Multi-functional surgical instrument, such as for use in surgical robotic system

Abstract

A surgical instrument includes a first jaw member and a second jaw member configured to clamp tissue therebetween. At least one of the jaw members is actuatable. The first jaw member defines a channel having an open proximal end and a closed distal end, and further defines a passageway in communication with the channel. The energizable probe is configured to move through the channel from a retracted position to an extended position, wherein a portion of the probe is exposed between the first jaw member and the second jaw member to treat tissue therebetween. The probe is further configured to move from the channel to below the closed distal end of the channel and through the channel to a deployed position wherein the probe extends distally from the first jaw member to treat tissue positioned distally of the first jaw member.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of U.S. Provisional Patent Application Serial No. 63 / 450,518, filed on March 7, 2023, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present disclosure relates to surgical instruments and systems, and more particularly to multifunctional surgical instruments such as for use in surgical robotic systems. Background Art

[0004] Robotic surgical systems are increasingly used in a variety of surgical procedures. Some robotic surgical systems include a console that supports a robotic arm. One or more different surgical instruments can be configured for use with the robotic surgical system and selectively mounted to the robotic arm. The robotic arm provides one or more inputs to the mounted surgical instrument to enable manipulation of the mounted surgical instrument, such as rotation, articulation, and / or actuation.

[0005] It will be appreciated that as additional functional components are added to surgical instruments (e.g., such as for use in surgical robotic systems), additional actuation structures, deployable components, and / or electrical connections may be required. These additional structures, components, and / or connections may challenge the spatial constraints and / or mechanical features of the surgical instrument. Summary of the Invention

[0006] As used herein, the term "distal" refers to the portion of the device described that is further away from the operator (whether a surgeon or a surgical robot), while the term "proximal" refers to the portion of the device described that is closer to the operator. As used herein, terms including "generally," "about," "substantially," and the like are intended to encompass variations up to and including plus or minus 10% (e.g., manufacturing tolerances, material tolerances, usage tolerances, and environmental tolerances, measurement variations, design variations, and / or other variations). In addition, any aspect described herein may be used in combination with any or all other aspects described herein to the extent consistent.

[0007] According to aspects of the present disclosure, a surgical instrument is provided that includes a first jaw member and a second jaw member. At least one of the first jaw member or the second jaw member is movable relative to the other of the first jaw member or the second jaw member from a spaced-apart position to a close position to clamp tissue therebetween. At least one of the first jaw member or the second jaw member is adapted to be connected to an energy source for conducting energy through tissue clamped therebetween to treat the tissue. The first jaw member defines a longitudinally extending channel having an open proximal end and a closed distal end. The first jaw member further defines a passageway that is in communication with the longitudinally extending channel and extends below the closed distal end of the longitudinally extending channel to an opening at a distal tip of the first jaw member.

[0008] The probe is adapted to be connected to an energy source for conducting energy through tissue in contact with the probe to treat the tissue. The probe is movable from a retracted position to an extended position to a deployed position. The probe is configured to move from the retracted position to the extended position through the longitudinally extending channel with a portion of the probe exposed between the first jaw member and the second jaw member to treat tissue clamped between the first jaw member and the second jaw member. The probe is configured to move from the extended position within the longitudinally extending channel to the deployed position through the passageway with the probe extending distally from the distal tip of the first jaw member to treat tissue positioned distally of the first jaw member.

[0009] In an aspect of the present disclosure, the exposed portion of the probe is a first portion that extends from the longitudinally extending channel of the first jaw member toward the second jaw member during movement of the probe from the retracted position to the extended position. In such an aspect, the first portion can comprise a fin or a hump, although other configurations are also contemplated.

[0010] In another aspect of the present disclosure, the probe further comprises a second portion that remains within the longitudinally extending channel during movement of the probe from the retracted position to the extended position. The second portion is configured to treat tissue positioned distally of the first jaw member in the deployed position of the probe. In such an aspect, the second portion can define a hook-shaped configuration, although other configurations are also contemplated.

[0011] In yet another aspect of the present disclosure, the hook-shaped second portion is oriented such that an open concave side faces away from the second jaw member and such that a closed convex side faces toward the second jaw member.

[0012] In yet another aspect of the present disclosure, the first jaw member further comprises a ramp that extends at least partially from the longitudinally extending channel to the passageway. In such an aspect, the ramp can be configured to deflect the probe to direct the probe from the longitudinally extending channel to the passageway and to inhibit the probe from contacting the closed distal end of the longitudinally extending channel.

[0013] In yet another aspect of the disclosure, the first jaw member and the second jaw member are adapted to be connected to an energy source at different potentials for conducting bipolar energy through tissue clamped therebetween to treat the tissue. Additionally or alternatively, the probe is adapted to be connected to an energy source for conducting monopolar energy through tissue in contact with the probe to treat the tissue.

[0014] Another surgical instrument provided in accordance with the present disclosure includes a housing, a shaft assembly extending distally from the housing, a jaw actuator extending from the housing through the shaft assembly, a probe actuator extending from the housing through the shaft assembly, and an end effector assembly extending distally from the shaft assembly.

[0015] The end effector assembly includes first and second jaw members defining respective first and second tissue contact surfaces. At least one of the first or second jaw members is coupled to the jaw actuator such that actuation of the jaw actuator moves at least one of the first or second jaw members relative to the other from a spaced-apart position to a close position to clamp tissue between the first and second tissue contact surfaces. The first tissue contact surface defines a longitudinally extending channel having an open proximal end and a closed distal end. The first jaw member defines a passageway that is in communication with the longitudinally extending channel and extends below the closed distal end of the longitudinally extending channel to an opening at a distal tip of the first jaw member.

[0016] The probe is coupled to the probe actuator such that actuation of the probe actuator moves the probe through the longitudinally extending channel from a retracted position to an extended position with a first portion of the probe projecting above the first tissue contact surface toward the second tissue contact surface to treat tissue clamped between the first and second tissue contact surfaces.

[0017] Further actuation of the probe actuator moves the probe from the extended position within the longitudinally extending channel to below the closed distal end of the longitudinally extending channel and through the passageway and the opening to a deployed position in which the probe extends distally from the distal tip of the first jaw member to treat tissue positioned distally of the first jaw member with a second portion of the probe.

[0018] In one aspect of the disclosure, the first and second tissue contact surfaces are adapted to be connected to an energy source at different potentials for conducting bipolar energy through tissue clamped therebetween to treat the tissue.

[0019] In another aspect of the present disclosure, the probe is adapted to be connected to an energy source for conducting monopolar energy through tissue in contact with the probe to treat the tissue. Alternatively or additionally, the probe and at least one of the first tissue contact surface or the second tissue contact surface is adapted to be connected to an energy source at different potentials to conduct bipolar energy through the tissue to treat the tissue.

[0020] In yet another aspect of the present disclosure, the ferrule engages the distal portion of the probe actuator with the proximal portion of the probe within the first jaw member. In such aspects, the ferrule can be configured to be positioned in abutment with the passage or at least partially positioned within the passage in the deployed position to provide increased structural support to the probe.

[0021] In yet another aspect of the present disclosure, the first portion includes a fin or a ridge. Alternatively or additionally, the second portion defines a hook shape configuration.

