Cam slot configuration for surgical instruments

Abstract

A surgical instrument includes a pivot pin, a cam pin, and a first gripper member and a second gripper member, the first gripper member and the second gripper member being pivotally connected to each other about the pivot pin. The first gripper member defines a cam slot receiving the cam pin, such that movement of the cam pin through the cam slot causes the first gripper member to pivot relative to the second gripper member from a spaced-apart position toward an approach position to grasp tissue between the first and second gripper members. At least a portion of the cam slot defines an elliptical arc to facilitate the application of a substantially constant gripping force from the first gripper member to the tissue grasped between the first and second gripper members when the cam pin is positioned at any position within that portion of the cam slot.

Description

Cross-references to related applications

[0001] This application claims priority to U.S. Provisional Patent Application No. 63 / 620,541, filed January 12, 2024, which is incorporated herein by reference in its entirety. Technical Field

[0002] This disclosure relates to surgical instruments, and more specifically to cam slot configurations for surgical instruments, for example, for providing substantially constant gripping force to tissue held between gripper components of the surgical instrument. Background Technology

[0003] Various surgical instruments employ cam mechanisms to actuate one or more operable parts of the instrument. Surgical clamps, for example, are forceps-like instruments that rely on the mechanical action between their jaw members to grasp, clamp, and contract tissue. Electrosurgical clamps utilize mechanical clamping action and use energy to heat tissue for treatment (e.g., coagulation, cauterization, or sealing). Such electrosurgical clamps may include one or more cam mechanisms to enable selective closure of the jaw members to grasp tissue for treatment. Summary of the Invention

[0004] As used herein, the term "distal" refers to the portion described as being further away from the operator (whether a human user or a surgical robot), while the term "proximal" refers to the portion described as being closer to the operator. As utilized herein, terms including "approximately," "about," "substantially," etc., are intended to encompass variations of up to and including ±10% (e.g., manufacturing tolerances, material tolerances, usage tolerances and environmental tolerances, measurement variations, design variations, and / or other variations). Furthermore, to a consistent extent, any or all aspects detailed herein may be used in conjunction with any or all other aspects detailed herein.

[0005] According to this disclosure, a surgical instrument is provided comprising a pivot pin, a cam pin, and a first gripper member and a second gripper member, the first gripper member and the second gripper member being pivotally connected to each other about the pivot pin. The first gripper member defines a cam slot receiving the cam pin such that movement of the cam pin through the cam slot causes the first gripper member to pivot relative to the second gripper member from a spaced-apart position toward an approach position to grasp tissue between the first and second gripper members. The second gripper member may be fixed (defining a unilateral configuration) or may also pivot relative to the first gripper member between a spaced-apart position and an approach position (defining a bilateral configuration). At least a portion of the cam slot defines an elliptical arc to facilitate the application of a substantially constant gripping force from the first gripper member to the tissue grasped between the first and second gripper members when the cam pin is positioned at any position within that portion of the cam slot.

[0006] In one aspect of this disclosure, the elliptical arc is defined by an eccentricity of approximately 0.70 to approximately 0.90.

[0007] In another aspect of this disclosure, the elliptical arc deviates from the regular ellipse by less than or equal to about 0.006 inches at any point along the elliptical arc in any direction perpendicular to the regular ellipse.

[0008] In another aspect of this disclosure, the elliptical arc is positioned between the vertices and common vertices of the ellipse that defines the elliptical arc. In another aspect, the elliptical arc intersects with the vertices or common vertices of the ellipse that defines the elliptical arc.

[0009] In another aspect of this disclosure, this portion of the cam slot is the operating portion of the cam slot, defined between the nearest and farthest positions of the cam pin within the cam slot. In this respect, the nearest position may be spaced distally from the proximal end of the cam slot, and / or the farthest position may be spaced proximally from the distal end of the cam slot. Thus, this portion of the cam slot may be smaller than the entire extent of the cam slot.

[0010] In another aspect of this disclosure, the surgical instrument further includes a drive assembly comprising a compression spring and a drive shaft that connects the compression spring to a cam pin, such that translation of the compression spring causes translation of the drive shaft, thereby moving the cam pin through a cam slot. In this respect, the cam slot may define a first section and a second section. The movement of the cam pin through the first section of the cam slot is substantially independent of the spring force associated with the compression spring, and wherein the movement of the cam pin through the second section of the cam slot depends on the spring force associated with the compression spring. This portion of the cam slot may include the first section and / or the second section.

[0011] In another aspect of this disclosure, the cam slot is configured such that a cam pin moves a distance through a first section of the cam slot to pivot the first gripper member relative to the second gripper member by a first angular amount, and wherein the cam pin moves this distance through a second section of the cam slot to pivot the first gripper member relative to the second gripper member by a different second angular amount.

