Surgical instruments and systems including jaw actuation mechanisms

Abstract

An ultrasonic surgical instrument includes a curved ultrasonic blade, a gripper assembly, and a gripper actuation mechanism. The gripper assembly is movable between an open position and a closed position to clamp tissue against the top side of the blade and includes a first proximal ear and a second proximal ear (452, 454) disposed on respective concave and convex sides of the blade. The first ear (452) defines a portion extending beyond the second ear (454). The gripper actuation mechanism includes a first arm (410) and a second arm (420), the first arm being pivotally connected to the first and second ear on the top side of the blade, and the second arm being operatively coupled to that portion of the first ear on the concave side of the blade. Movement of the first arm and / or the second arm relative to the other causes movement of the gripper assembly between the open and closed positions.

Description

Cross-reference to related applications

[0001] This application claims priority to U.S. Provisional Patent Application No. 63 / 605,236, filed December 1, 2023, which is incorporated herein by reference in its entirety. Technical Field

[0002] This disclosure relates to surgical instruments and systems, and more specifically to surgical instruments and systems including gripper actuation mechanisms that facilitate the clamping and treatment of tissues. Background Technology

[0003] Ultrasonic surgical instruments and systems utilize ultrasonic energy (i.e., ultrasonic vibration) to treat tissue. More specifically, ultrasonic surgical instruments and systems utilize mechanical vibrational energy transmitted at ultrasonic frequencies to treat tissue. Ultrasonic surgical instruments may include, for example, ultrasonic blades and gripper members capable of clamping tissue against the blade. The ultrasonic energy transmitted to the blade causes the blade to vibrate at very high (e.g., ultrasonic) frequencies, which allows the tissue clamped against or otherwise in contact with the blade to be heated for treatment.

[0004] Other energy modes (e.g., radio frequency (RF) energy, thermal energy, microwave energy, and light energy) can be used additionally or alternatively to treat tissues clamped between opposing structures. Summary of the Invention

[0005] As used herein, the term "distal" refers to the portion described as being further away from the operator (whether surgeon or surgical robot), while the term "proximal" refers to the portion described as being closer to the operator. As utilized herein, terms including "generally," "about," "substantially," etc., mean encompassing and including a variation of up to and including positive or negative 10% (e.g., manufacturing tolerances, material tolerances, usage tolerances and environmental tolerances, measurement variations, design variations and / or other variations and tolerances). Furthermore, any or all aspects described herein may be used in conjunction with any or all other aspects described herein to a consistent degree.

[0006] According to some aspects of this disclosure, an ultrasonic surgical instrument is provided, comprising a curved ultrasonic blade, a gripper assembly, and a gripper actuation mechanism. The curved ultrasonic blade includes a top side, a bottom side, a convex side, and a concave side. The gripper assembly is movable between an open position and a closed position to clamp tissue against the top side of the curved ultrasonic blade. The gripper assembly includes a first proximal auricle disposed on the concave side of the curved ultrasonic blade and a second proximal auricle disposed on the convex side of the curved ultrasonic blade. The first proximal auricle defines a height greater than the height of the second proximal auricle, such that a portion of the first proximal auricle extends beyond the second proximal auricle. The gripper actuation mechanism includes: a first arm pivotally connected on the top side of the curved ultrasonic blade to the first proximal auricle and the second proximal auricle; and a second arm operatively coupled on the concave side of the curved ultrasonic blade to a portion of the first proximal auricle. The movement of at least one of the first arm or the second arm relative to the other of the first arm or the second arm causes the gripper member to move between the open position and the closed position.

[0007] In one aspect of this disclosure, the second arm includes a first post and a second post, the first post and the second post defining a channel therebetween. In this aspect, a portion of the first proximal ear is received within the channel.

[0008] In another aspect of this disclosure, at least one of the first post or the second post defines a slot, and the portion of the first proximal ear includes a cam received within the slot.

[0009] In another aspect of this disclosure, the first post defines a spring finger configured to maintain alignment of that portion of the first proximal ear within the channel.

[0010] In another aspect of this disclosure, the ultrasonic surgical instrument further includes a first axis and a second axis. The first arm is fixed relative to and extends distally from the first axis, and the second arm is fixed relative to and extends distally from the second axis. One of the first axis or the second axis is movable relative to the other, thereby allowing at least one of the first arm or the second arm to move relative to the other.

[0011] In another aspect of this disclosure, the first arm includes a portion that corresponds to a portion of the outer periphery of the first shaft and / or the second arm includes a portion that corresponds to a portion of the outer periphery of the second shaft.

[0012] In another aspect of this disclosure, the first proximal ear plate defines a substantially planar configuration, and the second proximal ear plate includes a curved portion.

[0013] In another aspect of this disclosure, the first arm includes a curved portion, and the curved portion of the second proximal ear is complementary to the curved portion of the first arm, such that the curved portion of the first arm and the curved portion of the second proximal ear cooperate to guide the gripper member during movement of the gripper member between the open position and the closed position.

[0014] In another aspect of this disclosure, the second proximal ear further includes a generally flat portion extending from the curved portion, and the first arm includes a generally flat portion extending from the curved portion. In this respect, the generally flat portion of the first arm and the generally flat portion of the second proximal ear cooperate to guide the gripper member during movement of the gripper member between the open position and the closed position.

[0015] In another aspect of this disclosure, the pivot pivotally connects the first arm to the curved portions of the first proximal ear and the second proximal ear.

[0016] Another ultrasonic surgical instrument provided according to some aspects of this disclosure includes a shaft assembly, an ultrasonic blade, and a gripper assembly. The shaft assembly includes a first shaft and a second shaft. At least one of the first shaft or the second shaft is movable relative to the other of the first shaft or the second shaft. The ultrasonic blade extends distally from the shaft assembly and includes a top side, a bottom side, a first lateral side, and a second lateral side. The gripper assembly extends distally from the shaft assembly, is pivotally mounted relative to the second shaft about a pivot, and is movable about the pivot between an open position and a closed position to clamp tissue against the top side of the ultrasonic blade. The gripper assembly is operatively coupled to the first shaft only on the first lateral side of the ultrasonic blade, and is operatively coupled to the first shaft such that movement of at least one of the first shaft or the second shaft relative to the other of the first shaft causes the gripper assembly to move about the pivot between the open position and the closed position.

[0017] In one aspect of this disclosure, the actuating arm operably connects the gripper member to the first shaft only on the first lateral side of the ultrasonic blade. The actuating arm includes a first post and a second post defining a channel therebetween. The gripper member includes an ear received within the channel.

[0018] In another aspect of this disclosure, at least one of the first post or the second post defines a slot, and the ear includes a cam received within the slot.

[0019] In another aspect of this disclosure, the first post defines a spring finger configured to maintain the earpiece aligned within the channel.

[0020] In another aspect of this disclosure, the actuating arm is fixed relative to the first shaft and extends distally from the first shaft. Additionally or alternatively, a portion of the actuating arm defines an extension of the outer periphery of a portion of the first shaft.

[0021] In another aspect of this disclosure, a pivot arm pivotally connects the gripper assembly to the second shaft. The pivot arm is disposed on the top side of the ultrasonic blade.

[0022] In another aspect of this disclosure, the pivot arm and the gripper member define complementary, at least partially curved guide surfaces only on the second lateral side of the ultrasonic blade.

[0023] In another aspect of this disclosure, a portion of the pivot arm defines an extension of the outer periphery of a portion of the second shaft.

[0024] In another aspect of this disclosure, the ultrasonic blade is curved such that the first lateral side is concave and the second lateral side is convex. Attached Figure Description

[0025] The above and other aspects and features of this disclosure will become clearer when considered in conjunction with the following detailed description, in which the same reference numerals denote similar or identical elements.