[0022] In yet another aspect of the present disclosure, the first jaw member further includes a ramp configured to deflect the probe to guide the probe from the extended position to the deployed position.

[0023] In another aspect of the present disclosure, the shaft assembly includes an articulating portion configured to enable the end effector assembly to articulate relative to the housing. In such aspects, the jaw actuator and the probe actuator extend through the articulating portion of the shaft assembly.

[0024] Another surgical instrument is provided in accordance with the present disclosure includes first and second jaw members, at least one of which is movable relative to the other from a spaced apart position to a close position to clamp tissue therebetween. The first jaw member defines a closed distal end and a passage extending below the closed distal end to a distally facing opening at a distal tip of the first jaw member. The probe includes a substantially linear portion and a hook portion extending distally from the substantially linear portion to a distal end of the probe. The probe is movable relative to the first and second jaw members from a retracted position to an extended position to a deployed position. More particularly, the probe is configured to move from the retracted position to the extended position through the first jaw member with a portion of the probe disposed between the substantially linear portion and the distal end of the probe exposed between the first and second jaw members. The probe is further configured to move from the extended position within the first jaw member to the deployed position through the passage with the probe extending distally from the distal tip of the first jaw member with the hook portion distally spaced from the distal tip of the first jaw member.

[0025] In aspects, the probe is positioned such that the distal end of the probe is oriented in a direction extending away from the second jaw member.

[0026] The details of one or more aspects of the disclosure are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the technologies described in this disclosure will be apparent from the description and drawings, and from the claims. BRIEF DESCRIPTION OF DRAWINGS

[0027] Various aspects and features of the present disclosure are described below with reference to the accompanying drawings, in which like reference numerals refer to like elements in each of the several views.

[0028] Figure 1 is a schematic view of a surgical robotic system in accordance with aspects of the present disclosure, including a control tower, a control console, and one or more surgical robotic arms;

[0029] Figure 2 is a perspective view of a surgical robotic arm of the surgical robotic system of Figure 1 in accordance with aspects of the present disclosure;

[0030] Figure 3 is a perspective view of a setup arm having a surgical robotic arm of the surgical robotic system of Figure 1 in accordance with aspects of the present disclosure;

[0031] Figure 4 is a schematic view of a computer architecture of the surgical robotic system of Figure 1 in accordance with aspects of the present disclosure;

[0032] Figure 5 is a front perspective view of a proximal portion of a multifunctional surgical instrument provided in accordance with aspects of the present disclosure, the multifunctional surgical instrument being configured for mounting on a robotic arm of a surgical robotic system (e.g., the surgical robotic system of Figure 1 );

[0033] Figure 6 is a rear perspective view of the proximal portion of the multifunctional surgical instrument of Figure 5 ;

[0034] Figure 7A and Figure 7B is a perspective view of a distal portion of the multifunctional surgical instrument of Figure 5 , with an end effector assembly of the multifunctional surgical instrument being disposed in an aligned position and an articulated position, respectively;

[0035] Figure 7C is a perspective view of a distal portion of the multifunctional surgical instrument of Figure 5 , with the end effector assembly being disposed in an aligned position and a probe being disposed in a deployed position;

[0036] Figure 8A and Figure 8Brespectively Figures 7A-7C top and bottom perspective views of a portion of one of the jaw members of the end effector assembly of

[0037] Figure 9 is a longitudinal cross-sectional view of a proximal portion of the multifunctional surgical instrument of Figure 5

[0038] Figure 10 is a perspective view of a portion of the actuation assembly of the multifunctional surgical instrument of Figure 5

[0039] Figures 11A-11D are side views of a variety of probes configured for use with the end effector assembly of Figures 7A-7C

[0040] Figures 12-16 is a longitudinal cross-sectional view of the end effector assembly of Figures 7A-7C wherein the jaw members of the end effector assembly are disposed in a close position, and wherein the probes of the end effector assembly are illustrated advancing from a retracted position to an extended position to a deployed position. DETAILED DESCRIPTION

[0041] The present disclosure provides multifunctional surgical instruments. As described in detail below, the multifunctional surgical instruments of the present disclosure can be configured for use with a surgical robotic system, which can include, for example, a surgical console, a control tower, and one or more movable carts having surgical robotic arms coupled to installed arms. The surgical console receives user inputs through one or more interface devices, which are interpreted by the control tower as movement commands for moving the surgical robotic arms. The surgical robotic arms include controllers configured to process the movement commands and generate torque commands for actuating one or more actuators of the robotic arms, which in turn move the robotic arms in response to the movement commands. Although described below in connection with a surgical robotic system, aspects and features of the present disclosure can also be adapted for use with handheld multifunctional surgical instruments, such as endoscopic instruments and / or open instruments.

[0042] Referring to Figure 1 , the surgical robotic system 10 includes a control tower 20 connected to components of the surgical robotic system 10, including a surgical console 30 and one or more robotic arms 40. Each robotic arm 40 includes a surgical instrument 50 removably coupled thereto. Each robotic arm 40 is also coupled to a movable cart 60.

[0043] ​​​One or more of the surgical instruments 50 can be configured for use during minimally invasive surgery and / or open surgery. In aspects, one of the surgical instruments 50 can be an endoscope, such as an endoscope camera 51, configured to provide a video feed to a clinician. In further aspects, one of the surgical instruments 50 can be an energy-based surgical instrument, such as an electrosurgical forceps or an ultrasonic sealing and cutting instrument, configured to seal tissue by clamping the tissue between opposing structures and applying electrosurgical energy or ultrasonic energy thereto, respectively. In still further aspects, one of the surgical instruments 50 can be a surgical stapler including a pair of jaws configured to clamp tissue, deploy a plurality of tissue fasteners (e.g., staples) through the clamped tissue, and / or cut the stapled tissue. In yet further aspects, one of the surgical instruments 50 can include an energizable element (e.g., a monopolar element, a bipolar element, a thermal element, a microwave element, etc.) configured to treat tissue. Aspiration and / or irrigation surgical instruments 50 are also contemplated. Other suitable surgical instruments 50 include the multifunctional surgical instruments provided in accordance with the present disclosure and described in detail below.

[0044] As noted above, the endoscope camera 51 can be configured to capture video of a surgical site. In these aspects, the surgical console 30 includes a first display 32 that displays a video feed of the surgical site provided by the endoscope camera 51 and a second display 34 that displays a user interface for controlling the surgical robotic system 10. The first and second displays 32 and 34 can be touch screen graphical user interface (GUI) displays that allow for receiving a variety of user inputs.

[0045] The surgical console 30 also includes a plurality of user interface devices, such as a foot pedal 36 and a pair of hand controller 38a and 38b, that are used by a clinician to remotely control the robotic arms 40. The surgical console further includes an armrest 33 for supporting the clinician’s arms while operating the hand controllers 38a and 38b.

[0046] The control tower 20 includes a display 23, which can be a touch screen GUI, and provides output to various GUIs. The control tower 20 also serves as an interface between the surgical console 30 and the one or more robotic arms 40. In particular, the control tower 20 is configured to control the robotic arms 40, such as to move the robotic arms 40 and corresponding surgical instruments 50 based on a set of programmable instructions and / or input commands from the surgical console 30 in a manner such that the robotic arms 40 and surgical instruments 50 perform a desired sequence of movements in response to inputs from the foot pedal 36 and / or hand controllers 38a and 38b.

