Jaw members for instrument end effectors and related devices, systems, and methods

Abstract

An instrument including a shaft and an end effector coupled to the shaft is disclosed. The end effector includes first and second jaw members opposed to each other, each of the first and second jaw members extending distally relative to an axial direction and movable relative to each other between an open configuration and a closed configuration. Each of the first and second jaw members includes a jaw base and an electrode coupled to the jaw base. The distal portion of the electrode extends distally beyond the jaw base, and each jaw member includes a support feature configured to support the distal portion of the electrode.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to U.S. Provisional Application No. 63 / 357,103 (filed on June 30, 2022), entitled “Jaw assembly of an instrument end effector and related devices, systems and methods,” the entire contents of which are incorporated herein by reference. Technical Field

[0003] Aspects of the present disclosure generally relate to instrument end effectors (e.g., for computer-assisted teleoperated manipulator systems) and related devices, systems, and methods. More specifically, aspects of the present disclosure relate to instrument end effectors having jaw mechanisms, and remotely controlled instruments including such end effectors. Background Art

[0004] Remotely controlled instruments, which may include non-medical instruments (e.g., industrial instruments) and medical instruments (e.g., surgical instruments, imaging instruments, diagnostic instruments, therapeutic instruments, etc.), generally include an end effector, which is often arranged at the distal portion of the instrument and includes one or more functional components (e.g., jaw mechanisms, staplers, knives, cameras, electrodes, sensors, and various other tools and / or) to perform one or more functions of the instrument (e.g., cutting, sealing, grasping, imaging, and various other functions). The functions performed by the end effector can be controlled and driven by mechanical forces and / or other inputs (e.g., electrical energy, lighting, fluid delivery, and / or vacuuming) received by the instrument via various interfaces generally located at the proximal portion of the instrument. In some such instruments, a drive element and / or other function delivery element (e.g., a fluid or pressure delivery conduit, an electrical conduit, a data conduit) travels from the proximal portion along the instrument axis to transmit forces and / or other functions from a transmission mechanism located at the proximal portion of the instrument to the end effector. Such a remote control instrument may be manually operated, for example, via one or more manually actuated inputs mounted at a handle or other interface at the proximal portion. Alternatively, such a remote control instrument may be coupled or configured to be coupled to a computer-assisted manipulator system that is operably coupled to a remotely located console that provides an interface for receiving input from a user.

[0005] Various types of end effectors (such as forceps, vessel closures, and staplers) include a jaw mechanism. The jaw mechanism includes a pair of jaw members that can pivot between an open configuration and a closed configuration, for example, to grasp an object and / or perform other operations on the object. In some end effectors, the jaw mechanism may also include additional functional elements, such as electrodes for electrosurgical functions. In addition, some end effectors may include a movable component configured to translate relative to the jaw mechanism, such as a cutting component or a staple firing mechanism.

[0006] In various applications, the end effector of the instrument is used in a relatively spatially limited workspace. For example, in the context of a medical device, the workspace may include a portion of a patient's body, and the end effector and shaft may be inserted into the workspace via an incision or a natural orifice. Therefore, it is generally desirable to provide an instrument that is relatively small and can be used and manipulated in a relatively spatially limited area found in various applications, and specifically its end effector. For example, an end effector with a smaller diameter may allow for less collateral tissue damage due to insertion through an opening (e.g., a smaller incision may be formed). As another example, if some components of the end effector can be made to take up less space, this may also allow other components to be included in the end effector without increasing its overall size, thereby expanding the capabilities of the instrument.

[0007] However, as the size of the instrument becomes smaller and smaller, its manufacturing also faces challenges. In order to produce smaller components that can still effectively perform the functions of the instrument, relatively more complex and expensive technologies and / or relatively more expensive materials may be required. However, reducing the size of the end effector may affect the overall strength, stiffness and / or stability of certain components thereof (such as the jaw member of the jaw mechanism).

[0008] Therefore, there is a need to provide an end effector with a relatively small jaw mechanism that is also relatively simple and cost-effective to manufacture, and / or to otherwise improve the performance of an instrument end effector. Summary of the invention

[0009] Various embodiments of the present disclosure may solve one or more of the above problems and / or may exhibit one or more of the above desirable features.Other features and / or advantages will become apparent from the following description.

[0010] According to one embodiment, an instrument includes a shaft and an end effector coupled to the shaft. The end effector includes a first jaw member and a second jaw member opposite to each other, each of the first jaw member and the second jaw member extending distally relative to the shaft and capable of moving relative to each other between an open configuration and a closed configuration. Each of the first jaw member and the second jaw member includes a jaw base and an electrode coupled to the jaw base. A distal portion of the electrode extends distally beyond the jaw base, and each jaw member includes a support feature configured to support the distal portion of the electrode.

[0011] According to another embodiment, the instrument includes: a shaft including a proximal portion and a distal portion; and an end effector coupled to the distal portion of the shaft. The end effector includes a first jaw member and a second jaw member, the first jaw member and the second jaw member are opposite to each other and are pivotally coupled to each other by a pivot pin member, and an actuating link, the actuating link is engaged with the first jaw member and the second jaw member to drive the first jaw member and the second jaw member to pivotally move between an open state and a closed state. Each of the first jaw member and the second jaw member includes a long shank foot and a short shank foot, the long shank foot being longer than the short shank foot. Each of the long shank foot and the short shank foot includes a pivot hole engaged with one of the pivot pin members. The long shank foot includes a ramp groove engaged with the actuating link.

[0012] According to another embodiment, the instrument end effector includes a first jaw member, a second jaw member and an actuation link. The actuation link includes a main body and a pin member extending laterally from the main body in opposite directions. Each of the first jaw member and the second jaw member includes two pivot holes, which are configured to receive a pivot pin member, and a ramp groove, which is configured to receive one of the pin members of the actuation link. The first jaw member and the second jaw member are configured so that the pin member of the actuation link can be inserted into the corresponding ramp grooves of the first jaw member and the second jaw member during the assembly of the first jaw member and the second jaw member with the actuation link while being coupled to the main body.

[0013] According to yet another embodiment, the instrument includes: a shaft including a proximal portion and a distal portion; and an end effector coupled to the distal portion of the shaft. The end effector includes a first jaw member and a second jaw member, the first jaw member and the second jaw member are opposite to each other and are pivotally coupled to each other by a pivot pin member, and an actuating link, the actuating link is engaged with the first jaw member and the second jaw member to drive the first jaw member and the second jaw member to pivotally move between an open state and a closed state. Each of the first jaw member and the second jaw member includes a jaw base, a long shank and a short shank coupled and extending proximally from the jaw base, the long shank being longer than the short shank, an electrode coupled to the jaw base and having a distal portion extending distally beyond the jaw base, and a support feature configured to support the distal portion of the electrode. Each of the long shank and the short shank includes a pivot hole engaged with one of the pivot pin members. The long shank includes a ramp groove engaged with the actuating link.

[0014] According to another embodiment, a method for assembling a jaw mechanism of an end effector of an instrument includes: providing a first jaw member including a first ramp groove and two first pivot holes; and providing a second jaw member including a second ramp groove and two second pivot holes. The method further includes coupling an actuating link to an actuating element, the actuating link including two pin members extending laterally in opposite directions, and engaging the pin member of the actuating link with the first ramp groove and the second ramp groove by moving the first jaw member and the second jaw member laterally toward each other. The method further includes pivoting the first jaw member and the second jaw member relative to each other, while the pin member of the actuating link engages with the first ramp groove and the second ramp groove so that the corresponding first pivot holes and the second pivot holes of the first jaw member and the second jaw member are aligned with each other. The method further includes inserting a pivot pin member through the aligned first pivot hole and the second pivot hole of the first jaw member and the second jaw member. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present disclosure can be understood through the following detailed description (alone or in conjunction with the accompanying drawings). The accompanying drawings are included to provide a further understanding of the present disclosure and are incorporated into and constitute a part of this specification. The accompanying drawings illustrate one or more embodiments of the present teachings and together with the description explain certain principles and operations. In the drawings:

[0016] Figure 1 is a schematic diagram of an embodiment of the apparatus.

[0017] Figure 2 It is available for Figure 1 Schematic side view of an embodiment of the jaw mechanism of the instrument.

[0018] Figure 3A It is available for Figure 1 A side view of a jaw member of another embodiment of the jaw mechanism of an instrument.

[0019] Figure 3B yes Figure 3A The cross section of the jaw member is along Figure 3A 3B-3B interception in.

[0020] Figure 4 are front and side perspective views of an embodiment of an end effector including a jaw mechanism.

[0021] Figure 5 yes Figure 4 Exploded view of the jaw assembly of the end effector.

[0022] Fig. 6A yes Figure 4 A plan view of the jaw member of the end effector with the outer protective layer removed.

[0023] Figure 6B yes Figure 4 A plan view of the jaw member of the end effector with the outer protective layer and electrodes removed.

[0024] Figure 7 yes Figure 4 Exploded view of the jaw assembly of the end effector.

[0025] Fig. 8A yes Figure 4 A perspective view of the jaw mechanism of the end effector in a first state assembled with the actuating link.

[0026] Figure 8B yes Figure 4 A perspective view of the jaw mechanism of the end effector in a second state assembled with the actuating link and with the U-clip.

[0027] Fig. 9 is a block diagram of an embodiment of a remotely operable manipulator system. DETAILED DESCRIPTION

[0028] As described above, it is desirable to reduce the size of certain components of the instrument, such as the jaw mechanism, including its jaw members. For example, in some cases, in order to reduce the overall size of the jaw mechanism, it may be desirable to reduce the size of the jaw members in their transverse dimension and / or height (thickness) dimension. This may allow the jaw mechanism to be used in a more compact space, and in some cases may also allow the peripheral size of the entire end effector to be reduced.