[0026] Figure 1 This is a side view of a surgical system provided in this disclosure, which includes surgical instruments and a surgical generator;

[0027] Figure 2 This is a perspective view of another surgical system provided in accordance with this disclosure, the surgical system including surgical instruments incorporating one or more surgical generators and one or more power sources;

[0028] Figure 3 This is a schematic diagram of a robotic surgical system provided in accordance with this disclosure;

[0029] Figure 4 This is a side view of an end effector assembly provided in this disclosure, and the end effector assembly is configured to interact with... Figure 1 Surgical system Figure 2 Surgical system Figure 3 Used in conjunction with a robotic surgical system or any other suitable surgical system;

[0030] Figure 5A yes Figure 4 A top view of the end effector component;

[0031] Figure 5B yes Figure 4 A mirrored top view of the end effector component;

[0032] Figure 6A and Figure 6B They are Figure 4 Front view and front transverse section view of the end effector component;

[0033] Figure 7A yes Figure 4 A side perspective perspective view of the end effector assembly, in which the ultrasonic blade of the end effector assembly has been removed;

[0034] Figure 7B yes Figure 4 A side perspective view of the end effector assembly, in which the ultrasonic blade and gripper components of the end effector assembly have been removed;

[0035] Figure 8A This is a side perspective view of another end effector assembly provided in this disclosure, and this end effector assembly is configured for use with... Figure 1 Surgical system Figure 2 Surgical system Figure 3 Used in conjunction with a robotic surgical system or any other suitable surgical system, wherein the ultrasonic blade of the end effector assembly is removed; and

[0036] Figure 8B yes Figure 8A A front view of the end effector assembly, with the ultrasonic blade and gripper components of the end effector assembly removed. Detailed Implementation

[0037] refer to Figure 1 The following diagram illustrates a surgical system provided according to some aspects of this disclosure, generally identified by reference numeral 10, which includes a surgical instrument 100 and a surgical generator 200. The surgical instrument 100 includes a handle assembly 110, an elongated assembly 150 extending distally from the handle assembly 110, an end effector assembly 160 disposed at the distal end of the elongated assembly 150, and a cable assembly 190 operatively connected to and extending from the handle assembly 110 to the surgical generator 200.

[0038] The surgical generator 200 includes a display 210, multiple user interface features 220 (e.g., buttons, touchscreens, switches, etc.), an ultrasonic energy plug port 230, and an electrosurgical energy plug port 240 (which may be a monopolar radio frequency (RF) energy plug port for supplying monopolar energy, a bipolar RF energy plug port for supplying bipolar energy, or any other suitable electrical power plug port). The surgical generator 200 may further include additional ports 250, 260 to provide additional functionality, such as monopolar plug ports, bipolar plug ports, electrical plug ports for powering a heating element, microwave plug ports for supplying microwave energy, vacuum plug ports for aspiration, fluid plug ports for irrigation, additional power supply ports for supplying AC and / or DC power, etc. As an alternative to the multiple dedicated ports 230-260, one or more common ports (not shown) may be configured to act as any two or more of ports 230-260.

[0039] Surgical instrument 100 is configured to supply ultrasonic energy to the ultrasonic blade 162 of end effector assembly 160, for example, for treating tissue in contact with the ultrasonic blade 162. In some aspects, surgical instrument 100 is further configured to supply RF to end effector assembly 160 for treating tissue in contact with ultrasonic blade 162 and / or gripper member 164, the supply being performed together with or separately from the application of ultrasonic energy. To achieve RF tissue treatment, surgical generator 200 is configured to provide RF energy for output via electrosurgical energy plug port 240, thereby energizing ultrasonic blade 162 and / or gripper member 164, and conducting the RF energy (in a monopolar or bipolar configuration) through the tissue in contact with ultrasonic blade 162 and / or gripper member 164 to heat the tissue and thereby treat the tissue. To achieve ultrasound tissue therapy, the surgical generator 200 is configured to provide an ultrasound drive signal to be output to the surgical instrument 100 via an ultrasound plug port 230, thereby driving the ultrasound transducer 140 to generate ultrasound energy, which is transmitted along the ultrasound waveguide 154 to the ultrasonic blade 162 of the end effector assembly 160 to heat the tissue in contact with the ultrasonic blade 162 and thereby treat the tissue. In some aspects, the RF energy capability is omitted or replaced with any other suitable additional energy mode, such as microwave energy, light energy, thermal energy, etc.

[0040] Continue to refer to Figure 1The handle assembly 110 includes a housing 112, an activation button 120, and a trigger 130. The housing 112 is configured to support an ultrasonic transducer 140. The ultrasonic transducer 140 may be permanently engaged within the housing 112 or removable from the housing. The ultrasonic transducer 140 includes, for example, a piezoelectric stack or other suitable ultrasonic transducer component electrically connected to the surgical generator 200 via one or more first electrical leads 197, to enable the transmission of ultrasonic drive signals to the ultrasonic transducer 140, thereby driving the ultrasonic transducer 140 to generate ultrasonic vibration energy, which is transmitted along the ultrasonic waveguide 154 of the elongated assembly 150 to the ultrasonic blade 162 of the end effector assembly 160 of the elongated assembly 150, as detailed below. Feedback signals and / or control signals may also be transmitted between the ultrasonic transducer 140 and the surgical generator 200. More specifically, the ultrasonic transducer 140 may include a stack of piezoelectric elements fixed under pre-compression between the proximal and distal blocks, or between the proximal block and the ultrasonic amplitude transformer, wherein a first electrode and a second electrode are electrically connected between the piezoelectric elements of the stack, enabling the stack to be excited to generate ultrasonic energy. However, other suitable ultrasonic transducer configurations are also conceivable, including multiple transducers and / or non-longitudinal (e.g., torsional) transducers.

[0041] An activation button 120 is disposed on the housing 112 and is connected, for example, via one or more first electrical leads 197 to or between the ultrasound transducer 140 and / or the surgical generator 200, so that the ultrasound transducer 140 can be activated in response to the activation button 120 being pressed. In some configurations, the activation button 120 may include an on / off switch. In other configurations, the activation button 120 may include multiple actuation switches to enable activation from an off state to different on states corresponding to different activation settings, such as a first on state corresponding to a first activation setting (e.g., low power and / or tissue sealing setting) and a second on state corresponding to a second activation setting (e.g., high power and / or tissue transverse setting). In other configurations, separate activation buttons may be provided, for example, a first actuation button for activating the first activation setting and a second activation button for activating the second activation setting. Additional activation buttons, sliders, wheels, etc., are also contemplated to enable control of various activation settings from the housing 112.

[0042] The elongated assembly 150 of the surgical instrument 100 includes an outer shaft 152, an inner shaft 153 disposed within the outer shaft 152, an ultrasonic waveguide 154 extending through the inner shaft 153, a drive assembly (not shown), a knob 156, and an end effector assembly 160 including an ultrasonic blade 162 and a gripper member 164. The knob 156 is rotatable in either direction to rotate the elongated assembly 150 relative to the handle assembly 110 in either direction. The drive assembly operatively connects the proximal portion of the outer shaft 152 to a trigger 130 of the handle assembly 110. The distal portion of the outer shaft 152 is operatively connected to the gripper member 164, and the distal end of the inner shaft 153 pivotally supports the gripper member 164. Thus, the trigger 130 can be selectively actuated, for example, actuated from an unactuated position toward an actuated position, so as to actuate the drive assembly to move the outer shaft 152 about the inner shaft 153, causing the gripper member 164 to pivot relative to the ultrasonic blade 162 of the end effector assembly 160 from an open position toward a closed position, thereby clamping tissue between the gripper member 164 and the ultrasonic blade 162. In some aspects, the configuration of the outer shaft 152 and the inner shaft 153 can be reversed, for example, where the outer shaft 152 is a support shaft and the inner shaft 153 is a drive shaft.