[0047] Each of the control tower 20, the surgical control console 30, and the robotic arms 40 includes a respective computer 21, 31, 41. The computers 21, 31, 41 are interconnected to each other by using any suitable communication network based on wired or wireless communication protocols. As used herein, the term "network," whether plural or singular, denotes a data network, including but not limited to the Internet, an intranet, a wide area network, or a local area network, and is without limitation to the full scope of definition of a communication network as encompassed by this disclosure. Suitable protocols include, but are not limited to, Transmission Control Protocol / Internet Protocol (TCP / IP), User Datagram Protocol / Internet Protocol (UDP / IP), and / or Datagram Congestion Control Protocol (DCCP). Wireless communication can be achieved via one or more wireless configurations, such as radio frequency, light, Wi-Fi, (An open wireless protocol for exchanging data from fixed and mobile devices over short distances using short length radio waves, creating a personal area network (PAN)), and / or (A specification of a set of advanced communication protocols based on the IEEE 122.15.4-2003 standard for wireless personal area networks (WPANs) using small low power digital radios).

[0048] The computers 21, 31, 41 can include any suitable processor operably connected to a memory, which can include one or more of volatile, non-volatile, magnetic, optical, quantum, or electrical media, such as read-only memory (ROM), random-access memory (RAM), electrically erasable programmable ROM (EEPROM), non-volatile RAM (NVRAM), or flash memory. The processor can be any suitable processor (e.g., control circuitry) adapted to perform operations, calculations, and / or instruction sets, including but not limited to a hardware processor, a field-programmable gate array (FPGA), a digital signal processor (DSP), a central processing unit (CPU), a microprocessor, a quantum processor, and combinations thereof. Those skilled in the art will appreciate that the processor can be replaced by using any logic processor (e.g., control circuitry) adapted to perform algorithms, calculations, and / or instruction sets.

[0049] Referring to Figure 2 Each robotic arm 40 can include a plurality of links 42a, 42b, 42c interconnected at joints 44a, 44b, 44c, respectively. The joint 44a is configured to secure the robotic arm 40 to the movable cart 60 and defines a first longitudinal axis. Referring to Figure 3The movable cart 60 includes a lift 61 and a mounting arm 62, which provides a base for the mounting of the robotic arm 40. The lift 61 allows the mounting arm 62 to move vertically. The movable cart 60 also includes a display 69 for displaying information about the robotic arm 40. The mounting arm 62 includes a first link 62a, a second link 62b, and a third link 62c, which provide lateral steerability of the robotic arm 40. The links 62a, 62b, 62c are interconnected at joints 63a and 63b, each of which can include an actuator (not shown) for rotating the links 62a and 62b relative to each other and to the link 62c. In particular, the links 62a, 62b, 62c are movable in their respective lateral planes parallel to each other, thereby allowing the robotic arm 40 to extend relative to a patient (e.g., a surgical table). In aspects, the robotic arm 40 can be coupled to a surgical table (not shown). The mounting arm 62 can include a control device (not shown) for adjusting the movement of the links 62a, 62b, 62c and the lift 61.

[0050] The third link 62c includes a rotatable base 64 having two degrees of freedom. In particular, the rotatable base 64 includes a first actuator 64a and a second actuator 64b. The first actuator 64a is rotatable about a first fixed arm axis perpendicular to a plane defined by the third link 62c, and the second actuator 64b is rotatable about a second fixed arm axis transverse to the first fixed arm axis. The first and second actuators 64a, 64b allow for full three-dimensional orientation of the robotic arm 40.

[0051] Referring also to Figure 2 The robotic arm 40 also includes a holder 46 defining a second longitudinal axis and configured to receive an instrument drive unit (IDU) 52 Figure 1 The IDU 52 is configured to couple to actuation mechanisms of the surgical instrument 50 and the camera 51 and to move (e.g., rotate) and actuate the instrument 50 and / or the camera 51. The IDU 52 transmits actuation forces from its actuators to the surgical instrument 50 to actuate components (e.g., an end effector) of the surgical instrument 50. The holder 46 includes a sliding mechanism 46a configured to move the IDU 52 along the second longitudinal axis defined by the holder 46. The holder 46 also includes a joint 46b that rotates the holder 46 relative to the link 42c.

[0052] Referring also to Figure 3 The robotic arm 40 further includes a plurality of manual override buttons 53 disposed on the IDU 52 and the mounting arm 62 and usable in a manual mode. For example, a clinician can press one of the buttons 53 to move a component associated with that button 53.

[0053] Referring back Figure 2 Joints 44a and 44b include actuators 48a and 48b configured to drive joints 44a, 44b, 44c relative to one another through a series of belts 45a and 45b or other mechanical linkages such as drive rods, cables, levers, etc. In particular, actuator 48a is configured to rotate robotic arm 40 about a longitudinal axis defined by link 42a.

[0054] Actuator 48b of joint 44b is coupled to joint 44c via belt 45a, while joint 44c is in turn coupled to joint 46c via belt 45b. Joint 44c can include a transfer case that couples belts 45a and 45b such that actuator 48b is configured to rotate each of links 42b, 42c and holder 46 relative to one another. More specifically, links 42b, 42c and holder 46 are passively coupled to actuator 48b, which is forced to rotate about a remote center point “P” that is located at the intersection of a first axis defined by link 42a and a second axis defined by holder 46. As such, actuator 48b controls the angle “Q” between the first and second axes, thereby allowing for orientation of surgical instrument 50. Due to the interconnection of links 42a, 42b, 42c and holder 46 via belts 45a and 45b, the angle between links 42a, 42b, 42c and holder 46 is also adjusted to achieve the desired angle “Q”. In aspects, some or all of joints 44a, 44b, 44c can include actuators to eliminate the need for mechanical linkages.

[0055] Referring back Figure 4 In conjunction Figure 1Each of the computers 21, 31, 41 of the surgical robotic system 10 can include multiple controllers, which can be implemented in hardware and / or software. The computer 21 of the control tower 20 includes a controller 21a and a safety observer 21b. The controller 21a receives data from the computer 31 of the surgical console 30 regarding the current position and / or orientation of the handle controllers 38a and 38b and the state of the foot pedal 36 and / or other inputs. The controller 21a processes these input positions to determine the desired drive commands for each joint of the robotic arm 40 and / or the IDU 52 and communicates these desired drive commands to the computer 41 of the robotic arm 40. The controller 21a also receives the joint actual angles and uses this information to determine force feedback commands, which are transmitted back to the computer 31 of the surgical console 30 to provide haptic feedback or other feedback through the handle controllers 38a and 38b. The handle controllers 38a and 38b include one or more haptic feedback vibration devices that output haptic feedback, although visual feedback, audible feedback, and / or other feedback are also contemplated. The safety observer 21b performs validity checks on data going into and coming out of the controller 21a and, if an error in data transmission is detected, notifies a system fault handler to place the computer 21 and / or the surgical robotic system 10 in a safe state.

[0056] The computer 41 includes multiple controllers, namely, a cart master controller 41a, a setup arm controller 41b, a robotic arm controller 41c, and an IDU controller 41d. The cart master controller 41a receives and processes the joint commands from the controller 21a of the computer 21 and communicates them to the setup arm controller 41b, the robotic arm controller 41c, and the IDU controller 41d. The cart master controller 41a also manages instrument exchange and the overall state of the movable cart 60, the robotic arm 40, and the IDU 52. The cart master controller 41a communicates the joint actual angles back to the controller 21a.