[0029] Reducing the size of the jaw member may also bring some challenges. Specifically, in some electrosurgical end effectors, the jaw member of the jaw mechanism includes an electrode for performing an electrosurgical function, wherein the electrode is mounted on the jaw base. The jaw base provides the main structural support for the jaw member and is therefore generally configured to be relatively rigid and strong, while the electrode is configured to deliver electrosurgical energy to the material (e.g., tissue) grasped between the jaw members, and is generally relatively thin (in its height dimension) and has low rigidity. An insulating layer is arranged between the jaw base and the electrode, and the insulating layer includes an electrically insulating material (such as plastic, ceramic or other electrically insulating material) to prevent an electrical short circuit between the two. An outer protective layer may also be arranged around a portion of the jaw member. If the overall end effector size is reduced by reducing the lateral and / or height dimensions of these individual components of the jaw member, its feature portion may become smaller and more complex. For example, as the size of the jaw base decreases, its feature portion becomes smaller and / or more complex. This effect is particularly evident near the distal portion of the jaw member, because the jaw member often tapers in the proximal to distal direction, and thus the distal portion of the jaw member may already have relatively small features compared to the more proximal portion of the jaw member, causing these relatively small features to become smaller and more complex when the overall size of the jaw member is reduced. In some cases, these smaller, more complex features may be more difficult to manufacture. This is particularly true for the jaw base, because the materials and manufacturing techniques used to form the jaw base (e.g., machining solid stainless steel or other similar materials) may make it particularly difficult to form small and complex features in the jaw base. Therefore, attempts to reduce the size of the jaw member by reducing the components of the jaw member may make manufacturing more difficult.

[0030] Therefore, some embodiments disclosed herein include an electrosurgical end effector having a jaw member, which adopts a configuration that allows the jaw member to have a relatively small height and / or lateral dimension while maintaining sufficient support and strength. According to some embodiments, the jaw member includes a jaw base that supports an electrode, wherein the length of the jaw base (measured in the proximal-distal direction) ends proximal to the distal end of the entire jaw member, and supports the electrode that extends distally beyond the distal end of the jaw base. Since the jaw base does not extend to the distal end of the jaw member, the distal portion of the jaw member has fewer material layers, thereby being able to reduce at least the height dimension of the distal portion. In addition, in some embodiments, in addition to or instead of reducing the height dimension, the lateral dimension of at least the distal portion of the jaw member can also be reduced. According to the embodiments disclosed herein, the height and / or lateral dimension of the distal portion of the jaw member is reduced by the jaw base configuration that does not extend to the distal end of the jaw member, avoiding the formation of small and complex features in the distal portion of the jaw base. This is because the jaw base does not extend into the distal portion of the jaw member, and therefore reducing the size of the distal portion of the jaw member does not significantly affect the size of the jaw base. Therefore, in some embodiments disclosed herein, at least the distal portion of the jaw member can have a reduced size without significantly increasing the difficulty of manufacturing the jaw member.

[0031] Furthermore, in some embodiments, in addition to reducing the size of the distal portion of the jaw member, more proximal portions of the jaw member can also have reduced height and / or lateral dimensions by reducing one or more dimensions of the proximal portions of the components of the jaw member, including the proximal portion of the jaw base. For example, due to the tapered shape of the jaw member, the proximal portion of the jaw base tends to be relatively large compared to its distal portion. Therefore, the size of the proximal portion of the jaw base can be reduced without significantly increasing the difficulty of manufacturing the jaw base. In other words, reducing the size of the proximal portion of the jaw base generally does not cause its features to become too small to be difficult to manufacture because these features are still large enough even when the size is reduced.

[0032] As described above, the jaw base generally provides the main structural support for the electrode, ensuring sufficient rigidity of the jaw member to resist the flexing of the electrode during the use of the jaw mechanism. Although the electrode and the insulating layer generally contribute to the overall structural strength and rigidity of the jaw member to a certain extent, these layers are relatively thin and more flexible, and therefore generally do not provide as much structural support as the jaw base. Therefore, if the jaw base does not extend to the distal end of the jaw member as described above, and the electrode extends beyond the jaw base, this may cause the distal portion of the electrode to be insufficiently supported and may flex during use. Therefore, in some embodiments disclosed herein, one or more support features can be added to the jaw member to provide increased structural support to the distal portion of the electrode. In some embodiments, the support feature is a part of the electrode. For example, the support feature can include a portion of the electrode that extends vertically away from the contact surface of the electrode (i.e., the surface oriented to contact the material grasped by the jaws), at least partially above the side of the insulating layer at a position close to the distal portion of the electrode. For example, the electrode may include a flange on the side of the electrode that extends perpendicularly from the contact surface and along the length of the electrode, and the support feature may include an enlarged portion of the flange that has a greater height dimension than other portions of the flange (i.e., the enlarged portion protrudes further from the contact surface than the rest of the flange). In some embodiments, the flange (including the enlarged portion that forms the support feature) and the contact surface of the electrode may both be part of the same integral body, such as part of the same piece of metal that has been formed (e.g., bent) to form the electrode).

[0033] In some embodiments, in addition to or in lieu of a support feature as part of the electrode, the support feature is part of the insulating layer. For example, the support feature may include a portion of the insulating layer having a height dimension that is thicker than other portions of the insulating layer, wherein the thicker portion extends distally beyond the distal end of the jaw base. In other words, the portion of the insulating layer that extends distally beyond the jaw base may be made thicker to increase the ability of the distal portion of the insulating layer to provide structural support. In some embodiments, despite the increase in thickness of the distal portion of the insulating layer, the overall thickness of the distal portion of the jaw member may still be reduced due to the omission of the jaw base in this portion of the jaw member. In some embodiments, the above two types of support features are used together, i.e., the electrode includes a support feature extending vertically from its contact surface near its distal portion and an insulating layer having a thicker distal portion. Therefore, in the embodiments disclosed herein, despite the jaw base terminating before the distal end of the jaw member and the distal portion of the electrode extending beyond the jaw base, the (one or more) support features may still allow the distal portion of the jaw member to have sufficient rigidity.

[0034] Adding the above-mentioned support features to the electrodes and / or insulating layers may make the structure of those individual components slightly more complicated and make the manufacture of those individual components slightly more complicated. However, despite the potential increase in the complexity of the electrodes and / or insulating layers, the overall difficulty level of manufacturing the jaw member may be reduced because omitting the jaw member at the distal portion may overcome any possible difficulties caused by adding support features to the electrodes and / or insulating layers, resulting in reduced manufacturing difficulty. Therefore, in the embodiments disclosed herein, the jaw member can have a relatively small overall size, such as by reducing the height dimension and / or lateral dimension at the location of the jaw member, while maintaining sufficient strength and rigidity of the jaw member, and without significantly increasing the difficulty of manufacturing the jaw member.

[0035] Another difficulty relates to the proximal coupling portion of the jaw members, which couples the jaw members together and to the rest of the end effector. It is generally difficult to provide such a jaw member whose proximal coupling portion allows easy assembly of the jaw mechanism while also providing sufficient stability for the jaw members. Generally, the proximal connecting portion of each jaw member includes one or more tangs that are coupled to a U-shaped clamp, which in turn is coupled to the shaft of the instrument. The working portion of the jaw member that performs the function of the jaw member (such as, for example, grasping an object) extends distally from the (one or more) tangs. The jaw members are pivotally coupled together and pivotally coupled to the U-shaped clamp via a pivot pin member that engages with a hole in the tang and a hole in the U-shaped clamp. An actuating link also engages with the tang and the U-shaped clamp to drive the pivotal movement of the jaw members. For example, the pin member of the actuating link engages with the guide groove in the U-shaped clip and the ramp groove in the tang, so that the translation of the actuating link causes the pivoting movement of the tang, and thus causes the pivoting movement of the distal working portion of the jaw member. Some jaw members may have only one tang, which makes them relatively easy to assemble together and to the actuating link, but this also reduces the stability of the jaw member because there is only one contact area between the pivot pin member and each jaw member (i.e., at the hole in the tang). Therefore, such jaw members may be susceptible to lateral deflection and / or torsion of the jaw member, which may cause the deviation of the jaw member. Such deflection or torsion can be resisted by making the tolerances of the hole and the pivot pin member more stringent, but this can increase manufacturing complexity and cost. In other jaw members, two spaced tangs are provided, each of which is provided with a hole for engaging the pivot pin member. Since each jaw member has two spaced holes to engage the pivot pin member, these jaw members have improved stability to resist lateral deflection and torsion without requiring strict tolerances. However, when the actuation link is in an assembled state, the two tangs may make it difficult to assemble the jaw member and the actuation link together because the tangs may interfere with the pin member of the actuation link and prevent the actuation link from being inserted between the tangs. Therefore, in order to facilitate the assembly of the jaw member and the actuation link, the actuation link may need to be in a disassembled state when assembled with the jaw member (e.g., during assembly, the shaft forming the pin member is separated from the rest of the actuation link), and then these separate parts of the actuation link can be later fixed together (e.g., via welding) inside the assembled jaw member. However, since the parts of the actuation link are located inside the assembled jaw member (when they are fixed together), it may be difficult to fix the parts together.