[0043] Still referencing Figure 1 The drive assembly can be adjusted to provide a clamping force, or a clamping force within a range of clamping forces, to the tissue clamped between the clamping member 164 and the ultrasonic blade 162, such as that described in U.S. Patent Application Publication No. 2022 / 0117622, ​​the entire contents of which are hereby incorporated herein by reference. Alternatively, the drive assembly may include force-limiting features, such as a spring, whereby the clamping force applied to the tissue clamped between the clamping member 164 and the ultrasonic blade 162 is limited to a specific clamping force or a clamping force within a range of clamping forces, such as that described in U.S. Patent No. 10,368,898, the entire contents of which are hereby incorporated herein by reference.

[0044] Continue to refer to Figure 1As described above, the ultrasonic waveguide 154 extends from the handle assembly 110 through the inner shaft 153. The ultrasonic waveguide 154 includes an ultrasonic blade 162 disposed at its distal end. The ultrasonic blade 162 may be integrally formed with the waveguide 154, separately formed and subsequently attached (permanently or removably attached) to the ultrasonic waveguide 154, or otherwise operatively coupled to the ultrasonic waveguide 154. The ultrasonic waveguide 154 and / or the ultrasonic blade 162 may be formed of titanium, titanium alloy, or other suitable conductive materials, but non-conductive materials are also contemplated. The ultrasonic waveguide 154 includes a proximal connector (not shown), such as a threaded male connector, configured to engage an ultrasonic transducer 140, for example, threadedly engaged within a threaded female receiver, such that ultrasonic motion generated by the ultrasonic transducer 140 is transmitted along the ultrasonic waveguide 154 to the ultrasonic blade 162 to treat tissue clamped between or adjacent to the ultrasonic blade 162 and the gripper member 164.

[0045] The cable assembly 190 of the surgical instrument 100 includes a cable 192, an ultrasonic plug 194, and an electrosurgical plug 196 (in some respects of providing RF energy (or other additional energy modes)). The ultrasonic plug 194 is configured to connect to an ultrasonic plug port 230 of the surgical generator 200, while the electrosurgical plug 196 is configured to connect to an electrosurgical plug port 240 of the surgical generator 200. In a configuration where the generator 200 includes a common port, the cable assembly 190 may include a common plug (not shown) configured to act as both the ultrasonic plug 194 and the electrosurgical plug 196.

[0046] Multiple first electrical leads 197, electrically connected to the ultrasonic plug 194, extend through the cable 192 and into the handle assembly 110 to electrically connect to the ultrasonic transducer 140 and / or the activation button 120, thereby allowing the ultrasonic drive signal from the surgical generator 200 to be selectively supplied to the ultrasonic transducer 140 when ultrasonic energy is activated. Additionally, multiple second electrical leads 199 are electrically connected to the electrosurgical plug 196 and extend through the cable 192 into the handle assembly 110. One or more second electrical leads 199 are electrically connected to the ultrasonic waveguide 154 within the handle assembly 110 and / or one or more second electrical leads 199 extend through the handle assembly 110 and the elongated assembly 150 to electrically connect to the gripper member 164. In a bipolar configuration, for example, the phase-isolated second electrical lead 199 can be connected to the phase-isolated portion of the gripper member 164 so that different potentials can be applied to the phase-isolated portion, thereby allowing RF energy to be conducted therebetween and through tissue. Alternatively, the phase-isolated second electrical lead 199 can be connected to the ultrasound guide 154 and the gripper member 164 so that different potentials can be applied to the phase-isolated portion, thereby allowing RF energy to be conducted therebetween and through tissue. In a unipolar configuration, the ultrasound guide 154 and / or the gripper member 164 can be energized via one or more second electrical leads 199, and energy can be returned locally or remotely. In any of the above configurations, one or more other second electrical leads 199 can be electrically connected to the activation button 120 so that, upon activation, RF energy from the surgical generator 200 can be selectively supplied to the ultrasound guide 154 and / or the gripper member 164.

[0047] Continue to refer to Figure 1 Regarding the activation of RF energy, similar to the details described above regarding ultrasound activation, activation button 120 (or an additional activation button) is connected, for example, via one or more of the second electrical leads 199 to the ultrasonic waveguide 154 and / or the gripper member 164 and the surgical generator 200 or between them, so that RF energy can be supplied in response to the pressing of activation button 120. One or more of the open states of activation button 120 may correspond to one or more activation settings of RF energy, for example, a first open state corresponding to a first activation setting (e.g., low power mode) and a second open state corresponding to a second activation setting (e.g., high power mode). It is also conceivable to have multiple actuation buttons and / or additional activation buttons, sliders, wheels, etc., for activating different activation settings so that various different activation settings can be controlled from housing 112.

[0048] Regarding both ultrasonic activation and RF energy activation, activation button 120 and / or additional activation buttons, sliders, wheels, etc., can be provided to achieve selective activation of the following: ultrasonic energy only (in one or more different modes); RF energy only (in one or more different modes); and / or a combination of ultrasonic energy and RF energy (in one or more different modes, such as simultaneous activation, alternating activation, successive activation, overlapping activation, and / or according to any other suitable activation scheme or algorithm).

[0049] The generator 200 can be further configured to provide energy control and / or sensing functions based on feedback from the electrosurgical energy. More specifically, by sensing the current, voltage, power, resistance, and / or other electrical characteristics associated with the RF energy circuitry, the generator 200 is able to: control the application of electrosurgical energy and / or ultrasonic energy according to a feedback algorithm; determine the impedance of the tissue; determine the position, size, and / or type of tissue clamped between the gripper member 164 and / or the ultrasonic blade 162; and / or determine the progress of tissue treatment (e.g., tissue sealing in progress, tissue complete sealing, tissue sealing and transverse cutting, etc.).

[0050] As an alternative to the remote generator 200, the surgical system 10 may be at least partially wire-free because it incorporates an ultrasound generator, an electrosurgical generator (or a suitable electrosurgical circuitry system), and / or a power source (e.g., a battery). In this way, the connection from the surgical instrument 100 to external devices (e.g., generators and / or power sources) is reduced or eliminated. More specifically, refer to... Figure 2 This illustrates another surgical system according to this disclosure, showing a surgical instrument 20 on which or therein supports an ultrasound generator 310, a power source (e.g., battery assembly 320), and an electrosurgical generator 330. Surgical instrument 20 is similar to surgical instrument 100. Figure 1 ) and may include any of its features unless explicitly stated otherwise below. Accordingly, only surgical instrument 20 and surgical instrument 100 are described in detail below. Figure 1 The differences between them are omitted or the similarities are described in a general way.

[0051] The housing 112 of the surgical instrument 20 includes a body portion 113 and a fixed handle portion 114 suspended from the body portion 113. The body portion 113 of the housing 112 is configured to support an ultrasonic transducer and generator assembly (“TAG”) 300, which includes an ultrasonic generator 310 and an ultrasonic transducer 140. The TAG 300 may be permanently engaged with the body portion 113 of the housing 112 or may be removable therefrom.

[0052] The fixed handle portion 114 of the housing 112 defines a compartment 116 configured to receive the battery assembly 320 and the electrosurgical generator 330, and a door 118 configured to close the compartment 116. An electrical connection assembly (not shown) is disposed within the housing 112 and is used to electrically connect the activation button 120, the ultrasound generator 310 of the TAG 300, and the battery assembly 320 to each other when the TAG 300 is supported on or therein on the body portion 113 of the housing 112 and the battery assembly 320 is disposed within the compartment 116 of the fixed handle portion 114 of the housing 112, thereby enabling the surgical instrument 20 to be activated in ultrasonic mode in response to the appropriate actuation of the activation button 120. Furthermore, when the electrosurgical generator 330 and battery assembly 320 are disposed within the compartment 116 of the fixed handle portion 114 of the housing 112, the electrical connection assembly or different electrical connection assemblies disposed within the housing 112 are used to electrically connect the activation button 120, the electrosurgical generator 330, the battery assembly 320, and the end effector assembly 160 to each other, thereby enabling the surgical instrument 20 to be activated in response to the appropriate actuation of the activation button 120 to supply electrosurgical energy (e.g., RF energy) to the end effector assembly 160. In some aspects, the electrosurgical generator 330 is omitted, and some or all of the above functions are provided by the battery assembly 320.

