” refers to the end of the end effector that is attached to a shaft of the instrument, while “distal” refers to an opposite end of end effector, such as a free end or tip of the end effector. In the context of an end effector, a “proximal-distal axis” refers to an axis that runs between proximal and distal portions of the end effector and that is approximately aligned with a longitudinal axis of the shaft local to the end effector.
As used herein, “transverse” refers to a positional relationship of two items in which one item is oriented crosswise at an angle relative to the other item, such as being substantially or generally perpendicular to the other item. As used herein, “transverse” includes, but does not require, an exactly perpendicular relationship. For example, unless otherwise noted herein or implied by the context, “transverse” may include at least positional relationships in which one item is oriented at an angle between 45° and 135° relative to the other item.
Unless otherwise noted herein or implied by the context, when terms of approximation such as “substantially,” “approximately,” “about,” “around,” “roughly,” and the like, are used in conjunction with a stated numerical value, property, or relationship, such as an end-point of a range or geometric properties/relationships (e.g., parallel, perpendicular, straight, etc.), this should be understood as meaning that mathematical exactitude is not required for the value, property, or relationship, and that instead a range of variation is being referred to that includes but is not strictly limited to the stated value, property, or relationship. In particular, the range of variation around the stated value, property, or relationship includes at least any inconsequential variations from the value, property, or relationship, such as variations that are equivalents to the stated value, property, or relationship. The range of variation around the stated value, property, or relationship also includes at least those variations that are typical in the relevant art for the type of item in question due to manufacturing or other tolerances. Furthermore, the range of variation also includes at least variations that are within ±5% of the stated value, property, or relationship. Thus, for example, a line or surface may be considered as being “approximately parallel” to a reference line or surface if any one of the following is true: the smallest angle between the line/surface and the reference is less than or equal to 4.5° (i.e., 5% of 90°), the angle is less than or equal to manufacturing or other tolerances typical in the art, or the line/surface as constituted is functionally equivalent to the line/surface if it had been perfectly parallel.
Further modifications and alternative embodiments will be apparent to those of ordinary skill in the art in view of the disclosure herein. For example, the devices and methods may include additional components or steps that were omitted from the diagrams and description for clarity of operation. Accordingly, this description is to be construed as illustrative only and is for the purpose of teaching those skilled in the art the general manner of carrying out the present teachings. It is to be understood that the various embodiments shown and described herein are to be taken as exemplary. Elements and materials, and arrangements of those elements and materials, may be substituted for those illustrated and described herein, parts and processes may be reversed, and certain features of the present teachings may be utilized independently, all as would be apparent to one skilled in the art after having the benefit of the description herein. Changes may be made in the elements described herein without departing from the spirit and scope of the present teachings and following claims.
It is to be understood that the particular examples and embodiments set forth herein are non-limiting, and modifications to structure, dimensions, materials, and methodologies may be made without departing from the scope of the present teachings.
Other embodiments in accordance with the present disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. It is intended that the specification and examples be considered as exemplary only, with the following claims being entitled to their fullest breadth, including equivalents, under the applicable law.
This application claims priority to U.S. Provisional Application No. 63/243,249 (filed Sep. 13, 2021), titled “INSTRUMENT END EFFECTOR WITH MULTIFUNCTION MEMBER AND RELATED DEVICES, SYSTEMS AND METHODS,” the entire contents of which are incorporated by reference herein.
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/US2022/043046 | 9/9/2022 | WO |
| Number | Date | Country | |
|---|---|---|---|
| 63243249 | Sep 2021 | US |