[0036] Thus, various embodiments of the jaw members disclosed herein have proximal connection portions (tangs) that facilitate assembly of the jaw mechanism and the actuation linkage while also providing a strong connection at the pivot coupling of the jaw members. For example, in various embodiments, the pivot coupling between the jaw members provides a plurality of spaced apart contact locations for each jaw member along the length of the pivot pin member. This arrangement of distributing the load of the jaw members over more of the lateral dimensions (over a greater length of the pivot pin member) can resist deflection or twisting of the jaw members, and can also reduce the need for tight tolerances that might otherwise be necessary in the pivot pin members and the holes in the tangs of the jaw members that receive them. In addition, various embodiments of the jaw member having a proximal connecting portion that provides multiple spaced-apart contact locations with the pivot pin member also have a configuration that enables the proximal connecting portion (e.g., a tang) to be assembled with an actuation link that has already been fully assembled, as compared to a configuration in which a portion of the actuation link is assembled after the jaw member is partially assembled on the actuation link, or which makes access to the actuation link for assembly with the jaw member difficult.

[0037] Therefore, in some embodiments, the proximal connecting portion of each jaw member includes two shanks positioned on opposite sides of the longitudinal centerline of the jaw member, and each shank has a hole for receiving a pivot pin member, thereby providing multiple points of contact with the pivot pin member as described above, which, as described above, leads to increased stability to resist lateral offset and torsion. In addition, in order to facilitate the assembly of the jaw member with the actuation link, one of the shanks of each jaw member is shorter than the other shank of the jaw member-that is, each jaw member includes a long shank and a short shank. The long shank of each jaw member includes the above-mentioned ramp groove to engage with the pin member of the actuation link. However, the short shank does not include the ramp groove, but terminates at a position far from the ramp groove portion of the long shank. This arrangement allows the jaw member to be assembled to the actuation link by positioning the jaw member on the opposite side of the fully assembled actuation link, and then moving the jaw members laterally toward each other, wherein when the two jaw members are combined together, the ramp groove of the long shank receives the pin member of the actuation link. This assembly process is possible because the short tangs of the jaw members can be positioned during the assembly process so that they do not collide with each other or the actuation link when the two jaw members are brought together onto the actuation link. Once the jaw members are assembled onto the actuation link, the jaw members can be coupled to the U-shaped clamp by inserting the pivot pin member into the hole in the U-shaped clamp and the hole in each of the long tang and the short tang of each jaw member. Fig. 8A and Figure 8B Embodiments of assembling the jaw mechanism are described in more detail.

[0038] Turning now to the drawings, various embodiments will be described in greater detail below.

[0039] Figure 1 is a schematic diagram of a side view of an embodiment of an example apparatus 100. In some embodiments, the apparatus 100 can be controlled via a computer control system (such as reference 100 discussed further below). Fig. 9 In other embodiments, the device 100 may be a manually operated device.

[0040] like Figure 1 As shown, the instrument 100 includes an end effector 130, a transmission assembly 110, and a shaft 115 coupled to the transmission assembly 110 and the end effector 130 and extending between the transmission assembly 110 and the end effector 130. In some embodiments, the end effector 130 is arranged at the distal end portion of the instrument 100, and the transmission assembly is arranged at the proximal end portion of the instrument 100 (the proximal direction and the distal direction referred to herein are as shown in FIG. Figure 1 100). The instrument 100 may also include one or more articulatable structures 120 located along the axis 115 at one or more locations between the end effector 130 and the transmission assembly 110. In some embodiments, the articulatable structure 120 couples the end effector 130 to the axis 115. In some embodiments, the articulatable structure 120 couples one portion of the axis 115 to another portion of the axis 115. The articulatable structure 120 may include, for example, any component that couples two parts together in a manner that allows relative movement between the parts, such as one or more joints 121 (e.g., Figure 1 1 and 121_2 shown in the figure), flexible sections (e.g., via the material properties of the shaft and / or pressure relief features in the shaft, and other mechanisms that allow the shaft to elastically flex / bend). The articulated structure 120 (when present) provides the instrument 100 with one or more degrees of freedom of movement, such as for moving the end effector 130 as a whole relative to the shaft so that it is oriented relative to the workspace in a desired manner. In some embodiments, at least one articulated structure 120 includes a wrist that includes multiple joints 121 that are directly or indirectly coupled together to provide multiple degrees of freedom of movement of the end effector 130 relative to the shaft 115, such as pitch, yaw, roll, or any combination thereof.

[0041] The transmission assembly 110 includes one or more drive inputs 111 configured to receive drive forces and / or other inputs for controlling the functions of the instrument 100, such as movement of the instrument 100 (e.g., including movement of the shaft 115, the end effector 130, and / or the articulated structure 120) and / or the functions of the end effector 130. The drive input 111 can be configured to interface with a drive output of a manipulator system, as described below with reference to Fig. 9As further described, or they can be driven by manual manipulation (such as via various inputs at the transmission assembly 110 itself). Examples of drive inputs 111 include, but are not limited to, rotary couplers (disks), levers, linear motion inputs / linear motion outputs, gears, capstans, and pulleys. The driving force can be transmitted from the transmission assembly 110 to the end effector 130 and the articulated structure 120 (if present) via an actuating element 116 extending through the shaft 115. The actuating element 116 can take a variety of forms, such as cables, wires, filaments, rods, rigid tubes, strips, plates, thrust coils, etc., or combinations thereof. In some embodiments, the conduit can also extend through the shaft 115 to deliver various other drive inputs, such as electrical conduits for delivering electrical energy and / or fluid conduits for delivering fluids, pressures, and / or suction to the end effector 130.

[0042] The end effector 130 includes a jaw mechanism 150 coupled to a U-shaped clamp 170, which in turn is directly or via a plurality of other components such as a Figure 1 The illustrated articulated structure 120 is coupled to the shaft 115. The jaw mechanism 150 includes two jaw members 151 (e.g., jaw members 151_1 and 151_2), each of which is coupled to a U-shaped clip 170 via a pivot pin member 167 that engages a hole in each jaw member 151 so that the jaw members 151 can move relative to each other between an open state and a closed state (e.g., by pivoting). Specifically, when the jaw mechanism 150 moves between an open configuration and a closed configuration, the distal working portions of the jaw members 151 move toward and away from each other. In the closed configuration, the distal working portions of the jaw members 151 are positioned substantially parallel to each other so that the respective opposing contact surfaces 158 of the jaw members 151 are positioned close to each other and face each other (or contact each other). Thus, if the jaw mechanism 150 is placed in a closed configuration when an object is positioned between the jaw members 151, the respective contact surfaces 158 of the jaw members 151 will contact opposite sides of the object, thereby grasping the object. The above-mentioned pivotal movement of the distal working portion of the jaw member 151 is driven by the movement of the proximal connecting portion of the jaw member 151, which includes at least one shank (e.g., in some embodiments, the long shank 161 and the short shank 162 described in more detail below). The shank of the jaw member 151 includes the above-mentioned hole (e.g., see Figure 3A and Figure 3B160 ), which receives and engages with the pivot pin member 167 to couple the jaw member 151 to the U-clip 170. One pivot pin member 167 is positioned on a first lateral side of the end effector 130 to engage with a portion of the U-clip and a portion of the tang (one or more) located on the first side, while the other pivot pin member 167 is positioned on a second lateral side of the end effector 130 opposite the first lateral side to engage with another portion of the U-clip and the other tang (one or more) located on the second side. In some embodiments, the aforementioned two pivot pin members 167 are separate and different bodies, such as two separate pins. In other embodiments, the two pivot pin members 167 are parts of the same body; for example, the two pivot pin members 167 can correspond to opposite ends of a single pivot pin, wherein the single pivot pin extends through all of the aforementioned holes. In addition, at least one shank of each jaw member 151 (e.g., in some embodiments, the long shank 161) includes a ramp groove 165 that engages with one of a pair of pin members 173 of the actuation link. The actuation link includes a body and two pin members 173 that are coupled to the body and extend laterally from the body in opposite directions (note that the two pin members 173 can be two separate bodies, such as two separate pins coupled to the body, or the two pin members 173 can be two parts of the same single body, such as two ends of a shaft coupled to the body). The pin members 173 of the actuation link further engage with the guide slots 172 in the U-shaped clip 170, which limits the movement of the pin members 173 to translation only along the guide slots 172. When the pin members 173 translate along the guide slots 172, they interact with the ramp grooves 165 to force the shanks to move, thereby pivoting the distal working portion of the jaw member 151. The actuation link coupled to the pin member 173 is itself coupled to the actuation element 116 , which is actuatable to drive translation of the actuation link to open and close the jaw mechanism 150 .

[0043] In some embodiments, the end effector 130 further includes a movable component ( Figure 1 ), the movable component is coupled to another actuating element 116 and is movable (e.g., translatable) relative to jaw member 151. For example, the movable component can be a cutting element to cut the material grasped between jaw member 151 or the staple firing shuttle.