[0053] refer to Figure 3 The robotic surgical system according to the aspects and features of this disclosure is generally indicated by reference numeral 1000. For the purposes of this document, the robotic surgical system 1000 is generally described. Aspects and features of the robotic surgical system 1000 that are not closely related to understanding this disclosure have been omitted to avoid obscuring certain aspects and features of this disclosure with unnecessary detail.

[0054] The robotic surgical system 1000 generally includes: multiple robotic arms 1002, 1003; a control unit 1004; and an operation console 1005 connected to the control unit 1004. The operation console 1005 may include: a display device 1006, which may be configured to display video and / or three-dimensional images; and manual input devices 1007, 1008, which, for example, allow a clinician (not shown) such a surgeon to remotely operate the robotic arms 1002, 1003 in a first operating mode. The robotic surgical system 1000 can be configured for a patient 1013 lying on a patient table 1012 to receive minimally invasive or other suitable treatments. The robotic surgical system 1000 may further include a database 1014, particularly connected to the control unit 1004, in which preoperative data and / or anatomical atlases from the patient 1013 are stored.

[0055] Each of the robotic arms 1002 and 1003 may include: a plurality of components connected by a joint; and an attachment drive unit 1009 and 1011 to which a surgical tool "ST" supporting the end effector assemblies 1050 and 1060 may be attached. One type of surgical tool "ST" may be a surgical instrument 100 ( Figure 1 ), surgical instruments 20 Figure 2 ) or any other suitable surgical instrument, wherein the manual actuation feature (e.g., actuation button 120) Figure 1 ), trigger 130 ( Figure 1 The attachment drive units 1009 and 1011 are replaced by robot input connectors for guiding the activation and / or manipulation of the end effector assemblies 1050 and 1060 in a desired manner. The robotic surgical system 1000 may include or be configured to connect to an ultrasound generator, an electrosurgical generator, and / or a power supply (whether as separate components or housed together in a single console). Another surgical tool “ST” may include any other suitable surgical instruments, such as an endoscopic camera, a surgical gripper, other surgical instruments, etc. The robotic arms 1002 and 1003 may be driven by an electric actuator (e.g., a motor) connected to a control unit 1004. The control unit 1004 (e.g., a computer) may be configured to activate the motors, particularly by means of a computer program, such that the robotic arms 1002 and 1003, the attachments 1009 and 1011, and thus the surgical tool “ST”, respectively perform desired movements and / or functions based on corresponding inputs from manual input devices 1007 and 1008. The control device 1004 can also be configured to adjust the movement of the robotic arms 1002, 1003 and / or the motors.

[0056] Turn Figures 4 to 5B The surgical system 10 is described in detail. Figure 1 The surgical instrument 100 has an end effector assembly 160, however, some aspects and features of the end effector assembly 160 can be similarly applied to the surgical instrument 20. Figure 2 ), Robotic Surgical System 1000 ( Figure 3 (and / or any other suitable surgical instruments or systems and use them together.)

[0057] An end effector assembly 160 is operably disposed at the distal portions of the outer shaft 152 and the inner shaft 153, and as described above, includes an ultrasonic blade 162 and a gripper member 164. The end effector assembly 160 further includes a gripper actuation mechanism 400 such that the gripper member 164 can, for example, respond to a trigger 130 (…). Figure 1The gripper actuation mechanism 400 selectively moves relative to the blade 162 between an open and closed position to clamp tissue therebetween. As described in more detail below, the gripper actuation mechanism 400 includes: a first arm 410 extending from an inner shaft 153 to pivotally mount a gripper member 164 at a distal portion of the inner shaft 153; and a second arm 420 extending from an outer shaft 152 to operatively engage the gripper member 164 to a distal portion of the outer shaft 152 such that movement of the outer shaft 152 about and relative to the inner shaft 153 (e.g., slidable movement) pivots the gripper member 164 relative to the ultrasonic blade 162 between an open and closed position. Further, also as described in more detail below, the gripper actuation mechanism 400 is relative to a vertical plane defined by the longitudinal axis “X” of the outer shaft 152 (and in some respects, in the inner shaft 153 and / or the ultrasonic waveguide 154 ( Figure 1 When coaxially arranged within the outer shaft 152, it is also relative to the inner shaft 153 and / or the ultrasonic conductor 154. Figure 1 The vertical plane defined by the longitudinal axis defines an asymmetric configuration to accommodate the curvature of the ultrasonic blade 162.

[0058] For further reference Figure 6A and Figure 6B The ultrasonic blade 162 defines a first side surface 432, a second side surface 434, a top surface 436, and a bottom surface 438. The ultrasonic blade 162 is curved such that the first side surface 432 is concave and the second side surface 434 is convex. More specifically, in a direction from proximal to distal, the curvature of the ultrasonic blade 162 initially bends laterally outward in a first direction relative to the longitudinal axis "X," and subsequently bends laterally outward in a second direction (in the opposite direction relative to the longitudinal axis "X") such that the laterally outermost extension "E" of the convex second side surface 434 relative to the longitudinal axis "X" is spaced apart from each of the proximal and distal ends of the ultrasonic blade 162, and such that the laterally outermost extension "E" of the convex second side surface 434 is located on the first side of the longitudinal axis "X," while the distal end 440 of the ultrasonic blade 162 is located on the opposite second side of the longitudinal axis "X."

[0059] Furthermore, in some aspects, the curvature of the ultrasonic blade 162 causes the concave first side surface 432 of the ultrasonic blade 162 to intersect the longitudinal axis "X" at two longitudinally spaced positions "L1" and "L2". The convex second side surface 434 intersects the longitudinal axis "X" at a third position "L3" spaced distally from each of the first position "L1" and the second position "L2". In some aspects, as shown, the convex second side surface 434 intersects the longitudinal axis "X" at only one position (e.g., the third position "L3"); in other aspects, the convex second side surface 434 intersects the longitudinal axis "X" at a fourth position spaced proximally from each of the first position "L1" and the second position "L2".

[0060] The curvature of the ultrasonic blade 162 begins at a longitudinal position that is proximal to or longitudinally overlaps with the first arm 410 of the gripper actuation mechanism 400. In some respects, the curvature of the ultrasonic blade 162 begins within the inner axis 153 (proximal to the first arm 410). Due to the longitudinal position at which the curvature of the ultrasonic blade 162 begins and / or the curvature configuration of the ultrasonic blade 162 detailed above, the gap between the ultrasonic blade 162 and the gripper actuation mechanism 400 is more restricted on the convex second side surface 434 of the ultrasonic blade 162 (e.g., on the first side of the longitudinal axis "X") than on the concave first side surface 432 of the ultrasonic blade 162 (e.g., on the second side of the longitudinal axis "X"). As detailed below, the asymmetric configuration of the gripper actuation mechanism 400 accommodates this gap difference without impairing the function of the gripper actuation mechanism 400.

[0061] Continue to refer to Figures 4 to 6B The ultrasonic blade 162 may define a polygon, a rounded polygon, or any other suitable cross-sectional configuration, including various different cross-sectional configurations along its length. The ultrasonic waveguide 154, or at least the portion of the ultrasonic waveguide 154 adjacent to the ultrasonic blade 162 on its proximal side, may define a cylindrical configuration. Multiple tapered surfaces (not shown) may interconnect the cylindrical ultrasonic waveguide 154 with the polygonal (rounded-side polygon or other suitable shape) configuration of the ultrasonic blade 162 to define a smooth transition between the body of the ultrasonic waveguide 154 and the ultrasonic blade 162.