[0057] The setup arm controller 41b controls each of the joints 63a and 63b, as well as the rotatable base 64 of the setup arm 62, and computes the desired motor movement commands (e.g., motor torques) for the pitch axis. The setup arm controller 41b also controls the brakes. The robotic arm controller 41c controls each joint 44a and 44b of the robotic arm 40 and computes the desired motor torques needed for gravity compensation, friction compensation, and closed-loop position control of the robotic arm 40. The robotic arm controller 41c computes movement commands based on the computed torques. The computed motor commands are then communicated to one or more of the actuators 48a and 48b in the robotic arm 40. The joint actual positions are transmitted by the actuators 48a and 48b back to the robotic arm controller 41c.

[0058] The IDU controller 41d receives desired joint angles (such as wrist angles and jaw angles) for the surgical instrument 50 and calculates desired currents for the motors in the IDU 52. The IDU controller 41d calculates actual angles based on motor positions and transmits these actual angles back to the cart master controller 41a.

[0059] With respect to control of the robotic arm 40, first, the pose of the handle controller (e.g., handle controller 38a) controlling the robotic arm 40 is transformed to a desired pose of the robotic arm 40 by a hand-eye transform function executed by the controller 21a. The hand-eye function is implemented in software executable by the controller 21a or any other suitable controller of the surgical robotic system 10. The pose of the handle controller 38a can be implemented as a coordinate position and a roll-pitch-yaw (“RPY”) orientation relative to a coordinate frame fixed to the surgical console 30. The desired pose of the instrument 50 is relative to a fixed frame on the robotic arm 40. The pose of the handle controller 38a is then scaled by a scaling function executed by the controller 21a. In aspects, by the scaling function, the coordinate position is scaled down, and the orientation is scaled up. In addition, the controller 21a also executes a clutch function, which disengages the handle controller 38a from the robotic arm 40. In particular, if certain movement limits or other thresholds are exceeded, the controller 21a will stop transmitting movement commands from the handle controller 38a to the robotic arm 40 and essentially act as a virtual clutch mechanism, for example, limiting mechanical input from affecting mechanical output.

[0060] The desired pose of the robotic arm 40 is based on the pose of the handle controller 38a and is then passed through an inverse kinematics function executed by the controller 21a. The inverse kinematics function calculates angles of the joints 44a, 44b, 44c of the robotic arm 40 that achieve the scaled and adjusted pose input by the handle controller 38a. The calculated angles are then passed to the robotic arm controller 41c, which includes joint axis controllers with proportional-derivative (PD) controllers, a friction estimator module, a gravity compensator module, and a double-sided saturation block configured to limit commanded torques of the motors of the joints 44a, 44b, 44c.

[0061] Turning to Figures 5-7C A surgical instrument 110 provided in accordance with the present disclosure generally includes a housing 120, a shaft assembly 130 extending distally from the housing 120, an end effector assembly 500 extending distally from the shaft assembly 130, and an actuation assembly 190 disposed within the housing 120 and operatively associated with the end effector assembly 500. The instrument 110 is detailed herein as being configured to be used in conjunction with a surgical robotic system (e.g., the surgical robotic system 10 Figure 1articulating multi-functional surgical instrument. However, aspects and features of the instrument 110 provided in accordance with the present disclosure detailed below are equally applicable for use with other suitable surgical instruments and / or for use in other suitable surgical systems (e.g., motorized systems, other power-driven systems, and / or manually actuated surgical systems, including handheld instruments). Further, as an alternative to articulation or in addition to articulation, the instrument 110 can include a fixed shaft assembly 130, a rotatable shaft assembly 130, an extensible shaft assembly 130, a combination thereof, or any other suitable configuration to facilitate positioning of the end effector assembly 500 in a desired position and / or orientation relative to the housing 120.

[0062] The housing 120 of the instrument 110 includes a body 122 and a proximal panel 124 that cooperate to enclose the actuation assembly 190 therein. The proximal panel 124 includes through-holes defined therein through which the four input actuators or couplings 191-194 of the actuation assembly 190 extend. The proximal panel 124 further mounts a plurality of electrical connectors 196 thereon to enable the instrument 110 to electrically connect with a surgical robotic system (e.g., the system 10 Figure 1 ) when the instrument 110 is mounted on a robotic arm thereof, for example, to enable data, power, and / or control signals to be communicated therebetween.

[0063] The shaft assembly 130 of the instrument 110 includes a proximal shaft 134 and an articulation segment 136 disposed between and interconnecting the proximal segment 134 and the end effector assembly 500. The articulation segment 136 includes one or more articulation components, such as one or more links, pivots, joints, flexible bodies, etc. A plurality of articulation cables 138 Figure 9 ) or other suitable articulation actuators extend through the articulation segment 136. More specifically, the articulation cables 138 Figure 9 ) can be operably coupled to the end effector assembly 500 at a distal end thereof and extend proximally through the articulation segment 136 of the shaft assembly 130, the proximal shaft 134 of the shaft assembly 130, and into the housing 120, where the articulation cables 138 Figure 9 ) are operably coupled with the articulation sub-assembly 200 of the actuation assembly 190 to enable the end effector assembly 500 to be selectively articulated relative to the proximal shaft 134 and the housing 120, for example, about at least one articulation (e.g., yaw articulation, pitch articulation, or both yaw and pitch articulation) axis.

[0064] The end effector assembly 500 includes a proximal body 530 that is operably engaged with the articulation segment 136 of the shaft assembly 130. The end effector assembly 500 further includes first and second jaw members 542, 544 that are pivotably coupled to one another about a pivot 550, respectively. The second jaw member 544 is fixed relative to the proximal body 530, while the first jaw member 542 is pivotable relative to the second jaw member 544 and the proximal body 530 between a spaced-apart position (e.g., an open position of the jaw members 542, 544) Figures 7A-7C ) and an approximated position (e.g., a closed position of the jaw members 542, 544) Figures 12-16 ) for clamping tissue between the tissue-contacting surface 546 of the first jaw member 542 and the tissue-contacting surface 548 of the second jaw member 544. As an alternative to this single-sided configuration, a double-sided configuration can be provided wherein both jaw members 542, 544 are pivotable relative to one another and relative to the proximal body 530.

[0065] The jaw actuator 484 Figure 9 and Figure 10 (e.g., via a cam slot mechanism, one or more pulleys, a closure beam, etc.) is operably coupled to the jaw members 542, 544 such that longitudinal translation of the jaw actuator 484 Figure 9 and Figure 10 relative to the jaw members 542, 544 pivots the first jaw member 542 between the spaced-apart and approximated positions. The jaw actuator 484 extends proximally from the end effector assembly 500 through the shaft assembly 130 and into the housing 120, wherein the jaw actuator 484 Figure 9 and Figure 10 is operably coupled with the jaw drive subassembly 400 of the actuation assembly 190 to enable the jaw members 542, 544 to be selectively actuated between the spaced-apart and approximated positions to clamp tissue therebetween and apply a clamping force within an appropriate clamping force range, as discussed in detail below.