[0044] In some embodiments, one or both of jaw members 151 include electrodes 153 for delivering electrical energy to material grasped between jaw members 151. Electrode 153 includes an electrically conductive material (e.g., stainless steel, brass, copper, or other suitable electrically conductive material) disposed on jaw base 152, wherein jaw base 152 provides structural support and rigidity to jaw members 151. For example, in some embodiments, electrode 153 can be formed from a sheet of metal that has been machined (e.g., cut, stamped, bent, or otherwise formed) into a desired shape. An insulating layer (e.g., formed from an electrically insulating material (e.g., plastic, ceramic, or other suitable electrically insulating material) can be formed. Figure 1 153 and the jaw base 152. The exposed surface of the electrode 153 (see, e.g. Figure 2 The surface 258 in the jaw member 151 is arranged to face the opposing jaw member 151, and the surface of the electrode 153 forms a contact surface 158 of the jaw member 151, which will contact the object when the object is grasped between the jaw members 151. In this embodiment, a conductive conduit (such as a wire or cable) extends through the shaft 115 to the electrode 153 to electrically couple the electrode 153 to a power source (such as an electrosurgical unit (ESU)) that can be coupled to a terminal at the transmission assembly 110. In other embodiments of the jaw mechanism 150, the electrode 153 is omitted from one or both of the jaw members 151, and the instrument may not be an instrument configured to deliver electrosurgical energy, but rather an instrument configured to perform various grasping functions, such as a stapler, forceps, and other similar instruments.

[0045] In some embodiments where jaw members 151 include electrodes 153, end effector 130 may be configured as an electrosurgical instrument (e.g., a vessel sealing instrument), wherein electrodes 153 are configured to deliver electrosurgical energy (e.g., bipolar electrosurgical energy and / or monopolar electrosurgical energy) to perform electrosurgical functions, such as sealing and / or cutting tissue (e.g., a blood vessel) grasped between jaw members 151. In some of these embodiments, jaw mechanism 150 further includes a mechanical cutting element (not shown) that translates in a proximal-distal direction relative to jaw members 151 to cut tissue grasped between jaw members 151.

[0046] In some embodiments where jaw member 151 includes electrode 153, jaw base 152 terminates proximal to the distal end of jaw member 151. In other words, in these embodiments, electrode 153 extends distally beyond jaw base 152. This can allow at least the distal portion of jaw member 151 to be relatively thin (e.g., compared to conventional jaw members of similar shape) in a transverse and / or height dimension (the transverse and height dimensions are perpendicular to the longitudinal dimension of jaw member 151). Additionally, in these embodiments, support features ( Figure 1 The support features are provided in the embodiment of the present invention (not visible in the drawings) to provide increased structural support for the distal portion of the electrode 153, which extends beyond the end of the jaw base 152 to compensate for the omission of the jaw base 152 in this area. In some embodiments, both the electrode 153 and the insulating layer are provided with support features, while in other embodiments, only one or the other is provided with support features. Figure 2 Embodiments of such support features are described in more detail.

[0047] Figure 2 Jaw mechanism 250 is illustrated, which can be used as an embodiment of jaw mechanism 150, wherein the electrode extends distally beyond the jaw base. Similar components of jaw mechanisms 150 and 250 are given reference numerals having the same rightmost two digits, such as 151 and 251. Figure 2 As shown in FIG. 1 , the jaw mechanism 250 includes two jaw members 251 (i.e., 251_1 and 251_2) which are pivotally coupled to a U-shaped clamp 270 via a pivot pin member 267. Each jaw member 251 includes a jaw base 252, an insulating layer 254 disposed on the jaw base 252, and an electrode 253 disposed on the insulating layer 254. Figure 2, the jaw base 252 terminates proximal to the distal end of the jaw member 251. In other words, the distal portion 257 of the electrode 253 extends distally beyond the distal end 256 of the jaw base 252. In addition, the electrode 253 includes a support feature 255 extending perpendicularly from the contact surface 258 of the electrode 253 (the contact surface 258 is generally perpendicular to the height dimension 299 of the jaw member 251 and is configured to contact an object grasped by the jaw mechanism 250). In other words, the support feature 255 extends from the contact surface 258 in a direction generally parallel to the height dimension 299 of the jaw member. For example, the support feature 255 can have a tip that is located farther from the contact surface of the electrode 253 than any other portion of the electrode 253 along a direction parallel to the height dimension 299. In some embodiments, the support feature 255 is located near the distal end 256 of the jaw base 252 to provide increased structural strength at the distal portion 257 of the electrode 253, and in some embodiments, at least a portion of the support feature 255 extends distally beyond the distal end 256 of the jaw base 252. Specifically, in some embodiments, the top end of the support feature 255 is located near the distal end 256 of the jaw base 252, and the inclined edge of the support feature 255 extends distally beyond the distal end 256 of the jaw base 252.

[0048] In addition, if Figure 2 As exemplified in the embodiment of FIG. 2 , the insulating layer 254 also optionally includes a support feature in the form of a thickened portion 259 having a height dimension 299 that is thicker than other portions of the insulating layer 254. Figure 2 As shown in , the thickened portion 259 includes a portion of the insulating layer 254 extending distally beyond the distal end 256 of the jaw base 252. The support feature 255 of the electrode 253 and the thickened portion 259 of the insulating layer 254 together provide increased support and rigidity for the distal portion 257 of the electrode 253 to compensate for the lack of the jaw base 252 in this area, thereby reducing the possibility of bending of the electrode 253 when in use. In addition, because the jaw base 252 does not extend to the distal end of the jaw member 251, at least the distal working portion of the jaw member 251 can be made thinner in height and / or lateral dimensions without forming a small and complex feature in the distal end of the jaw base 252, and thus the reduction in the thickness of the jaw member 251 does not significantly increase the difficulty of manufacturing the jaw member 251.

[0049] In the above Figure 2In some embodiments, the electrode 253 and the insulating layer 254 both include support features (e.g., support feature 255 and thickened portion 259) to support the distal portion 257 of the electrode 253. However, in some embodiments of the jaw mechanism 150, the electrode 153 includes such support features and the insulating layer does not, while in other embodiments, the insulating layer includes support features and the electrode 153 does not.

[0050] Now back to Figure 1 In some embodiments of the jaw mechanism 150, the proximal connection portion of each jaw member 151 includes a long shank 161 and a short shank 162. The long shank 161 and the short shank 162 are positioned on opposite sides of the longitudinal centerline of the jaw member 151, and each of the shanks 161 and 162 has a hole for receiving a pivot pin member 167, thereby providing two spaced-apart contact points for the pivot pin member 167 on the proximal connection portion of each jaw member 151, which increases the stability of the jaw member 151 to resist lateral deviation or torsion, as described above. The long shank 161 of each jaw member 151 also includes a ramp groove 165 to engage with the pin member 173 of the actuation link, while the short shank 162 does not include a ramp groove, but instead terminates at the approximate location where the ramp groove portion of the long shank 161 begins. As will be referenced below Figure 3A and Figure 3B Described in more detail, this configuration allows jaw member 151 to be assembled together on the actuation link in a fully assembled state of the actuation link (ie, a state in which pin member 173 is assembled / coupled with the rest of the actuation link).

[0051] Figure 3A and Figure 3B Jaw mechanism 350 is illustrated, which can be used as one embodiment of jaw mechanism 150, wherein the jaw members include long shanks and short shanks. Similar components of jaw mechanisms 150 and 350 are given reference numerals having the same rightmost two digits, such as 351 and 351. Figure 3A A pair of jaw members 351 are shown in an exploded view, wherein jaw member 351_1 is located above jaw member 351_2, and Figure 3BThe cross section of the jaw members 351_1 and 351_2 in the partially assembled state is illustrated. As shown in FIG. 3, the distal working portion of each jaw member 351 includes a gripping portion 352, and the proximal connecting portion of each jaw member 351 includes a long shank 361 and a short shank 362. The gripping portion 352 of the jaw member 351 may include a jaw base (e.g., the jaw base 152 described above), and additional parts configured to perform various operations, including at least grasping an object between the jaw members 351 when closed. Therefore, the gripping portion 352 has a contact surface that contacts the grasped object. In some embodiments, the gripping portion 352 can also be configured to perform other operations, such as electrosurgery, anastomosis (stapling), cutting, wherein the gripping portion 352 optionally includes other components for performing these functions that will be understood by a person of ordinary skill in the art. The gripping portion 352 is coupled to the long shank 361 and the short shank 362 via the intermediate section 369 .

[0052] Each of the long shank 361 and the short shank 362 includes a hole 368a and 368b, respectively, for receiving a pivot pin member (not illustrated) to pivotally couple the jaw members 351_1 and 351_2 together and to a U-shaped clamp (eg, U-shaped clamp 170). Figure 3B As shown, when the jaw members 351_1 and 351_2 are assembled, the hole 368a_2 of the long shank 361_2 of the jaw member 351_2 is aligned with the hole 368b_1 of the short shank 362_1 of the jaw member 351_1, so that the first pivot pin member (not shown) can be inserted through these holes 368a and 368b and the first hole on one side of the U-shaped clamp. Similarly, in this state, the hole 368a_1 of the long shank 361_1 of the jaw member 351_1 is aligned with the hole 368b_2 of the short shank 362_2 of the jaw member 351_2, so that the second pivot pin member (not shown) can be inserted through these holes 368a and 368b and the second hole in the second side of the U-shaped clamp. (As described above, the pivot pin members can be two separate bodies or two parts of a single body). In addition, as Figure 3B As shown in FIG, in the assembled state, the shanks 361 and 362 of the two jaw members 351_1 and 351_2 are staggered, wherein the long shank 361 of one jaw member 351 is positioned adjacent to the short shank 362 of the other jaw member 351. Figure 3B In the embodiment, the short shanks 362_1 and 362_2 are positioned inside the long shanks 361_1 and 361_2, but the opposite arrangement is adopted in other embodiments.