[0062] The ultrasonic blade 162 may be coated, either entirely or selectively, with a suitable material, such as a non-stick material, an electrically insulating material, a conductive material, or a combination thereof. Suitable coatings and / or methods of applying the coating include, but are not limited to, Teflon®, polyphenylene oxide (PPO), deposited liquid ceramic insulating coatings; thermal spray coatings, such as thermally sprayed ceramics; plasma electrolytic oxidation (PEO) coatings; anodic oxidation coatings; sputtered coatings, such as silica; ElectroBond® coatings, available from Surface Solutions Group of Chicago, IL, USA; or other suitable coatings and / or methods of applying the coating.

[0063] In addition to the curvature of the ultrasonic blade 162 detailed above, the ultrasonic blade 162 may be shaped to include any other suitable features, such as a tapered configuration (laterally and / or vertically), various different cross-sectional configurations along its length, incisions, notches, edges, protrusions, straight surfaces, curved surfaces, angled surfaces, wide edges, narrow edges, and / or other features. More specifically, in some aspects, the top surface 436 of the ultrasonic blade 162 includes a pair of longitudinally extending surface portions that converge at a top ridge 437 extending along the length of the blade 162. The top ridge 437 may define a curved surface or a flat surface and is configured to facilitate tensioning of tissue for treatment (e.g., sealing and transverse cutting) without transversely cutting or prematurely cutting tissue when sealing is desired. The bottom surface 438 may define a flat, substantially planar configuration, but other configurations are also contemplated, such as configurations mirroring the configurations of the top surface 436 detailed above.

[0064] Still referencing Figures 4 to 6B The gripper member 164 includes a structural frame 450 and a gripper liner 460 fixed to the structural frame 450. The structural frame 450 is configured to provide structural stiffness and support to the gripper member 164 and to operatively connect the gripper member 164 to a gripper actuation mechanism 400 such that the gripper member 164 can selectively move relative to the ultrasonic blade 162 between an open and closed position, for example, in response to sliding movement of the outer shaft 152 about and relative to the inner shaft 153, thereby clamping tissue between the gripper liner 460 and the ultrasonic blade 162.

[0065] More specifically, the structural frame 450 of the gripper member 164 includes a first proximal lug 452 and a second proximal lug 454, and a distal body 456 extending distally from the proximal lugs 452, 454. The structural frame 450 can be formed of metal (e.g., stainless steel) or other suitable materials capable of providing sufficient structural support and stiffness. The structural frame 450 can be integrally formed from a single piece of material, for example via metal injection molding (MIM), machining, stamping, or a combination thereof.

[0066] The first proximal earpiece 452 and the second proximal earpiece 454 of the structural frame 450 are laterally spaced apart from each other and configured to allow the ultrasonic blade 162 to pass therebetween. More specifically, the first proximal earpiece 452 and the second proximal earpiece 454 include upper portions 453a, 455a connected to the distal body 456 and lower portions 453b, 455b hanging from the upper portions 453a, 455a. The upper portions 453a and 453b of the first proximal earpiece 452 cooperate to define a substantially vertically oriented, substantially planar configuration of the first proximal earpiece 452. The upper portion 455a of the second proximal earpiece 454 curves outward and downward from the distal body 456 to the lower portion 455b of the second proximal earpiece 454, which defines a substantially planar, substantially vertically oriented configuration.

[0067] The upper portions 453a and 455a of the first proximal ear 452 and the second proximal ear 454 respectively define aligned pivot orifices 453c and 455c. These pivot orifices are configured to receive a pivot 412 to pivotally mount a gripper member 164 to the first arm 410 of the gripper actuation mechanism 400, and thus to the distal portion of the inner shaft 153. The pivot 412 may be fixed within the pivot orifices 453c and 455c (e.g., via welding, mechanical sealing, etc.) and rotatable relative to the first arm 410, or may be fixed relative to the first arm 410 (e.g., via welding) and rotatable within the pivot orifices 453c and 455c, or may be both rotatable relative to the first arm 410 and rotatable within the pivot orifices 453c and 455c. The pivot 412 may include any suitable pivoting structure, such as a continuous pivot pin, a split pivot pin, a separate pivot pin, a pivot boss, etc. The pivot 412 is positioned spaced apart from and above the longitudinal axis "X", as shown below. Figure 4 As shown.

[0068] As described above, the lower portions 453b and 455b of the first proximal earpiece 452 and the second proximal earpiece 454 extend from the corresponding upper portions 453a and 455a of the first proximal earpiece 452 and the second proximal earpiece 454, respectively. More specifically, the lower portion 453b of the first proximal earpiece 452 extends from the upper portion 453a at a position offset above the longitudinal axis "X", passes through the horizontal plane defined by the longitudinal axis "X", and terminates at a position offset below the horizontal plane defined by the longitudinal axis "X". On the other hand, the lower portion 455b of the second proximal earpiece 454 extends downward from the upper portion 455a at a position offset above the longitudinal axis "X", but terminates at a position offset above the horizontal plane defined by the longitudinal axis "X", and therefore does not pass through the horizontal plane defined by the longitudinal axis "X". In other aspects, the lower portion 455b of the second proximal earpiece 454 extends to the horizontal plane defined by the longitudinal axis "X". Due to this range difference between the corresponding lower portions 453b and 455b of the first proximal ear plate 452 and the second proximal ear plate 454, the first proximal ear plate 452 is defined to have a height greater than that of the second proximal ear plate 454.

[0069] The lower portion 453b of the first proximal ear 452 includes a cam 422 that projects substantially perpendicularly from the lower portion 453b of the first proximal ear 452 in an outward and / or inward direction. The cam 422 is configured to operatively engage the gripper member 164 to the second arm 420 of the gripper actuation mechanism 400, and thus to the distal portion of the outer shaft 152. The cam 422 may be fixed to the lower portion 453b of the first proximal ear 452, for example, within a defined aperture therethrough (via welding), attached to its inner and / or outer surfaces (via integral or separate formation and subsequent attachment (e.g., via welding)), or in any other suitable manner. Alternatively, the cam 422 may be rotatably mounted to the lower portion 453b of the first proximal ear 452. The cam 422 may include any suitable cam structure, such as a continuous cam pin, a split cam pin, a separate cam pin, a cam boss, etc.

[0070] The gripper member 164 is pivotally mounted relative to the inner shaft 153 via pivot 412 and is operably connected to the outer shaft 152 via cam 422, enabling the gripper member 164 to be actuated in response to movement of the outer shaft 152 about the inner shaft 153. More specifically, sliding of the outer shaft 152 about and relative to the inner shaft 153 pushes the cam 422 to move relative to the lower portion 453b of the first proximal ear 452, thereby pivoting the gripper member 164 about pivot 412 and relative to the ultrasonic blade 162 between an open position and a closed position. The gripper actuation mechanism 400 is configured as a pull-closing mechanism, wherein proximal movement of the outer shaft 152 pivots the gripper member 164 toward the closed position (and therefore, distal movement of the outer shaft 152 pivots the gripper member 164 toward the open position), but a push-closing mechanism is also conceivable (where distal movement of the outer shaft 152 pivots the gripper member 164 toward the closed position, and therefore, proximal movement of the outer shaft 152 pivots the gripper member 164 toward the open position). Further, as described above, it is conceivable that in some respects, the outer shaft 152 remains stationary while the inner shaft 153 is movable to achieve the pivoting of the gripper member 164 relative to the ultrasonic blade 162 as detailed above.

[0071] Continue to refer to Figures 4 to 6B The distal body 456 of the structural frame 450 of the gripper member 164 extends distally from the proximal auricles 452, 454 and is configured to at least partially conform to the curvature of the ultrasonic blade 162, such that tissue can be clamped between the gripper member 164 and the ultrasonic blade 162 at any location along the length of the exposed portion of the ultrasonic blade 162 (e.g., the portion of the ultrasonic blade 162 extending distally from the gripper actuation mechanism 400). The distal body 456 retains the gripper liner 460 thereon in any suitable manner, such as forging, adhesion, overmolding, mechanical clamping, or combinations thereof.