[0066] Reference is made to Figures 7A-7C, the tissue contact surface 546 of the jaw member 542 and the tissue contact surface 548 of the jaw member 544 are at least partially formed of a conductive material and can be energized to different electrical potentials to enable bipolar radio frequency (RF) electrical energy to be conducted through the tissue clamped therebetween, but the tissue contact surfaces 546, 548 can alternatively be constructed to supply any suitable energy (e.g., heat, microwaves, light, ultrasound, ultrasonic, etc.) through the tissue clamped therebetween for energy-based tissue treatment. The instrument 110 defines a path (not shown) for a conductor to pass through, along and / or form a portion of the housing 120 and the shaft 130 to an end effector assembly 500, which may include leads, contacts and / or conductive components to enable the tissue contacting surface 546 of the jaw member 542 and the tissue contacting surface 548 of the jaw member 544 to be electrically connected to an energy source (not shown), such as an electrosurgical generator, for supplying energy to the tissue contacting surfaces 546, 548 to treat (e.g., seal) tissue clamped between the tissue contacting surfaces 546, 548.

[0067] A longitudinally extending channel 549 is defined through the tissue contacting surface 548 of the jaw member 544. In various aspects, a corresponding longitudinally extending channel (not shown) is defined through the tissue contacting surface 546 of the jaw member 542. The channel 549 is configured to permit translation of the probe 562 therethrough. More specifically, from the housing 120 (see Figure 9 and Figure 10 ) A probe actuator 560 extending through the shaft 130 to the end effector assembly 500 is coupled to the probe 562 so that the probe 562 can be moved from a retracted position ( Figures 7A-7C and Figure 12 ) (wherein the probe 562 is disposed proximal to or at the proximal end of the tissue contacting surfaces 546, 548 of the jaw members 542, 544) and the extended position ( Figure 14 ) (wherein probe 562 extends through channel 549 and between jaw members 542, 544 to cut (and / or otherwise treat) tissue clamped between tissue contacting surface 546 of jaw member 542 and tissue contacting surface 548 of jaw member 544) is selectively translated. Probe actuator 560 is operably coupled at its proximal end to probe drive subassembly 300 of actuation assembly 190 (see Figure 9 and Figure 10 ) and is coupled to the probe 562 at its distal end so that the probe actuator 560 can be selectively actuated (e.g., translated) to translate the probe 562 between the retracted position and the extended position. The probe 562 can further be translated from the extended position ( Figure 14 )Move to the deployment location( Figure 7C and Figure 16), wherein at least a portion of the probe 562 extends distally from the jaw member 544 to enable the probe 562 to cut (and / or otherwise treat) tissue positioned distal to the jaw member 544. The probe actuator 560 can be coupled to the probe 562 in any suitable manner (e.g., via welding or crimping), and in various aspects, a ferrule 561 can be provided at the interface between the probe actuator 560 and the probe 562 to facilitate engagement of the probe actuator 560 with the probe 562.

[0068] refer to Figure 8A and Figure 8B , combined with Figures 7A-7C , the longitudinally extending channel 549 of the tissue contacting surface 548 of the jaw member 544 includes an open proximal end 552a and a closed distal end 552b, such that the tissue contacting surface 548 defines a generally U-shaped configuration. In various aspects, the jaw member 544 includes a tissue contacting plate 554 defining the tissue contacting surface 548 and an insert 556 supporting the tissue contacting plate 554. In these aspects, the insert 556 can be formed from an electrically insulating material, while the tissue contacting plate 554 is formed from an electrically conductive material. The insert 556 can be supported on a structural body 557 of the jaw member 544, and in various aspects, the insert 556, the structural body 557, and a portion of the tissue contacting plate 554 can be surrounded by a jaw housing 559, which is, for example, overmolded or otherwise disposed around these components to hold these components of the jaw member 544 in position relative to each other.

[0069] In other aspects, the tissue contact plate 554 and the insert 556 are integrally formed as a single component, for example, from a conductive material. In these aspects, the tissue contact plate 554 and the insert 556 can serve as the structural body 557 of the jaw member 544, or the jaw member 544 can include a separate structural body 557 that supports the tissue contact plate 554 and the insert 556 thereon. In either configuration, a jaw housing 559 can also be provided, similar to that described in detail above.

[0070] Continue to refer Figure 8A and Figure 8B , combined with Figures 7A-7C , the tissue contacting plate 554 and / or the insert 556 define a ramp 570 on its underside (e.g., opposite the tissue contacting surface 548). The ramp 570 may include one or more angled surfaces, one or more curved surfaces, and / or a plurality of surfaces that facilitate moving the probe 562 from the extended position ( Figure 14 ) to the deployment location ( Figure 16 More specifically, the ramp 570 is configured to provide a plurality of positions for the probe 562 to extend from the extended position ( Figure 14 ) towards the deployment location ( Figure 16) deflects the probe 562 as it advances, causing the probe 562 to sink away from the closed distal end 552b of the tissue contacting surface 548, extending through the passage 572 defined at the distal end of the jaw member 544 (see also Figures 7A-7C ) and is deployed distally from the distal end of the passageway 572 and the jaw member 544 to the deployed position ( Figure 16 ). The passageway 572 can be defined by the insert 556, the structural body 557 and / or the jaw housing 559. The passageway 572 can define a tunnel extending from the longitudinally extending channel 549 to the orifice at the distal end of the jaw member 544 and can define any suitable cross-sectional configuration, such as rectangular (or other polygonal shape), circular, elliptical, etc. In aspects where the collar 561 is disposed at the interface between the probe actuator 560 and the probe 562, the collar 561 can be configured to be in the deployed position ( Figure 16 ) is adjacent to or at least partially received within the passageway 572 in a complementary mating engagement, thereby providing additional structural support and resistance to expansion of the deployed probe 562.

[0071] refer to Figures 5-7C 、 Figure 9 and Figure 10 , the actuation assembly 190 is configured to actuate the instrument 110 when the instrument 110 is mounted on a surgical robotic system (e.g., system 10 ( Figure 1 )) is operably connected to the surgical robot system so that the robotic operation of the actuation assembly 190 can provide some or all of the functions detailed above. That is, the surgical robot system 10 ( Figure 1 ) selectively provides input (e.g., rotational input) to the input actuator or connectors 191-194 of the actuation assembly 190 to: actuate the articulation subassembly 200 to articulate the end effector assembly 500 about at least one axis; actuate the jaw drive subassembly 400 to manipulate the jaw members 542, 544; actuate the probe drive subassembly 300 to advance the probe 562 between the jaw members 542, 544; and / or further actuate the probe drive subassembly 300 to deploy the probe 562 from the jaw member 544.

[0072] The above five (5) functions are enabled by only four (4) inputs of the instrument 110: a first one of the input actuators or couplings 191 enables articulation of the end effector assembly 500 about a first articulation (e.g., pitch articulation) axis so as to orient the end effector assembly 500 in a first manner; a second one of the input actuators or couplings 192 enables articulation of the end effector assembly 500 about a second articulation (e.g., yaw articulation) axis (e.g., perpendicular to the first axis) so as to orient the end effector assembly 500 in a second manner; a third one of the input actuators or couplings 193 enables actuation of the probe drive subassembly 300 so as to both translate the probe 562 between the jaw members 542, 544 to treat tissue clamped between the jaw members 542, 544 and deploy the probe 562 from the jaw member 544 to treat tissue disposed distally of the jaw member 544; and a fourth one of the input actuators or couplings 194 enables actuation of the jaw drive subassembly 400 to open and close the jaw members 542, 544 to release and clamp tissue.