[0053] like Figure 3AAs shown in , the long shank 361 of each jaw member includes a ramp groove 365, which is configured to receive a pin member of an actuating link (not shown). In the assembled state of the jaw members 351, the long shanks 361 of the two jaw members 351 are positioned opposite to each other on both sides of the longitudinal centerline of the jaw mechanism 350, wherein the actuating link is positioned between the long shanks 361, so that the pin member on one side of the actuating link engages the ramp groove 365 of one of the long shanks 361, and the second pin member on the other side of the actuating link engages the ramp groove 365 of the other long shank 361. The pin member of the actuating link also engages a guide groove ( Figure 3A and Figure 3B ), so as to limit the movement of the actuation link to translation in the proximal-distal direction, as described below with reference to Figure 4 The ramp slot 365 is angled relative to the longitudinal dimension of the jaw member 351 so that when the actuation link is driven to translate, the pin member of the actuation link pushes against the wall of the ramp slot 365 and forces the jaws to pivot about the pivot pin member.

[0054] like Figure 3A As shown, in some embodiments, the short shank 362 of each jaw member 351 does not include a ramped slot 365. Instead, the short shank 362 of each jaw member 351 ends approximately at or distal to the location where the ramped slot 365 of the long shank 361 begins. This configuration of the short shank 362 allows the jaw members 351_1 and 351_2 to be assembled to the actuation link by positioning the jaw members 351_1 and 351_2 on opposite sides of the fully assembled actuation link, orienting the jaw members 351_1 and 351_2 to be at an angle relative to each other (e.g., in the open configuration of the jaw mechanism), wherein the ramped slot 365 is aligned with the pin member of the actuation link, and then moving the jaw members 351_1 and 351_2 laterally toward each other until the ramped slot 365 of the long shank 361 moves onto the pin member of the actuation link. Due to the length of the short shank 362, when the two jaw members move together in the above process, the corresponding short shank 362 of the jaw members 351_1 and 351_2 can move through each other without collision. This assembly process allows the actuation link to be completely assembled outside the jaw member 351, which can greatly simplify the manufacturing process. Fig. 8A and Figure 8B The implementation of the above method is described in more detail in the form of specific implementations.

[0055] In some embodiments, electrodes are arranged on the gripping portion 352, such as the electrodes 153 and 253 described above. In other embodiments, there are no electrodes. Specifically, the long shank 361 and the short shank 362 described above can be used with any type of jaw mechanism of any type of end effector (including but not limited to, for example, an electrosurgical end effector, a stapler, or forceps).

[0056] Back to Figure 1 Although the jaw member 151 is exemplified as having an electrode 153 and a long shank 161 and a short shank 162, in some embodiments, the jaw member 151 does not necessarily include two of these aspects at the same time. More specifically, in some embodiments, one or two jaw members 151 include an electrode 153 and a long shank 161 / short shank 162; in other embodiments, one or two jaw members 151 include an electrode 153 but do not include a long shank 161 and a short shank 162; in other embodiments, one or two jaw members 151 include a long shank 161 and a short shank 162 but do not include an electrode 153. In addition, as described above, in some embodiments where electrode 153 is present, electrode 153 extends distally beyond the distal end of jaw base 152 and support features are provided in electrode 153 and / or the insulating layer, but in other embodiments of jaw mechanism 150, one or more jaw members 151 have electrode 153, but electrode 153 does not extend significantly beyond the distal end of jaw base 152 and therefore no other support features are provided.

[0057] Now go to Figure 4 — Figure 8B , an embodiment of the end effector 430 is described in more detail. The end effector 430 can be used as the end effector 130 described above. Some components of the end effector 430 can be used as components of the end effector 130 described above, and therefore the above description of the components of the end effector 130 also applies to the related components of the end effector 430. These related components are assigned figure numbers with the same rightmost two digits, such as 150 and 450. Although the end effector 430 is an embodiment of the end effector 130, the end effector 130 is not limited to the end effector 430. When describing the elements of the end effector 430, attention will be paid to one or several figures that are considered to be particularly relevant to that aspect, but it should be understood that other figures besides the identified figures may also illustrate the same part from other angles. Therefore, the following description will not necessarily be described separately and strictly in sequence. Figure 4 — Figure 8B .

[0058] like Figure 4As shown in the embodiment of the present invention, the end effector 430 includes a U-shaped clamp 470 and a jaw mechanism 450 coupled to the U-shaped clamp 470. The U-shaped clamp 470 includes two arms 471, which are arranged on opposite sides of the longitudinal centerline of the end effector 430, and the jaw mechanism includes two jaw members 451 (for example, 4511 and 4512), which are arranged between the arms 471 and are pivotally coupled to the arms 471. In turn, the U-shaped clamp 470 is coupled to the instrument shaft (such as the shaft 115) directly or via an articulatable structure (such as the articulatable structure 120). The end effector 430 further includes a Figure 4 The cutting element 480 shown in FIG. Fig. 8A The actuating link 475 shown in Figure 4 The pin member 473 of the actuating link 475 can be seen in the figure.

[0059] like Figure 5-Figure 7 As shown, the proximal connection portion of each jaw member 451 includes a long shank 461 and a short shank 462, which are pivotally coupled to a U-shaped clamp 470 by one or more pivot pin members 467 (the long shank 461 and the short shank 462 will be described in more detail below). The pivot pin members 467 engage (i.e., are received in) holes 468a and 468b in the long shank 461 and the short shank 462 of the jaw member 451, and also engage holes 466 in the arms 471 of the U-shaped clamp 470, thereby pivotally coupling the jaw member 451 to the U-shaped clamp 470. One pivot pin member 467 engages with one arm 471, and the other pivot pin member 467 engages with the other arm 471. In some embodiments, these pivot pin members 467 are two separate bodies, such as two different pivot pins. In other embodiments, the pivot pin member 467 is two parts of a single body, such as a single pivot pin extending through all of the aforementioned holes 466, 468a, and 468b. Regardless of whether the pivot pin member 467 is formed as two separate bodies or two parts of a single body, the holes 468a and 468b of each jaw member 451 provide the jaw member 451 with two spaced apart contact points for engagement with the pivot pin member 467, thereby providing stability against torsion without requiring extremely high tolerances between the hole diameter and the pivot pin member 467.

[0060] In addition, if Figure 5-8BAs shown, the long shank 461 of each jaw member 451 includes a ramp groove 465 to engage with the pin member 473 of the actuation link 475. Note that the pin member 473 of the actuation link 475 can be two separate parts, or they can be two parts of the same body, such as two opposite ends of a shaft that is coupled to the body of the actuation link 475 so that the ends of the shaft protrude from opposite sides of the body to form the pin member 473. In the assembled state of the actuation link 475, the shaft is fixed to (e.g., via welding, adhesive, mechanical fasteners, etc.) the actuation link 475. As shown in FIG. Figure 4 , the pin member 473 also engages the guide slot 472 in the arm 471 of the U-clip 470, which limits the movement of the actuation link 475 to translation only in the proximal-distal direction. When the actuation link 475 translates, the pin member 473 slides within the guide slot 472 and pushes against the wall of the ramp slot 465, thereby forcing the jaw member 451 to pivot about the pivot pin member 467. Therefore, by driving the actuation link 475 to translate in the proximal-distal direction, the jaw mechanism 450 can be opened and closed.

[0061] like Figure 4 and Fig. 8A As shown in FIG. 4 , the actuating elements 416 extend along the instrument shaft (not shown) and enter and / or pass through the U-shaped clip 470. One or more of the actuating elements 416 are coupled to the actuating link 475 (at Fig. 8A In the embodiment of the present invention, two actuating elements 416 are coupled to the actuating link 475, but in other embodiments, one actuating element 416 is used and is actuatable to drive translation of the actuating link 475 relative to the clevis 470. As is familiar to those of ordinary skill in the art, an additional actuating element 416 is coupled to the cutting element 480 to drive translation thereof.

[0062] refer to Figure 5 In addition to the long shank 461 and the short shank 462, each jaw member 451 further includes a jaw base 452, an insulating layer 454 disposed on the jaw base 452, and an electrode 453 disposed on the insulating layer 454. Figures 5 to 6BAs shown in , the jaw base 452 is coupled to the long shank foot 461 and the short shank foot 462 and extends distally from the long shank foot 461 and the short shank foot 462. In addition, the middle portion 469 may also be coupled to the jaw base 452 and to the long shank foot 461 and the short shank foot 462. The jaw base 452 can be made of a relatively strong and rigid material such as stainless steel, and can provide primary structural support for the jaw members. As described above, the jaw member 451 also includes an electrode 453, which can be formed of a conductive material (such as a metal sheet). The electrode 453 can be used as the electrode 153 described above. The electrode 453 includes a contact surface 458, which is substantially perpendicular to the height dimension 499 of the jaw members 451 and is configured to face the opposing jaw members 451 so that the surface 458 can contact the object when the object is grasped between the jaw members 451. As shown Figure 5 and Fig. 6A As shown in , electrode 453 also includes a flange 481 that extends vertically from contact surface 458 (i.e., along height dimension 499) and extends along the length of the electrode adjacent to (partially covering) the side of the insulating layer. Flange 481 can help attach electrode 453 to other components of jaw member 451 and can also provide some structural support.