[0072] refer to Figure 6A and Figure 6B The gripper liner 460 is positioned opposite and aligned with the ultrasonic blade 162 (and in some respects, contacts the ultrasonic blade 162 when the gripper member 164 is in the closed position), and is made of a compliant material, such as polytetrafluoroethylene (PTFE), silicone, or other suitable compliant material. The compliance of the gripper liner 460, along with its alignment relative to the ultrasonic blade 162, enables the clamping of tissue between the gripper liner 460 and the ultrasonic blade 162, and also allows the ultrasonic blade 162 to vibrate while in contact with the gripper liner 460 (direct or indirect contact with the tissue clamped therebetween) without damaging the ultrasonic surgical instrument 100. Figure 1 The components will not impair the retention of tissue clamped between the gripper member 164 and the ultrasonic blade 162.

[0073] Combination Figures 4 to 6B refer to Figure 7A and Figure 7B The description includes a gripper actuation mechanism 400. As described above, the gripper actuation mechanism 400 includes: a first arm 410 extending from an inner shaft 153 to pivotally mount a gripper member 164 at a distal portion of the inner shaft 153; and a second arm 420 extending from an outer shaft 152 to operatively connect the gripper member 164 to a distal portion of the outer shaft 152.

[0074] The first arm 410 may be formed from the inner shaft 153 such that the first arm 410 and the inner shaft 153 are integrally formed from the same material and of the same thickness. More specifically, regarding the formation of the first arm 410 from the inner shaft 153, although the body of the inner shaft 153 is generally tubular, the distal portion of the tubular inner shaft 153 may be selectively manipulated via cutting (e.g., laser cutting), material removal, and / or bending (e.g., stamping) to form the distal portion of the tubular inner shaft 153 into the first arm 410. However, other configurations are also contemplated, for example, in which the first arm 410 is formed separately and subsequently attached (e.g., via welding) to the distal end of the inner shaft 153.

[0075] The first arm 410 includes a curved body 414 attached to and extending distally from a tubular inner shaft 153. The cam body 414 is aligned with the tubular inner shaft 153 and defines a radius of curvature substantially equal to the radius of the tubular inner shaft, such that the curved body conforms to the outer contour of the tubular inner shaft 153. The curved body 414 is asymmetrically positioned relative to a vertical plane defined through the longitudinal axis “X”, such that the first side edges 415a and second side edges 415b of the curved body 414 are misaligned with each other. The first arm 410 further includes a first lug 416 and a second lug 418 hanging from the respective first side edges 415a and second side edges 415b of the curved body 414. The first lug 416 and the second lug 418 define a substantially planar configuration and are substantially vertically oriented. However, at least in part due to the asymmetrical configuration of the curved body 414 detailed above, the first lug 416 and the second lug 418 are offset from each other. More specifically, the first ear 416 is laterally opposed to a portion of the curved body 414 of the first arm 410, while the first arm 410 is not included in any portion laterally opposed to the second ear 418. That is, the second ear 418 extends further toward the horizontal plane defined by the longitudinal axis “X” compared to any other portion of the first ear 416 or the first arm 410. With the first ear 416 extending less than the second ear 418 as detailed above, clearance space is provided for the second arm 420, as detailed below.

[0076] The first lug 416 and the curved body 414 define aligned pivot orifices 417a, 417b, which are configured to align with each other and with pivot orifices 453c, 455c of the structural frame 450 of the gripper member 164 for receiving a pivot 412 through the pivot orifices 417a, 417b, 453c, 455c, thereby pivotally mounting the gripper member 164 to the first arm 410 of the gripper actuation mechanism 400. The first proximal lug 452 and the second proximal lug 454 of the structural frame 450 of the gripper member 164 are located outside the first lug 416 and the second lug 418 of the first arm 410, although other configurations are also conceivable. Configurations (e.g., the first proximal ear 452 and the second proximal ear 454 of the structural frame 450 of the gripper member 164 are nested between the first ear 416 and the second ear 418 of the first arm 410, or the first proximal ear 452 and the second proximal ear 454 of the structural frame 450 of the gripper member 164 define an offset configuration: wherein one of the first proximal ear 452 and the second proximal ear 454 of the gripper member 164 is disposed inside the corresponding ear 416, 418 of the first arm 410, and the other of the first proximal ear 452 and the second proximal ear 454 of the gripper member 164 is disposed outside the corresponding ear 416, 418 of the first arm 410).

[0077] As detailed above, when the gripper member 164 is pivotally mounted to the first arm 410, the first lug 416 of the first arm 410 is positioned adjacent to the upper portion 453a of the first proximal lug 452 of the structural frame 450 of the gripper member 164 and is oriented substantially parallel to that upper portion. The second lug 418 of the first arm 410 is positioned adjacent to the lower portion 455b of the second proximal lug 454 of the structural frame 450 of the gripper member 164 and is oriented substantially parallel to that lower portion. The upper portion 455a of the second proximal lug 454 is positioned adjacent to a portion of the curved body 414 and is substantially complementary to that portion. These adjacent and parallel or complementary structures serve as guiding features to maintain the alignment of the gripper member 164 and inhibit tilting or opening of the gripper member 164 when it is actuated between an open and closed position via the gripper actuation mechanism 400 (see also...). Figure 8B Specifically, the substantially complementary curvatures of the upper portion 455a of the second proximal ear 454 and the curved body 414 of the first arm 410 serve as a guide structure on the second side of the vertical plane defined by the longitudinal axis "X" to provide additional stability and support to counteract the effects of the second arm 420 being positioned on and connected to the gripper member 164 on the first and second sides of the vertical plane defined by the longitudinal axis "X" (see also...). Figure 8B ).

[0078] Continue to combine Figures 4 to 6B refer to Figure 7A and Figure 7B The second arm 420 of the gripper actuation mechanism 400 extends distally from the outer shaft 152. The second arm 420 may be formed from the outer shaft 152 such that the second arm 420 and the outer shaft 152 are integrally formed from the same material and of the same thickness. More specifically, regarding the formation of the second arm 420 from the outer shaft 152, although the body of the outer shaft 152 is generally tubular, the distal portion of the tubular outer shaft 152 may be selectively manipulated via cutting (e.g., laser cutting), material removal, and / or bending (e.g., stamping) to form the distal portion of the tubular outer shaft 152 into the second arm 420. However, other configurations are also contemplated, for example, where the second arm 420 is formed separately and subsequently attached (e.g., via welding) to the distal end of the outer shaft 152.

[0079] The second arm 420 includes a curved body 424 and a first post 426 and a second post 428. The curved body 424 is attached to and extends distally from a tubular outer shaft 152, defining a radius of curvature substantially equal to the radius of the tubular outer shaft 152, and includes an upper edge 425a and a lower edge 425b. The first post 426 and the second post 428 extend from the respective upper edge 425a and lower edge 425b of the curved body 424. More specifically, the second arm 420 is bent approximately 180 degrees at the upper edge 425a of the curved body 424, such that the first post 426 extends vertically in a relationship spaced inwardly from the curved body 424. In some respects, the first post 426 defines a substantially planar configuration and, as described above, is substantially vertically oriented.

[0080] The second arm 420 bends at its lower edge 425b at an angle of at least about 90 degrees but less than 180 degrees (due to the curvature of the bent body 424), such that the second post 428 extends vertically relative to the first post 426 in an inwardly spaced and substantially parallel relationship. In some respects, the second post 428 defines a substantially planar configuration and, as described above, is substantially vertically oriented. Other configurations are also conceivable.

[0081] As detailed above, the first post 426 and the second post 428 extend in opposite directions relative to each other in a spaced-apart and substantially parallel relationship. A channel 430 is defined between the first post 426 and the second post 428 to receive the lower portion 453b of the first proximal ear 452 of the structural frame 450 of the gripper member 164. The lateral width of the channel 430 can substantially approximate the thickness of the lower portion 453b of the first proximal ear 452 of the structural frame 450 of the gripper member 164 to suppress tilting. This helps to maintain the alignment of the gripper member 164 and suppress tilting or opening of the gripper member 164 when it is actuated between an open and closed position via the gripper actuation mechanism 400. Additionally, when the first post 426 folds back along the curved body 424, the first post not only provides additional structural support for the second arm 420, but can also be used as a spring finger to provide an offset that reduces the width of the channel 430 (and / or provides an offset to inhibit the expansion of the width of the channel 430), thus additionally helping to maintain the alignment of the gripper member 164 and inhibit the tilting or opening of the gripper member 164.