[0073] With particular reference to Figure 9 and Figure 10 In aspects, the jaw drive subassembly 400 includes a lead screw 410 operably coupled to the fourth input actuator or coupling 194 and configured to rotate in response to a rotational input received at the fourth input 194, a collar 412 threadedly engaged about the lead screw 410 such that rotation of the lead screw 410 translates the collar 412 along the lead screw 410, a first drive body 414 attached to the collar 412 (e.g., formed by the collar, fixed to the collar, or otherwise mechanically engaged with the collar) such that translation of the collar 412 similarly translates the first drive body 414, a second drive body 416 attached to the jaw actuator 484 (e.g., formed by the jaw actuator, fixed to the jaw actuator, or otherwise mechanically engaged with the jaw actuator) such that translation of the second drive body 416 similarly translates the jaw actuator 484, and a spring 418 (e.g., a compression coil spring) disposed between the first drive body 414 and the second drive body 416.

[0074] Due to the above detailed configuration of the jaw drive subassembly 400, a force limiting feature is achieved whereby the force applied to tissue clamped between the jaw members 542, 544 is regulated. More specifically, during the initial movement of the jaw member 542 toward the jaw member 544 from the spaced apart position toward the close position to clamp tissue between the tissue contacting surfaces 546, 548, the rotational input received at the fourth input 194 causes the lead screw 410 to rotate to translate the collar 412, thereby translating the first drive body 414 toward the spring 418, which in turn pushes the spring 418 into the second drive body 416 to move the second drive body 416, which translates the jaw actuator 484 to pivot the jaw member 542 toward the jaw member 544. However, when the force applied to the tissue clamped between the jaw members 542, 544 exceeds a threshold, rather than the spring 418 transmitting motion to the second drive body 416, the spring 418 is compressed, thereby allowing the second drive body 416 to remain stationary (and thus, the force applied to the clamped tissue does not exceed the threshold), despite further rotational input received at the fourth input 194 causing the lead screw 410 to rotate, the collar 412 to translate, and the first drive body 414 to translate. That is, the spring 418 compresses to absorb the translation of the first drive body 414 rather than applying motion to the second drive body 416. Accordingly, prior to reaching the jaw force limit, the first drive body 414, the spring 418, the second drive body 416, and the jaw actuator 484 move substantially in unison with one another, whereas after reaching the jaw force limit, the second drive body 416 and the jaw actuator 484 remain substantially stationary, despite further movement of the first drive body 414 and the consequent compression of the spring 418.

[0075] With continued reference to Figure 9 and Figure 10The probe drive subassembly 300 includes a shaft 310 that is operably coupled to a third input actuator or coupler 193 toward a first end of the shaft 310 such that the shaft 310 is configured to rotate in response to a rotational input to the third input actuator or coupler 193. The probe drive subassembly 300 further includes a spur gear 320 that is fixed about the shaft 310 toward a second end of the shaft 310 such that rotation of the shaft 310 rotates the spur gear 320 in the same manner. The spur gear 320 is disposed in meshing engagement with an external spur gear 332 of a compound gear 330. The compound gear 330 further includes an internal lead nut 334 that is disposed about and in meshing engagement with a lead screw 340. The lead screw 340, in turn, is engaged with a probe actuator 560. Due to the configuration detailed above, a rotational input to the third input actuator or coupler 193 rotates the shaft 310 and the spur gear 320, thereby rotating the compound gear 330 such that the lead screw 340 translates through and relative to the compound gear 330, thereby moving the probe actuator 560 proximally or distally. As noted above, the probe actuator 560 is coupled to a probe 562 Figures 7A-7C ). Thus, with appropriate inputs to the third input actuator or coupler 193, the probe 562 can be translated between the jaw members 542, 544 (see Figures 12-14 ) and deployed from the jaw member 544 (see Figures 14-16 ). The probe actuator 560 can include any component or combination of components for operably coupling the lead screw 340 and the probe 562 to one another (e.g., a shaft cable, linkage, etc.).

[0076] Turning to Figures 11A-11D , in conjunction with Figures 7A-7C , a variety of probes 562, 662, 762, 862 (respectively Figure 5 ) are shown that are configured for use with the surgical instrument 110 Figures 11A-11D ) and, in particular, the end effector assembly 500 Figures 7A-7C). The probes 562, 662, 762, 862 are configured to be energized with any suitable energy (e.g., RF (monopolar or bipolar), ultrasonic, thermal, optical energy, etc.). For example, the probes 562, 662, 762, 862 can be connected to an electrosurgical generator (not shown) to enable monopolar RF energy to be conducted from the probes 562, 662, 762, 862 to tissue to treat the tissue, while energy returns to the electrosurgical generator (not shown) to complete an electrosurgical circuit via a remote return device (not shown) (e.g., a return pad). Additionally or alternatively, the probes 562, 662, 762, 862 can be connected to an electrosurgical generator (not shown) to enable the probes 562, 662, 762, 862 to be charged to a first electrical potential, while the tissue-contacting surfaces 546, 548 of either or both of the jaw members 542, 544 are respectively charged to a second, different electrical potential to establish an electrical potential gradient for conducting RF energy between the probes 562, 662, 762, 862 and either or both of the jaw members 542, 544 and through tissue disposed therebetween to treat the tissue with bipolar RF energy.

[0077] Initially referring to Figure 11A , in conjunction with Figures 7A-7C , the probe 562 is shown defining a question mark or hook configuration, where an interior portion or concave portion of the hook faces downward, while a closed portion or convex portion of the hook faces upward. The probe 562 includes a first portion 564 configured to treat tissue clamped between the jaw members 542, 544 and a second portion 566 configured to treat tissue positioned distal of the jaw members 542, 544. For example, the first portion 564 can be a feature of or disposed on the closed portion or convex portion of the hook. More particularly, as shown in Figure 11A , the probe 562 includes a fin 565 extending along a portion of the closed portion or convex portion of the hook and projecting upwardly therefrom. Also referring to Figures 12-14 , when the probe 562 is translated through the longitudinally extending passage 549 and along the tissue-contacting surface 548 of the jaw member 544, the fin 565 is positioned such that the fin 565 at least partially projects from the tissue-contacting surface 548 of the jaw member 544 toward the tissue-contacting surface 546 of the jaw member 542, thereby enabling the fin 565 to contact tissue clamped between the jaw members 542, 544. Thus, when the probe 562 is energized and translated through the longitudinally extending passage 549 from a retracted position Figure 12 ) toward an extended position Figure 14) with translation, the fin 565 is urged through tissue to electromechanically cut tissue (via mechanical movement of the fin 565 relative to tissue and energization of the probe 562). In aspects, tissue clamped between the jaw members 542, 544 is first sealed via conduction of bipolar RF energy between the tissue contact surfaces 546, 548 and through the clamped tissue, and then cut via energization of the probe 562 (in monopolar or bipolar RF configurations) and translation of the probe from a retracted position Figure 12 ) toward an extended position Figure 14 ) and through the (previously sealed) tissue. In other aspects, previously unsealed tissue clamped between the jaw members 542, 544 can be simultaneously or nearly simultaneously coagulated (or sealed) and cut via energization and translation of the probe 562 described above. In other configurations, the probe 562 can be used to cut (or otherwise treat) tissue only, e.g., in the absence of tissue sealing. The fin 565 can define a blunt configuration (e.g., a rounded surface) to inhibit or reduce mechanical tissue cutting and reduce current concentration, although other configurations are also contemplated, including angled or pointed surfaces to facilitate mechanical cutting and / or focus energy.