[0063] like Figure 5 and Fig. 6A As shown in , distal portion 457 of electrode 453 extends distally beyond distal end 456 of jaw base 452. In other words, jaw base 452 terminates proximal to the distal end of jaw member 451. Similarly, distal portion 459 of insulating layer 454 extends distally beyond distal end 456 of jaw base 452, wherein distal portion 459 of insulating layer 454 is disposed below distal portion 457 of electrode 453. Figure 5 and Fig. 6A As shown in , electrode 453 includes a support feature 455 extending perpendicularly from contact surface 458. In other words, support feature 455 extends from contact surface 458 in a direction generally parallel to height dimension 499 of jaw member 451. Support feature 455 can be part of flange 481, but can have a greater height profile than the rest of flange 481. Fig. 6A, support feature 455 is generally triangular in shape and includes a top end connected to two inclined edges. Moving from proximal to distal, one inclined edge of support feature 455 begins at flange 481 and extends distally at an angle and away from contact surface 458 until reaching the top end, and then from the top end, the other inclined edge extends distally at an angle and toward contact surface 458. In other words, moving distally from the top end, support feature 455 tapers (in a height dimension) toward the distal end of electrode 453, and moving proximally from the top end, support feature 455 tapers (in a height dimension) toward flange 481. The top end of support feature 455 is located adjacent to distal end 456 of jaw base 452, with a portion of support feature 455 extending distally beyond distal end 456 of jaw base 452. With this configuration, support feature 455 can provide increased support for distal portion 457 of electrode 453 to help prevent electrode 453 from flexing when jaw mechanism 450 grasps an object. While flange 481 can also provide some support, it may not be enough in some cases. However, the higher height of support feature 455 in height dimension 499 compared to the rest of flange 481, coupled with the geometry of support feature 455, can allow support feature 455 to provide increased support for distal portion 457 of electrode 453.

[0064] In addition, if Figure 6B , wherein electrode 453 is removed to better illustrate the insulating layer, insulating layer 454 also includes a support feature in the form of a distal portion 459 that is relatively thick in height dimension 499 compared to other portions of insulating layer 454. Thickened distal portion 459 includes a portion of the insulating layer that extends beyond the distal end 456 of jaw base 452. Thickened distal portion 459 of insulating layer 454 provides some additional structural support for distal portion 457 of electrode 453, which, along with the added support provided by support feature 455, may be sufficient to mitigate the omission of jaw base 452 below distal portion 457. Additionally, because jaw base 452 does not extend to the distal end of jaw member 451, at least the distal portion of jaw member 451 can be made thinner in height dimension 499 and / or transverse dimension 497 without the need to form small and complex features in the distal end of jaw base 452. Thus, the reduction in thickness of jaw member 451 does not significantly increase the difficulty of manufacturing jaw member 451. In addition to the distal portion, other portions of jaw member 451 may also be reduced in height dimension 499 and / or lateral dimension 497.

[0065] like Figure 5 As shown in FIG. 4 , an electrical conduit 490 (e.g., a wire or cable) is coupled to the electrode 453. Fig. 6A, which indicates via dashed lines the path of an electrical conduit 490 that may extend from the electrode 453 through an opening 493 in the insulating layer 454 in a first direction aligned with the height dimension 499 (see Figure 5 ) and passes through the first groove 492 in the jaw base 452 (see Figure 5 and Fig. 6A ), and then rotatable to extend through a second groove 491 in the jaw base 452 in a second direction aligned with the longitudinal dimension 498 (see Figure 5 and Fig. 6A After passing through the second groove 491 , the electrical conduit 490 may extend proximally through the U-clip 470 to the shaft, and then ultimately to a power source configured to supply electrical energy to the electrode 453 .

[0066] like Figure 4 and Figure 5 , jaw member 451 may also include an outer protective layer 483, which may cover portions of jaw base 452 and insulating layer 454 and some lateral portions of electrode 453. Contact surface 458 of electrode 453 is not covered by outer protective layer 483. In some embodiments, outer protective layer 483 is overmolded over other portions of jaw member 451.

[0067] Now go to Figures 6A-8B , now refer to Figures 6A-8B The embodiments of the long shank 461 and the short shank 462 of the jaw member 451 and the process of assembling the jaw mechanism 450 are described in more detail. The long shank 461 and the short shank 462 are positioned on opposite sides of the longitudinal centerline of the jaw member 451. Figure 7 As shown in the exploded view of , the two jaw members 451_1 and 451_2 can be positioned so that when assembled together, their long shank feet 461 and short shank feet 462 are arranged on opposite sides of each other. Figure 8B As shown in , when the jaw members 451_1 and 451_2 are combined together, their respective long shank feet 461 and short shank feet 462 are staggered with each other. In each jaw member 451, the long shank foot 461 includes a ramp groove 465, while the short shank foot 462 does not include a ramp groove, but terminates at the distal end of the ramp groove on the long shank foot. This configuration allows the jaw members 451 to be assembled together and mounted on the actuation link 475 in a fully assembled state of the actuation link 475 (for example, by the following process).

[0068] First, refer to Fig. 8A, the jaw members 451_1 and 451_2 are positioned on opposite sides of the fully assembled actuation link 475. The fully assembled actuation link 475 is in a state where the pin member 473 is formed in the body of the actuation link 475 and is coupled to the body of the actuation link 475 (such as by coupling the shaft to the body as described above), and in a state where the body of the actuation link 475 is coupled to the actuation element 416. For example, the body can be welded or mechanically fastened (e.g., crimped) to (one or more) actuation elements 416. Assembly of the actuation link 475 occurs when the actuation link 475 is located outside the jaw members 451, thereby facilitating access to the actuation link 475 and simplifying assembly of the actuation link 475. The jaw members 451_1 and 451_2 are arranged so that they are at an angle relative to each other, while also having their respective ramp grooves 465 that are aligned with the pin members 473 of the actuation link 475. Then, as Fig. 8A As shown in , the jaw members 451_1 and 451_2 move laterally toward each other and toward the actuation link 475 until the corresponding ramp grooves 465 of the jaw members 451_1 and 451_2 engage with the pin member 473 of the actuation link 475. As shown in FIG8A, since the length of the short shank 462 is relatively short, and since the jaw members 451_1 and 451_2 are oriented at a certain angle relative to each other, when the jaw members 451_1 and 451_2 move laterally toward each other, the short shank 462 of the jaw members 451_1 and 451_2 do not collide with each other or with the actuation link 475. Thereafter, the jaw members 451_1 and 451_2 move laterally in a direction that brings their distal ends closer together ( Fig. 8A 402) in the pivot until all holes 468a and 468b are aligned with each other, and as Figure 8B As shown in , pin member 473 (still engaged with jaw member 451) can further engage track 474 in the inner wall of arm 471. Track 474 leads to guide slot 472, and jaw member 451 and actuation link 475 can be moved proximally relative to U-clip 470 so that pin member 473 enters guide slot 472 and holes 468a and 468b of jaw member 451 are aligned with hole 466 in arm 471. When holes 468a, 468b and hole 466 are all aligned, pivot pin member 467 can be moved as shown in FIG. Figure 8BThe jaw mechanism 450 is attached to the U-clip 460 by inserting the actuation link 475 into these holes as indicated by arrows 479 in the figure and securing to the U-clip 460 (e.g., via welding, mechanical fasteners, adhesives, etc.). Although the pivoting of the jaw member 451 and the engagement of the pin member 473 with the track 474 are described above in a certain order, it will be understood by those of ordinary skill in the art that these can be performed in other orders, such as first engaging the pin member 473 with the track 474 and then pivoting the jaw member 451 thereafter. The above-described assembly process allows the actuation link 475 to be completely assembled outside the jaw member 451, which can facilitate the manufacturing process. For example, such an assembly process allows the shaft forming the pin member 473 to be secured (e.g., welded) to the rest of the actuation link 475 while being positioned outside the U-clip 470 and the jaw member 451 rather than inside.

[0069] End effector 430 can be configured as an electrosurgical instrument, such as a vessel sealer. Specifically, electrode 453 can deliver electrosurgical energy to perform operations such as sealing tissue (e.g., a blood vessel) clamped between jaw members 451, and then cutting element 480 can be driven to translate relative to the still closed jaw members 451 to cut the now sealed blood vessel. Cutting element 480 can travel in a slot that runs along the length of jaw members 451. Figure 5 As shown in , the groove may include (or be formed by) a groove 487 in the electrode 453, a groove 486 in the insulating layer 454, and a groove 485 in the jaw base 452. The groove can limit and guide the cutting element 480 as it translates relative to the jaw member 451. In some embodiments, the groove 485 in the jaw base 452 can be one of the features at the distal end of the jaw base 452, which can be relatively small and complex to form in the jaw base 452 when it is reduced in size. Specifically, the end of the groove 485 at its distal end may be relatively more difficult to form than the more proximal portion. However, in Figures 4 to 8B In the embodiment of the present invention, the distal end of the jaw base 452 can be omitted, thereby allowing the relatively more difficult portion of the slot 485 of the jaw base 452 to be omitted as well. Therefore, the size of the jaw base 452 can be reduced without significantly increasing its manufacturing difficulty.

[0070] Now go to Fig. 9 , an embodiment of a computer-assisted instrument control system 1000 for remotely controlling an instrument will be described. Fig. 9 1 is a schematic block diagram of a computer-assisted instrument control system 1000 for remotely controlling an instrument. The system 1000 includes a manipulator assembly 1100, a control system 1106, and a user input and feedback system 1104. The system 1000 may also include an auxiliary system 1108. These components of the system 1000 are described in more detail below.