[0082] At least the first post 426, and in some respects the bent body 424 and / or the second post 428, respectively define slots 436, 434, 438 therein. Slots 436, 434, 438 may be substantially vertical, or in other respects may be curved and / or angled, for example, to adjust the force applied to the tissue via the gripper member 164 and / or to guide the gripper member 164 to close parallel (or more parallel) relative to the blade 162. In some respects where the bent body 424 includes slots 434, slots may be formed in the second arm 420 prior to bending to form the first post 426, such that slots 436, 434 share a common open upper end when bent. Alternatively, slots 436, 434 may define individual (open or closed) configurations. In some respects provided, slot 438 of the second post 428 may define an open upper end (as shown) or may alternatively define a closed configuration. Slots 436, 434, and 438 are configured to receive cam 422 when the lower portion 453b of the first proximal ear 452 is received within the channel 430, thereby operatively connecting the gripper member 164 and the second arm 420 (and thus the outer shaft 152) to each other.

[0083] With the cam 422 received within slots 436, 434, 438, the walls defining the slots 436, 434, 438 (e.g., substantially vertical or otherwise configured walls) advance the cam 422 distally or proximally in response to movement of the outer shaft 152 (wherein the direction of advance depends on the direction of movement of the outer shaft 152), thereby causing the gripper member 164 to pivot about pivot 412 and relative to the ultrasonic blade 162. Although the slots 436, 434, 438 substantially constrain the cam 422 longitudinally, the slots 436, 434, 438 allow the cam 422 to slide substantially vertically (or at an angle or bend in some respects) through them, so that the cam 422 can follow a substantially curved path as it orbits about pivot 412 during pivoting of the gripper member 164 between the open and closed positions.

[0084] Turn Figure 8A and Figure 8B It details the configuration for use with surgical system 10 ( Figure 1 Another gripper actuation mechanism 800 is used in conjunction with the end effector assembly 160 of the surgical instrument 100, but the gripper actuation mechanism 800 can be similarly used with the surgical instrument 20. Figure 2 ), Robotic Surgical System 1000 ( Figure 3 It can be used with and / or any other suitable surgical instruments or systems. Further, the gripper actuation mechanism 800 is similar to the gripper actuation mechanism 400 ( Figures 4 to 7B It may include any of its features unless explicitly stated otherwise below. Accordingly, for the sake of brevity, only gripper actuation mechanism 800 and gripper actuation mechanism 400 will be described in detail below. Figures 4 to 7B The differences between them are briefly described or the similarities are omitted entirely.

[0085] The gripper actuation mechanism 800 includes a first arm 810 extending from an inner shaft 153 and a second arm 820 extending from an outer shaft 152. The first arm 810 can be coupled to the first arm 410 as detailed above. Figures 4 to 7B The same applies to the first arm 810, and therefore, some features of the first arm 810 are described above regarding the first arm 410 ( Figures 4 to 7B The same reference numerals as those detailed in the figures are used for identification. The second arm 820 is formed separately from the outer shaft 152 and is attached to the outer shaft 152 during manufacturing, so as to allow the second arm 820 to define a wall thickness greater than that of the outer shaft 152 in some respects, but other configurations including integrally formed configurations are also contemplated.

[0086] The second arm 820 includes a partial annular lip 822 and a generally U-shaped body 824. The annular lip 822 is configured to cover a portion of the inner surface of the outer shaft 152 and / or the distal surface of the outer shaft 152 to provide a suitable surface area for securing the second arm 820 relative to the outer shaft 152, for example, by welding, adhesion, mechanical joining or any other suitable means.

[0087] The generally U-shaped body 824 of the second arm 820 extends distally from the annular lip 822 and defines a base 825 aligned with the outer axis 152 and having a radius of curvature substantially equal to that of the outer axis 152; however, other configurations are also conceivable, such as one in which the base 825 is substantially flat. The first post 826 and the second post 828 extend from opposite ends of the body 824 and define generally planar configurations, oriented substantially vertically and substantially parallel to each other to define a channel 830 therebetween. The channel 830 is configured to receive the lower portion 453b of the first proximal ear 452 of the structural frame 450 of the gripper member 164.

[0088] The first post 826 and the second post 828 further include slots 836, 838 defined therein, which may be open-end slots or closed-end slots. The slots 836, 838 are configured to receive a cam 422 when the lower portion 453b of the first proximal lug 452 is received within the channel 830, thereby operatively connecting the gripper member 164 and the second arm 820 (and therefore, the outer shaft 152) to each other, similar to that detailed above with respect to the gripper actuation mechanism 400. Figures 4 to 7B ).

[0089] Some aspects of this disclosure can be further described by referring to the following numbered paragraphs:

[0090] 1. An ultrasonic surgical instrument, comprising: a curved ultrasonic blade including a top side, a bottom side, a convex side, and a concave side; a gripper member movable between an open position and a closed position for clamping tissue against the top side of the curved ultrasonic blade, the gripper member including a first proximal auricle disposed on the concave side of the curved ultrasonic blade and a second proximal auricle disposed on the convex side of the curved ultrasonic blade, the first proximal auricle defining a height greater than the height of the second proximal auricle, such that a portion of the first proximal auricle extends beyond the second proximal auricle; and a gripper actuation mechanism including: a first arm pivotally connected on the top side of the curved ultrasonic blade to the first proximal auricle and the second proximal auricle; and a second arm operably coupled on the concave side of the curved ultrasonic blade to said portion of the first proximal auricle, wherein movement of at least one of the first arm or the second arm relative to the other of the first arm or the second arm moves the gripper member between the open position and the closed position.

[0091] 2. The ultrasonic surgical instrument according to paragraph 1, wherein the second arm includes a first post and a second post, the first post and the second post defining a channel therebetween, and wherein said portion of the first proximal ear is received within said channel.

[0092] 3. The ultrasonic surgical instrument according to paragraph 2, wherein at least one of the first post or the second post defines a slot, and wherein said portion of the first proximal ear includes a cam received within said slot.

[0093] 4. The ultrasonic surgical instrument according to paragraph 2, wherein the first post defines a spring finger configured to maintain the alignment of the portion of the first proximal ear within the channel.

[0094] 5. The ultrasonic surgical instrument according to paragraph 1 further includes a first axis and a second axis, the first arm being fixed relative to the first axis and extending distally from the first axis, and the second arm being fixed relative to the second axis and extending distally from the second axis, wherein one of the first axis or the second axis is movable relative to the other of the first axis or the second axis, thereby causing at least one of the first arm or the second arm to move relative to the other of the first arm or the second arm.

[0095] 6. The ultrasonic surgical instrument according to paragraph 5, wherein at least one of the following is satisfied: the first arm includes a portion corresponding to a portion of the outer periphery of the first axis; or the second arm includes a portion corresponding to a portion of the outer periphery of the second axis.

[0096] 7. The ultrasonic surgical instrument according to paragraph 1, wherein the first proximal ear flap defines a substantially planar configuration, and wherein the second proximal ear flap includes a curved portion.

[0097] 8. The ultrasonic surgical instrument according to paragraph 7, wherein the first arm includes a curved portion, and wherein the curved portion of the second proximal ear is complementary to the curved portion of the first arm, such that the curved portion of the first arm and the curved portion of the second proximal ear cooperate to guide the gripper member during movement of the gripper member between the open position and the closed position.