[0078] With continued reference to Figure 11A , in conjunction with Figures 7A-7C , the second portion 566 is configured to effect tissue treatment via energization of the probe 562 (and, in aspects, movement of the end effector assembly 500 relative to tissue) when the probe 562 is disposed in a deployed position (see Figure 7C and Figure 16 ). More particularly, with the probe 562 energized, the second portion 566 can move relative to tissue (e.g., via movement of the end effector assembly 500 relative to tissue) to cut tissue, score tissue, coagulate tissue points, separate tissue, perform an incision, etc. In aspects, the probe 562 is used in monopolar RF configurations in the deployed position (see Figure 7C and Figure 16 ) and in bipolar RF configurations with one or both of the tissue contact surfaces 546, 548 when moved between the retracted position and the extended position (see Figures 12-14 ).

[0079] Turning to Figure 11B , in conjunction with Figures 7A-7C , another probe 662 is shown provided in accordance with the present disclosure. The probe 662 is similar to the probe 562 detailed above Figure 11A and can include any of the features thereof; thus, only differences between the probe 662 and the probe 562 Figure 11A are described in detail below, with similarities omitted or only briefly described.

[0080] The probe 662 defines a question mark or hook configuration in which an interior portion or concave portion of the hook faces downward and a closed portion or convex portion of the hook faces upward. The probe 662 includes a first portion 664 and a second portion 666. The first portion 664 is configured as an elevation 665 that protrudes upward defined by an offset from the closed portion or convex portion of the hook of the probe 662 upward. When the probe 662 is translated through the longitudinally extending channel 549 and along the tissue contact surface 548 of the jaw member 544, the elevation 665 is positioned such that the elevation 665 protrudes at least partially from the tissue contact surface 548 of the jaw member 544 toward the tissue contact surface 546 of the jaw member 542, enabling the elevation 665 to contact and treat tissue clamped between the jaw members 542, 544 (see Figure 7A and Figures 12-14 Although the elevation 665 is shown as defining a semi-circular configuration, other suitable configurations of the elevation 665 including one or more curvatures and / or angles are also contemplated.

[0081] Figure 11C Another probe 762 provided in accordance with the present disclosure is illustrated. The probe 762 is similar to the probe 562 Figure 11A ) and can include any of the features thereof, except that the probe 762 defines a question mark or hook configuration in which an interior portion or concave portion of the hook faces upward and a closed portion or convex portion of the hook faces downward. The probe 762 further differs from the probe 562 Figure 11A ) in that the fin 765 of the probe 762 is positioned proximal to the hook portion of the probe 762. As an alternative to or in addition to providing the fin 765, the probe 762 can be configured such that the free distal end of the hook configuration is elongated to protrude from the tissue contact surface 548 of the jaw member 544 toward the tissue contact surface 546 of the jaw member 542, enabling the free distal end to be utilized to contact and treat tissue clamped between the jaw members 542, 544 (see Figure 7A and Figures 12-14 ).

[0082] Figure 11D Yet another probe 862 provided in accordance with the present disclosure is illustrated. The probe 862 is similar to the probes 562, 662, 762 Figures 11A-11C) and can include any of their features, except where expressly contradicted by the explicit description herein. The probe 862 includes a first portion 864 defined as a protuberance 865 (although other configurations are also contemplated) and a second portion 866. The second portion 866 can define a ball tip (as shown) or any other suitable configuration to facilitate tissue treatment, such as a sharp tip, straight probe, angled probe, spatula, S-shaped curved element, U-shaped element, etc. Alternatively or additionally, the probe 862 (including the first portion 864 and the second portion 866) can define any suitable configuration, such as a hook, sharp tip, straight probe, angled probe, spatula, S-shaped curved element, U-shape, D-shape, ring, etc.

[0083] Turning to Figures 12-16 , the use of the probe 562 of the end effector assembly 500 is detailed, and more particularly, the movement of the probe 562 from a retracted position Figure 12 to an extended position Figure 14 and subsequently to a deployed position Figure 16 . Initially, as shown in Figure 12 , the probe 562 is disposed in the retracted position, wherein the probe 562 does not protrude between the tissue contact surfaces 546, 548 or minimally protrudes (e.g., less than 10% of the length of the tissue contact surface 548) between the tissue contact surfaces 546, 548 of the jaw members 542, 544 (in either the spaced-apart position or the close position). In this position of the probe 562, the jaw members 542, 544 can be used to clamp and seal tissue, similar to that detailed above. In aspects, the probe 562 can only be moved from the retracted position when the jaw members 542, 544 are disposed in the close position (e.g., via mechanical stops and / or software stops); in other aspects, the probe 562 can be moved from the retracted position regardless of the position of the jaw members 542, 544.

[0084] With reference to Figures 12-14 , to move the probe 562 from the retracted position Figure 12 to the extended position Figure 14 , the probe drive subassembly 300 Figure 6 , Figure 5 , Figure 6 , Figure 9 and Figure 10 is actuated, e.g., via a rotational input to the third input actuator 193 Figure 5 , Figure 6 , Figure 9 and Figure 10) of the probe actuator 560, energy is supplied to the probe 562 (and, in a bipolar configuration, to the tissue contact surface 546 and / or the tissue contact surface 548) to energize the probe 562. As the probe actuator 560 is advanced distally, the energized probe 562 is moved into the open proximal end 552a of the longitudinally-extending channel 549 of the tissue contact surface 548 of the jaw member 542 (if not already partially disposed within the longitudinally-extending channel 549) and distally through the longitudinally-extending channel 549. As noted above, during this movement of the probe 562 through the longitudinally-extending channel 549, the fin 565 protrudes above the tissue contact surface 548 such that the fin 565 moves into and through tissue clamped between the tissue contact surface 546 of the jaw member 542 and the tissue contact surface 548 of the jaw member 544, thereby cutting (and / or otherwise treating) the tissue. In the extended position Figure 14 ) of the probe 562, in aspects, the fin 565 extends to within close proximity to the closed distal end 552b of the longitudinally-extending channel 549 (e.g., within 10% of the length of the longitudinally-extending channel 549), thus enabling cutting of tissue along substantially the entire length of the longitudinally-extending channel 549.

[0085] With reference to Figures 14-16 , to move the probe 562 from the extended position Figure 14 ) to the deployed position Figure 16 ), the probe drive subassembly 300 Figure 6 ) is further actuated, e.g., via a rotational input to the third input actuator 193 Figure 5 , Figure 6 , Figure 9 and Figure 10 ), causing the probe actuator 560 to be further advanced distally to, in turn, further push the probe 562 distally. As the probe 562 is further pushed distally, rather than the fin 565 contacting the closed distal end 522b of the longitudinally-extending channel 549, the probe 562 contacts the ramp 570 within the jaw member 544, causing the ramp 570 to deflect the probe 562 and direct the probe 562 to sink away from the closed distal end 552b of the tissue contact surface 548, extend through a passageway 572 (see also Figures 7A-7C ) defined at the distal tip of the jaw member 544, and be deployed distally from the passageway 572 (see also Figures 7A-7C ) and the distal tip of the jaw member 544 to the deployed position Figure 16 ). In the deployed position, the probe 562 can be energized (if not previously energized) for treatment of tissue, similar to that detailed above. Further, in the deployed position, the ferrule 561 (if so provided) can be positioned to abut or at least partially within the passageway 572 to provide structural support to the deployed probe 562.