[0071] Manipulator assembly 1110 includes one or more manipulators 1114 . Fig. 9 Three manipulators 1114 are illustrated, but any number of manipulators 1114 may be included. Fig. 9 In an embodiment, each manipulator 1114 includes a kinematic structure of two or more links 1115 coupled together by one or more joints 1116. The joints 1116 can give the manipulator 1114 various degrees of freedom of movement, thereby allowing the manipulator 1114 to move around the workspace. For example, some joints 1116 can provide rotation of the links 1115 relative to each other, other joints 1116 can provide translation of the links 1115 relative to each other, and some can provide both rotation and translation. Some or all of the joints 1116 can be powered joints, which means that a powered drive element can control the movement of the joints 1116 by supplying power. Such drive elements can include, for example, electric motors, pneumatic or hydraulic actuators, etc. Additional joints 1116 can be unpowered joints. In addition to the drive elements that control the joints 1116, the manipulator 1114 can also include a drive element (not illustrated) that drives the input portion of the instrument 1102 to control the operation of the instrument, such as moving the end effector of the instrument, opening / closing the jaws, driving translation and / or rotation components, etc. In some embodiments, the manipulator assembly may also include flux delivery transmission capabilities, such as, for example, supplying power, fluid, vacuum pressure, light, electromagnetic radiation, etc. to the end effector. In other embodiments, such flux delivery transmissions may be provided to the instrument by another auxiliary system, as further described below. Fig. 9 It is illustrated that each manipulator 1114 has two links 1115 and one joint 1116 , but in practice, the manipulator may include more links 1115 and more joints 1116 , depending on the needs of the system 1000 .

[0072] Each manipulator 1114 can be configured to support and / or manipulate one or more instruments 1102. In some instances, instruments 1102 can be fixedly coupled to manipulators 1114, while in other instances, one of linkages 1115 can be configured to have one or more separate instruments 1102 detachably coupled thereto. Instruments 1102 can 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 above-described instruments 100 can be used as any of the instruments 1102.

[0073] The system 1000 may also include a user input and feedback system 1104 operably coupled to the control system 106. The user input and feedback system 1104 includes one or more input devices to receive input control commands to control the operation of the manipulator assembly 1110. 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, touch screen technology, or any other type of device for recording user input. In some cases, the input devices may be provided with the same degrees of freedom as the associated instruments they control, and when the input devices are actuated, the instruments are controlled to follow or imitate the movement of the input devices through drive inputs from the manipulator assembly, which may provide the user with a sense of direct control of the instruments. The telepresence input devices may provide the operator with a sense of telepresence, meaning that the input devices are integrated with the instruments. The user input and feedback system 1104 may also include feedback devices, such as a display device (not shown) for displaying images (e.g., images of the work site captured by one of the instruments 1102), a tactile feedback device, an audio feedback device, other graphical user interface forms of feedback, and the like.

[0074] The control system 1106 can control the operation of the system 1000. Specifically, the control system 1106 can send control signals (e.g., electrical signals) to the manipulator assembly 1110 to control the movement of the joint 1116 and the operation of the control device 1102 (e.g., through the drive interface at the manipulator 1114). In some embodiments, the control system 1106 can also control some or all operations of the user input and feedback system 1104, the auxiliary system 1108, or other parts of the system 1000. The control system 1106 may include an electronic controller to control and / or assist the user in controlling the operation of the manipulator assembly 1110. The electronic controller includes a processing circuit configured with logic for performing various operations. The logic of the processing circuit may include dedicated hardware for performing various operations, software (machine-readable and / or processor-executable instructions) for performing various operations, or any combination thereof. In an example where the logic includes software, the processing circuit may include a processor that executes software instructions and a memory device that stores the software. The processor may include 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 a chip (SoC), a digital signal processor (DSP), a graphics processing unit (GPU), etc. In instances where the processing circuit includes dedicated hardware, in addition to or in lieu of a processor, the dedicated hardware may include any electronic device 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), a discrete logic circuit, a hardware accelerator, a hardware encoder, etc. The processing circuit may also include any combination of dedicated hardware and a processor plus software.

[0075] Different degrees of user control and autonomous control can be used in the system 1000, and the embodiments disclosed herein can cover systems that are fully user-controlled, fully autonomously controlled, and systems with any combination of user control and autonomous control. For user-controlled operations, the control system 1106 generates control signals in response to receiving corresponding user input commands via the input and feedback system 1104. For autonomously controlled operations, the control system 1106 can execute pre-programmed logic (e.g., software programs), and can determine and send control commands based on programming (e.g., in response to detected states or stimuli specified in programming). In some systems, some operations may be user-controlled, while other operations are autonomously controlled. In addition, some operations may be partially user-controlled and partially autonomously controlled-for example, a user input command can initiate the execution of a series of events, and then the control system 1106 can perform various operations related to the series without further user input.

[0076] The auxiliary system 1108 may include various auxiliary devices that may be used for the operation of the system 1000. For example, the auxiliary system 1108 may include a power supply unit, auxiliary functional units (e.g., functions such as irrigation, vacuuming, energy supply, lighting, sensors, imaging, etc.). As an example, in the system 1000 for a medical procedure environment, the auxiliary system 1108 may include a display device for use by medical personnel assisting the procedure, while a user operating an input device may utilize a separate display device as part of the user input and feedback system 1104. As another example, in the system 1000 for a medical environment, the auxiliary system 1108 may include a flux supply unit that provides surgical flux (e.g., power) to the instrument 1102. Therefore, the auxiliary system 1108 used herein may cover a variety of components and need not be provided as an integral unit.

[0077] As described above, one or more instruments 1102 can be mounted to the manipulator 1114. In some embodiments, the instrument bracket physically supports the mounted instrument 1102 and has one or more actuators (not illustrated) to provide driving force to the instrument 1102 to control the operation of the instrument 1102. The actuator can provide driving force by actuating a drive output (such as a rotating disk output, an engagement output, a linear motion output, etc.) (not illustrated). The drive output can interface with the corresponding drive input of the instrument 1102 and mechanically transmit the driving force to the corresponding drive input (directly, or via an intermediate drive output, which can be a part of a sterile instrument adapter (ISA) (not illustrated)). The ISA can be placed between the instrument 1102 and the instrument bracket to maintain the sterile separation between the instrument 1102 and the manipulator 114. The instrument bracket can also include other interfaces (not illustrated), such as an electrical interface, to provide electrical signals to the instrument 1102 and / or receive electrical signals from the instrument 1102.

[0078] The embodiments described herein may be well suited for use in medical applications. Specifically, some embodiments are applicable to, for example, surgical, telesurgery, diagnostic, therapeutic and / or biopsy procedures. Such procedures may be performed on, for example, human patients, animal patients, human cadavers, animal cadavers, and portions of human or animal anatomical structures. Some embodiments may also be applicable to, for example, non-surgical diagnosis, cosmetic surgery, imaging of human or animal anatomical structures, data collection from human or animal anatomical structures, training of medical or non-medical personnel, and procedures performed on tissue removed from human or animal anatomical structures (without returning to the human or animal anatomical structures). Even if applicable to such medical procedures, the embodiments may be used for benchtop procedures in the form of non-living materials and portions of non-human or animal anatomical structures. In addition, some embodiments are also applicable to non-medical applications, such as industrial robotic uses, including but not limited to sensing, inspecting and / or manipulating non-tissue workpieces. In non-limiting embodiments, the techniques, methods, and devices described herein may be used in or may become part of a computer-assisted surgical system that employs robotics, such as a computer-assisted surgical system commercialized by IntuitiveSurgical, Inc. of Sunnyvale, California. However, those skilled in the art will appreciate that the aspects disclosed herein may be embodied and implemented in a variety of ways and systems, including manually operated instruments and computer-assisted teleoperated systems, in both medical and non-medical applications. Reference to surgical systems is by way of example only and should not be considered limiting of the scope of this disclosure.

[0079] It should be understood that both the general description and the detailed description provide exemplary embodiments that are essentially explanatory 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 can be made without departing from the spirit and scope of the present specification and claims. Further, the terms (such as spatial terms and relational terms) used herein to describe various aspects of the present invention are selected to help readers understand the exemplary embodiments of the present invention, but are not intended to limit the present invention. For example, as illustrated in the accompanying drawings, spatial terms (such as "below", "below", "lower", "above", "above", "proximal", "distal", "up", "down", etc.) can be used in this article to describe the spatial relationship between a direction or an element or feature and another element or feature. These spatial terms are used relative to the accompanying drawings and are not limited to a specific reference system in the real world. Therefore, for example, the direction "up" in the accompanying drawings does not necessarily correspond to "up" in the world reference system (for example, away from the surface of the earth). In addition, if a reference system different from the reference system illustrated in the accompanying drawings is considered, the spatial terms used herein may need to be interpreted differently in different reference systems. For example, a direction referred to as "up" with respect to one of the accompanying drawings may correspond to a direction referred to as "down" with respect to a different reference frame that is rotated 180 degrees from the reference frame of the accompanying drawings. As another example, an item described herein as being "above" or "over" a second item with respect to the accompanying drawings would be "below" or "under" the second item with respect to the world reference frame if the device was rotated 180 degrees in the world reference frame as compared to that illustrated in the accompanying drawings. Thus, different spatial terms may be used to describe the same spatial relationship or direction, depending on the reference frame being considered. In addition, the postures of the items illustrated in the accompanying drawings are selected for ease of illustration and description, but in actual implementation, the postures of the items may vary.

[0080] As used herein, "proximal" and "distal" are spatial / directional terms used to describe a position or direction based on its relative position in a kinetic chain. In the context of the present disclosure, the directions proximal and distal are labeled relative to the instrument in the various figures, where proximal describes the direction along the instrument toward the force transmission system, and distal describes the direction along the instrument toward the end effector. Therefore, the proximal and distal directions are not fixed in space, but are used herein to describe different ends of the instrument itself, regardless of its specific orientation in space.