[0098] 9. The ultrasonic surgical instrument according to paragraph 8, wherein the second proximal ear further includes a substantially planar portion extending from the curved portion, wherein the first arm includes a substantially planar portion extending from the curved portion, and wherein the substantially planar portion of the first arm and the substantially planar portion of the second proximal ear cooperate to guide the gripper member during movement of the gripper member between the open position and the closed position.

[0099] 10. The ultrasonic surgical instrument according to paragraph 7, wherein a pivot pivotally connects the first arm to the curved portions of the first proximal ear and the second proximal ear.

[0100] 11. An ultrasonic surgical instrument comprising: a shaft assembly including a first shaft and a second shaft, at least one of the first shaft or the second shaft being movable relative to the other of the first shaft or the second shaft; an ultrasonic blade extending distally from the shaft assembly and including a top side, a bottom side, a first lateral side, and a second lateral side; and a gripper member extending distally from the shaft assembly, the gripper member being pivotally mounted about a pivot relative to the second shaft and movable about the pivot between an open position and a closed position to clamp tissue against the top side of the ultrasonic blade, wherein the gripper member is operably coupled to the first shaft only on the first lateral side of the ultrasonic blade, the gripper member being operably coupled to the first shaft such that movement of at least one of the first shaft or the second shaft relative to the other of the first shaft or the second shaft causes the gripper member to move about the pivot between the open position and the closed position.

[0101] 12. The ultrasonic surgical instrument according to paragraph 11, wherein the actuating arm operably connects the gripper member to the first shaft only on a first lateral side of the ultrasonic blade, the actuating arm including a first post and a second post defining a channel therebetween, and the gripper member including an ear received within the channel.

[0102] 13. The ultrasonic surgical instrument according to paragraph 12, wherein at least one of the first post or the second post defines a slot, and wherein the ear includes a cam received within the slot.

[0103] 14. The ultrasonic surgical instrument according to paragraph 12, wherein the first post defines a spring finger configured to maintain the earpiece aligned within the channel.

[0104] 15. The ultrasonic surgical instrument according to paragraph 12, wherein the actuating arm is fixed relative to the first axis and extends distally from the first axis.

[0105] 16. The ultrasonic surgical instrument according to paragraph 12, wherein a portion of the actuating arm defines an extension of the outer periphery of a portion of the first shaft.

[0106] 17. The ultrasonic surgical instrument according to paragraph 11, wherein a pivot arm pivotally connects the gripper member to the second shaft, the pivot arm being disposed on the top side of the ultrasonic blade.

[0107] 18. The ultrasonic surgical instrument according to paragraph 17, wherein the pivot arm and the gripper member define complementary, at least partially curved guide surfaces only on the second lateral side of the ultrasonic blade.

[0108] 19. The ultrasonic surgical instrument according to paragraph 17, wherein a portion of the pivot arm defines an extension of the outer periphery of a portion of the second shaft.

[0109] 20. The ultrasonic surgical instrument according to paragraph 11, wherein the ultrasonic blade is curved such that the first lateral side is concave and the second lateral side is convex.

[0110] While several aspects of this disclosure have been detailed above and illustrated in the accompanying drawings, they are not intended to be limited thereto, as the scope of this disclosure is intended to be as broad as permissible in the art, and is intended to be read in the same manner. Therefore, the foregoing description and drawings should not be construed as limiting, but rather as exemplary of particular aspects only. Other modifications within the scope and spirit of the appended claims will be contemplated by those skilled in the art.

Claims

1. An ultrasonic surgical instrument (100), comprising: An ultrasonic blade (162) includes a top side (436), a bottom side (438), a first lateral side (434), and a second lateral side (432). A gripper member (164) movable between an open position and a closed position to clamp tissue against the top side (436) of the ultrasonic blade (162), the gripper member (164) including a first proximal ear (452) disposed on a second lateral side (432) of the ultrasonic blade (162) and a second proximal ear (454) disposed on the first lateral side (434) of the ultrasonic blade (162), wherein a portion of the first proximal ear (452) extends beyond the second proximal ear (454); and Gripper actuation mechanism (400, 800), the gripper actuation mechanism comprising: A first arm (410, 810) is pivotally connected on the top side (436) of the ultrasonic blade (162) to the first proximal earpiece (452) and the second proximal earpiece (454); and The second arm (420, 820), which is operably coupled to a portion of the first proximal earpiece (452) on the second lateral side (432) of the ultrasonic blade (162), The movement of at least one of the first arm (410, 810) or the second arm (420, 820) relative to the other of the first arm (410, 810) or the second arm (420, 820) causes the gripper member (164) to move between the open position and the closed position.

2. The ultrasonic surgical instrument (100) according to paragraph 1, wherein, The second arm (420, 820) includes a first post and a second post, the first post and the second post defining a channel (430, 830) therebetween, and wherein said portion of the first proximal ear (452) is received within the channel (430, 830).

3. The ultrasonic surgical instrument (100) as described in paragraph 2, wherein, At least one of the first or second pillars defines a slot (436, 434, 438, 836, 838), and wherein said portion of the first proximal ear (452) includes a cam (422) received within the slot (436, 434, 438, 836, 838).

4. The ultrasonic surgical instrument (100) as described in paragraph 2 or 3, wherein, The first post defines a spring finger (426) configured to maintain the alignment of the portion of the first proximal ear (452) within the channel (430).

5. The ultrasonic surgical instrument (100) according to any of the preceding paragraphs further includes a first axis (154) and a second axis (152), the first arm (410, 810) being fixed relative to the first axis (154) and extending distally from the first axis, and the second arm (420, 820) being fixed relative to the second axis (152) and extending distally from the second axis, wherein, One of the first shaft (154) or the second shaft (152) is movable relative to the other of the first shaft (154) or the second shaft (152), thereby causing at least one of the first arm (410, 810) or the second arm (420, 820) to move relative to the other of the first arm (410, 810) or the second arm (420, 820).

6. The ultrasonic surgical instrument (100) as described in paragraph 5, wherein: The first arm (410, 810) includes a portion that corresponds to a portion of the outer periphery of the first shaft (154); or The second arm (420, 820) includes a portion that corresponds to a portion of the outer periphery of the second shaft (152).

7. The ultrasonic surgical instrument (100) as described in paragraph 5, wherein: The first arm (410, 810) includes a portion that corresponds to a portion of the outer periphery of the first shaft (154); and The second arm (420, 820) includes a portion that corresponds to a portion of the outer periphery of the second shaft (152).

8. The ultrasonic surgical instrument (100) according to any of the preceding paragraphs, wherein, The first proximal ear piece (452) defines a substantially planar configuration, and wherein the second proximal ear piece (454) includes a curved portion.

9. The ultrasonic surgical instrument (100) as described in paragraph 8, wherein, The first arm (410, 810) includes a curved portion, and wherein the curved portion of the second proximal ear (454) is complementary to the curved portion of the first arm (410, 810).

10. The ultrasonic surgical instrument (100) according to paragraph 9, wherein, The curved portion of the first arm (410, 810) and the curved portion of the second proximal ear (454) cooperate to guide the gripper member (164) during movement between the open position and the closed position.

11. The ultrasonic surgical instrument (100) described in any one of paragraphs 8 to 10, wherein, The second proximal ear (454) further includes a substantially planar portion extending from the curved portion, and wherein the first arm (410, 810) includes a substantially planar portion extending from the curved portion.

12. The ultrasonic surgical instrument (100) as described in paragraph 11, wherein, The substantially planar portion of the first arm (410, 810) and the substantially planar portion of the second proximal ear (454) cooperate to guide the gripper member (164) during movement between the open position and the closed position.

13. The ultrasonic surgical instrument (100) described in any one of paragraphs 7 to 12, wherein, The pivot (412) pivotally connects the first arm (410, 810) to the curved portions of the first proximal ear (452) and the second proximal ear (454).

14. The ultrasonic surgical instrument (100) according to any of the preceding paragraphs, wherein, The ultrasonic blade (162) is curved such that the first lateral side (434) is convex and the second lateral side (432) is concave.

Images