[0086] It should be understood that various modifications may be made to the aspects and features disclosed herein. Therefore, the above description should not be interpreted as limiting, but rather as merely illustrative of various configurations. Those skilled in the art will envision other modifications within the scope and spirit of the appended claims.

Claims

1. A surgical instrument, comprising: a first jaw member and a second jaw member, at least one of the first jaw member or the second jaw member being movable relative to the other of the first jaw member or the second jaw member from a spaced-apart position to a close position to clamp tissue between the first jaw member and the second jaw member, at least one of the first jaw member or the second jaw member being adapted to be connected to an energy source for conducting energy through tissue clamped between the first jaw member and the second jaw member to treat tissue, the first jaw member defining a longitudinally extending channel having an open proximal end and a closed distal end, the first jaw member further defining a passageway that is in communication with the longitudinally extending channel and that extends below the closed distal end of the longitudinally extending channel to an opening at a distal tip of the first jaw member; and a probe adapted to be connected to an energy source for conducting energy through tissue in contact with the probe to treat tissue, the probe being movable from a retracted position to an extended position to a deployed position, wherein the probe is configured to move through the longitudinally extending channel from the retracted position to the extended position with a portion of the probe exposed between the first jaw member and the second jaw member to treat tissue clamped between the first jaw member and the second jaw member, and wherein the probe is configured to move through the passageway from the extended position within the longitudinally extending channel to the deployed position with the probe extending distally from the distal tip of the first jaw member to treat tissue positioned distally of the first jaw member.

2. The surgical instrument of claim 1, wherein, The exposed portion of the probe is a first portion of the probe that extends from the longitudinally extending channel of the first jaw member toward the second jaw member during movement of the probe from the retracted position to the extended position.

3. The surgical instrument of claim 2, wherein, The first portion comprises a fin or a ridge.

4. The surgical instrument of claim 2, wherein, The probe further comprises a second portion that remains within the longitudinally extending channel during movement of the probe from the retracted position to the extended position, the second portion being configured to treat tissue positioned distally of the first jaw member in the deployed position of the probe.

5. The surgical instrument of claim 4, wherein, The second portion defines a hook shape configuration.

6. The surgical instrument of claim 5, wherein, The hook shaped second portion is oriented such that an open concave side faces away from the second jaw member and such that a closed convex side faces toward the second jaw member.

7. The surgical instrument of claim 1, wherein, The first jaw member further comprises a ramp that extends at least partially from the longitudinally extending channel to the passageway.

8. The surgical instrument of claim 7, wherein, The ramp is configured to deflect the probe to guide the probe from the longitudinally extending channel to the passageway and to inhibit the probe from contacting the closed distal end of the longitudinally extending channel.

9. The surgical instrument of claim 1, wherein, The first jaw member and the second jaw member are adapted to be connected to energy sources at different electrical potentials for conducting bipolar energy through tissue clamped between the first jaw member and the second jaw member to treat tissue.

10. The surgical instrument of claim 9, wherein, The probe is adapted to be connected to an energy source for conducting monopolar energy through tissue in contact with the probe to treat tissue.

11. A surgical instrument, comprising: a housing; a shaft assembly extending distally from the housing; a jaw actuator extending from the housing through the shaft assembly; a probe actuator extending from the housing through the shaft assembly; and an end effector assembly extending distally from the shaft assembly, the end effector assembly comprising: first and second jaw members defining respective first and second tissue contact surfaces, at least one of the first or second jaw members being coupled to the jaw actuator such that actuation of the jaw actuator moves at least one of the first or second jaw members relative to the other from a spaced apart position to a close position to clamp tissue between the first and second tissue contact surfaces, the first tissue contact surface defining a longitudinally extending channel having an open proximal end and a closed distal end, the first jaw member defining a passageway in communication with the longitudinally extending channel and extending below the closed distal end of the longitudinally extending channel to an opening at a distal tip of the first jaw member; and a probe coupled to the probe actuator such that actuation of the probe actuator moves the probe through the longitudinally extending channel from a retracted position to an extended position with a first portion of the probe projecting above the first tissue contact surface toward the second tissue contact surface to treat tissue clamped between the first and second tissue contact surfaces, and further actuation of the probe actuator moves the probe from the extended position within the longitudinally extending channel to below the closed distal end of the longitudinally extending channel and through the passageway and opening to a deployed position with the probe extending distally from the distal tip of the first jaw member to treat tissue positioned distally of the first jaw member with a second portion of the probe.

12. The surgical instrument of claim 11, wherein, the first and second tissue contact surfaces are adapted to be connected to energy sources at different potentials for conducting bipolar energy through tissue clamped between the first and second tissue contact surfaces to treat tissue.

13. The surgical instrument of claim 11, wherein, the probe is adapted to be connected to an energy source for conducting monopolar energy through tissue in contact with the probe to treat tissue.

14. The surgical instrument of claim 11, wherein, the probe and at least one of the first or second tissue contact surfaces are adapted to be connected to energy sources at different potentials for conducting bipolar energy through tissue to treat tissue.

15. The surgical instrument of claim 11, further comprising a ferrule engaging a distal end portion of the probe actuator with a proximal end portion of the probe within the first jaw member, the ferrule being configured for positioning in abutment with or at least partially within the passageway in the deployed position to provide increased structural support to the probe.

16. The surgical instrument of claim 11, wherein, the first portion includes a fin or a protuberance.

17. The surgical instrument of claim 11, wherein, the second portion defines a hook shape configuration.

18. The surgical instrument of claim 11, wherein, The first jaw member further includes a ramp configured to deflect the probe to guide the probe from the extended position to the deployed position.

19. A surgical instrument comprising: a first jaw member and a second jaw member, at least one of the first jaw member or the second jaw member movable relative to the other of the first jaw member or the second jaw member from a spaced apart position to a close position to clamp tissue between the first jaw member and the second jaw member, the first jaw member defining a closed distal end and a passage extending below the closed distal end to a distally facing opening at a distal tip of the first jaw member; and a probe including a substantially linear portion and a hook portion extending distally from the substantially linear portion to a distal end of the probe, the probe movable relative to the first jaw member and the second jaw member from a retracted position to an extended position to a deployed position, wherein the probe is configured to move from the retracted position to the extended position through the first jaw member with a portion of the probe disposed between the substantially linear portion and the distal end of the probe exposed between the first jaw member and the second jaw member, and wherein the probe is configured to move from the extended position within the first jaw member to the deployed position through the passage with the probe extending distally from the distal tip of the first jaw member with the hook portion distally spaced from the distal tip of the first jaw member.

20. The surgical instrument of claim 19, wherein, The probe is positioned such that the distal end of the probe is oriented in a direction extending away from the second jaw member.

Images