[0081] In addition, unless the context indicates otherwise, the singular forms "a", "an", and "the" are also intended to include the plural forms. Also, the terms "comprises, comprising", "including", etc. specify the presence of the features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups. Unless otherwise specifically stated, components described as coupled may be directly coupled electrically or mechanically, or they may be indirectly coupled via one or more intermediate components. Mathematical and geometric terms are not intended to be used necessarily in accordance with their strict definitions unless the context of the specification indicates otherwise, as one of ordinary skill in the art would understand that, for example, substantially similar elements that function in a substantially similar manner would easily fall within the scope of a descriptive term, even if the term also has a strict definition.

[0082] The elements and related aspects described in detail with reference to one embodiment may be included in other embodiments where they are not specifically shown or described. For example, if an element is described in detail with reference to one embodiment, but not with reference to a second embodiment, the element may still be required to be included in the second embodiment.

[0083] In view of the disclosure herein, further modifications and alternative embodiments will be obvious to those of ordinary skill in the art. For example, the apparatus and method may include additional components or steps omitted in the diagram and description for operational clarity. Therefore, the description should only be interpreted as exemplary, and is intended to teach those skilled in the art to implement the general manner of the present disclosure. It should be understood that the various embodiments shown and described herein should be considered exemplary. Elements and materials and the arrangement of those elements and materials can replace the elements and materials illustrated and described herein, parts and processes can be reversed, and certain features of this teaching can be used independently, all of which will be obvious to those skilled in the art after reading the benefits described herein. In some cases, well-known structures, systems and techniques are not shown or described in detail to avoid blurring the embodiments. The elements described herein may be changed without departing from the scope of this teaching and the appended claims.

[0084] Other embodiments according to the present disclosure will be apparent to those skilled in the art by consideration of the specification and practice of the invention disclosed herein. The specification and examples should be considered as exemplary only, with the appended claims being given their broadest scope, including equivalent rights, under applicable law.

Claims

1. An apparatus comprising: a shaft comprising a proximal portion and a distal portion; and an end effector coupled to the distal end portion of the shaft, the end effector comprising first and second jaw members opposed to each other, each of the first and second jaw members extending distally relative to the shaft and movable relative to each other between an open configuration and a closed configuration, wherein each of the first jaw member and the second jaw member comprises: Base of jaws, an electrode coupled to the jaw base and having a distal portion extending distally beyond the jaw base, and A support feature is configured to support the distal portion of the electrode.

2. The device according to claim 1, wherein the electrode comprises a contact surface configured to contact material grasped between the first jaw member and the second jaw member, Wherein the support feature comprises a portion of the electrode extending perpendicularly from the contact surface in a direction away from the opposing jaw members.

3. The apparatus according to claim 2, The support feature includes a tip located near the distal end of the jaw base and an angled edge extending distally from the tip toward the contact surface.

4. The instrument of claim 2, wherein the electrode includes a side flange extending from the contact surface in a direction away from the opposing jaw members, and The support feature is a portion of the side flange and projects further in a direction away from the opposing jaw members than a remainder of the side flange.

5. The apparatus according to claim 2, wherein each of the first jaw member and the second jaw member further comprises a second support feature and an insulating layer disposed between the electrode and the jaw base; and Wherein the second support feature includes a distal portion of the insulating layer, the thickness of the distal portion of the insulating layer is greater than the thickness of the rest of the insulating layer along the height dimension of the first jaw member and the second jaw member, and the distal portion of the insulating layer extends distally beyond the jaw base.

6. The apparatus according to claim 1, wherein each of the first jaw member and the second jaw member further comprises an insulating layer disposed between the electrode and the jaw base; and The support feature comprises a distal portion of the insulating layer having a thickness greater than a thickness of a remainder of the insulating layer along a height dimension of the jaw member, the distal portion of the insulating layer extending distally beyond the jaw base.

7. An apparatus comprising: a shaft comprising a proximal portion and a distal portion; and an end effector coupled to the distal end portion of the shaft, the end effector comprising: first and second jaw members that are opposed and pivotally coupled to each other by a pivot pin member; and an actuation link engaged with the first jaw member and the second jaw member to drive the first jaw member and the second jaw member to pivotally move between an open state and a closed state; wherein each of the first jaw member and the second jaw member comprises a long shank and a short shank, the long shank being longer than the short shank, wherein each of the long tang and the short tang includes a pivot hole that engages with one of the pivot pin members, and The long shank includes a ramp groove that engages with the actuation link.

8. The apparatus according to claim 7, Wherein the short tang of each of the first jaw member and the second jaw member has no ramp groove.

9. The apparatus according to claim 7, Wherein the short shank of each of the first jaw member and the second jaw member terminates at a position distal to the ramp groove of the long shank of each of the first jaw member and the second jaw member.

10. The apparatus according to claim 7, Each of the first jaw member and the second jaw member includes a gripping portion coupled to the long shank and the short shank and extending distally from the long shank and the short shank, and the gripping portion is configured to grip an object positioned between the first jaw member and the second jaw member when the first jaw member and the second jaw member are in the closed state.

11. The apparatus according to claim 10, Wherein the grasping portion of each of the first jaw member and the second jaw member further comprises an electrode.

12. The apparatus according to claim 11, wherein the gripping portion of each of the first jaw member and the second jaw member further comprises a jaw base and a support feature, wherein the electrode is coupled to the jaw base and has a distal portion extending distally beyond the jaw base, and Wherein the support feature is configured to support the distal portion of the electrode.

13. The apparatus according to claim 12, wherein the electrode comprises a contact surface configured to contact material grasped between the first jaw member and the second jaw member, and Wherein the support feature comprises a portion of the electrode extending from the contact surface in a direction away from the opposing jaw members.

14. The apparatus according to claim 13, wherein each of the first jaw member and the second jaw member further comprises a second support feature and an insulating layer disposed between the electrode and the jaw base; and The second support feature includes a distal portion of the insulating layer, the thickness of the distal portion of the insulating layer is greater than the thickness of the rest of the insulating layer along the height dimension of the jaw member, and the distal portion of the insulating layer extends distally beyond the jaw base.

15. The apparatus according to claim 12, wherein each of the first jaw member and the second jaw member further comprises an insulating layer disposed between the electrode and the jaw base; and The support feature comprises a distal portion of the insulating layer having a thickness greater than a thickness of a remainder of the insulating layer along a height dimension of the jaw member, the distal portion of the insulating layer extending distally beyond the jaw base.

16. The apparatus according to claim 7, Wherein the long shanks and the short shanks of the first jaw member and the second jaw member respectively are staggered.

17. The apparatus of claim 7, further comprising: a U-shaped clamp coupling the first jaw member and the second jaw member to the shaft, wherein the pivot pin member engages with a hole of the U-shaped clamp to pivotally couple the first jaw member and the second jaw member to the U-shaped clamp, wherein the actuation link engages a guide slot in the clevis, the guide slot being configured to limit movement of the actuation link to translation relative to the clevis, and Wherein the actuation link is configured to translate along the guide slot and cause pivoting of the first jaw member and the second jaw member via interaction between the actuation link and the ramp slot.

18. An instrument end effector, comprising: a first jaw member; a second jaw member; and an actuation link including a body and pin members extending laterally from the body in opposite directions, wherein each of the first jaw member and the second jaw member comprises: two pivot holes configured to receive pivot pin members, and A ramp groove is configured to receive one of the pin members of the actuating link, and wherein the first jaw member and the second jaw member are configured so that the pin member of the actuating link can be simultaneously inserted into the corresponding ramp grooves of the first jaw member and the second jaw member during assembly of the first jaw member and the second jaw member with the actuating link while being coupled to the body.

19. An apparatus comprising: a shaft comprising a proximal portion and a distal portion; and an end effector coupled to the distal end portion of the shaft, the end effector comprising: first and second jaw members that are opposed and pivotally coupled to each other by a pivot pin member; and an actuation link engaged with the first jaw member and the second jaw member to drive the first jaw member and the second jaw member to pivotally move between an open state and a closed state; wherein each of the first jaw member and the second jaw member comprises: Base of jaws, a long tang and a short tang coupled to each other and extending proximally from the jaw base, the long tang being longer than the short tang, an electrode coupled to the jaw base and having a distal portion extending distally beyond the jaw base, and a support feature configured to support the distal portion of the electrode; wherein each of the long tang and the short tang includes a pivot hole that engages with one of the pivot pin members, and The long shank includes a ramp groove that engages with the actuation link.

20. A method for assembling a jaw mechanism of an instrument end effector, comprising: providing a first jaw member including a first ramp slot and two first pivot holes; providing a second jaw member including a second ramp slot and two second pivot holes; coupling an actuation link to the actuation element, the actuation link comprising two pin members extending laterally in opposite directions; engaging the pin member of the actuation link with the first ramp slot and the second ramp slot by laterally moving the first jaw member and the second jaw member toward each other; pivoting the first jaw member and the second jaw member relative to each other while the pin member of the actuation link engages the first ramp slot and the second ramp slot to align the respective first pivot holes and the second pivot holes of the first jaw member and the second jaw member with each other; as well as Inserting a pivot pin member through the aligned first and second pivot holes of the first and second jaw members.

21. The method according to claim 20, wherein each of the first jaw member and the second jaw member includes a long shank and a short shank, the long shank and the short shank each including one of the first pivot hole and the second pivot hole; The method further includes, before moving the first jaw member and the second jaw member laterally toward each other, angling the first jaw member and the second jaw member relative to each other so that when the first jaw member and the second jaw member are moved laterally toward each other, the short shank feet of each of the first jaw member and the second jaw member do not interfere with each other.

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