[0012] Another surgical instrument provided according to this disclosure includes a drive assembly, a cam pin, and a first gripper member and a second gripper member. The drive assembly includes a compression spring and a drive shaft. Translation of the compression spring causes translation of the drive shaft. The drive shaft engages with the cam pin such that translation of the drive shaft causes movement of the cam pin. The first gripper member and the second gripper member are pivotally connected to each other, and the first gripper member defines a cam slot in which the cam pin is received, such that movement of the cam pin through the cam slot causes the first gripper member to pivot relative to the second gripper member from a spaced-apart position toward an approach position to grasp tissue between the first gripper member and the second gripper member. The second gripper member may be fixed (defining a unilateral configuration) or may also pivot relative to the first gripper member between a spaced-apart position and an approach position (defining a bilateral configuration). At least a portion of the cam slot defines an elliptical arc to facilitate the application of a substantially constant gripping force from the first gripper member to the tissue grasped between the first gripper member and the second gripper member when the cam pin is positioned in any position within that portion of the cam slot.

[0013] In one aspect of this disclosure, the elliptical arc is defined by an eccentricity of approximately 0.70 to approximately 0.90.

[0014] In another aspect of this disclosure, the elliptical arc deviates from the regular ellipse by less than or equal to about 0.006 inches at any point along the elliptical arc in any direction perpendicular to the regular ellipse.

[0015] In another aspect of this disclosure, the elliptical arc is positioned between the vertices and common vertices of the ellipse that defines the elliptical arc. In another aspect, the elliptical arc intersects with the vertices or common vertices of the ellipse that defines the elliptical arc.

[0016] In another aspect of this disclosure, this portion of the cam slot is the operating portion of the cam slot, defined between the nearest and farthest positions of the cam pin within the cam slot. In this respect, the nearest position may be spaced distally from the proximal end of the cam slot, and / or the farthest position may be spaced proximally from the distal end of the cam slot. Thus, this portion of the cam slot may be smaller than the entire extent of the cam slot.

[0017] In another aspect of this disclosure, the cam slot defines a first section and a second section. The movement of the cam pin through the first section of the cam slot is substantially independent of the spring force associated with the compression spring, and the movement of the cam pin through the second section of the cam slot depends on the spring force associated with the compression spring. This portion of the cam slot may include the first section and / or the second section.

[0018] In another aspect of this disclosure, the cam slot is configured such that a cam pin moves a distance through a first section of the cam slot to pivot the first gripper member relative to the second gripper member by a first angular amount, and wherein the cam pin moves this distance through a second section of the cam slot to pivot the first gripper member relative to the second gripper member by a different second angular amount.

[0019] In another aspect of this disclosure, the drive assembly is driven by a manually actuated handle. Alternatively, the drive assembly may be driven by a robotic arm. Attached Figure Description

[0020] The above and other aspects and features of this disclosure will become clearer when considered in conjunction with the accompanying drawings, in which the same reference numerals identify similar or identical elements.

[0021] Figure 1 This is a side view of an electrosurgical system according to the disclosure, which includes electrosurgical clamps and an electrosurgical generator;

[0022] Figure 2 yes Figure 1 A lateral sectional view of the proximal portion of the electrosurgical clamp of the system;

[0023] Figure 3 It is along Figure 2 The top longitudinal section view taken by section line 3-3;

[0024] Figure 4 It is a perspective view of the end effector assembly of an electrosurgical clamp, wherein the first jaw member and the second jaw member of the end effector assembly are positioned at a distance from each other.

[0025] Figure 5 It is a side view of the end effector assembly of an electrosurgical clamp, wherein the first jaw member and the second jaw member are positioned in a first proximity position;

[0026] Figure 6 It is a side view of the end effector assembly of an electrosurgical clamp, wherein the first jaw member and the second jaw member are positioned in a second further approach position;

[0027] Figure 7This is a side view of a proximal portion of one of the gripper components of an end effector assembly of an electrosurgical clamp according to this disclosure, the gripper component including a cam slot configuration.

[0028] Figure 8 This is a side view of another gripper component according to this disclosure, which is configured for use with the end effector assembly of an electrosurgical clamp and includes another cam slot configuration;

[0029] Figure 9 A schematic diagram of the robotic surgical system provided in this disclosure; and

[0030] Figure 10 It is provided in accordance with this disclosure and is constructed to be consistent with Figure 9 A stereoscopic view of another electrosurgical clamp used in conjunction with the robotic surgical system. Detailed Implementation

[0031] This disclosure provides a cam-slot configuration for surgical instruments, such as electrosurgical clamps. The cam-slot configuration of this disclosure provides a substantially constant clamping force to tissue grasped between the clamping members of the electrosurgical clamp through a wide range of clamping angles (defined as the angles between the tissue contact surfaces of the clamping members), thereby enabling the appropriate application of clamping forces to tissues of varying thicknesses and / or compressibility to facilitate the handling (e.g., sealing) of tissues of different thicknesses and / or compressibility, including blood vessels up to 10 mm in diameter in all aspects and greater than 10 mm in all aspects. However, aspects and features of this disclosure are also applicable to other surgical instruments and / or for other purposes.

[0032] refer to Figure 1 The electrosurgical system 2 provided according to this disclosure includes an electrosurgical clamp 10 and an electrosurgical generator 18. The clamp 10 includes a housing 20, a handle assembly 30, a rotation assembly 40, a trigger assembly 50, an activation assembly 60, an end effector assembly 70, and a drive assembly 80. Figure 2 The end effector assembly 70 includes a first gripper member 72 and a second gripper member 74, at least one of which is detachable relative to the other around a pivot pin 78. Figure 4The pivot pin is pivoted to grip tissue. As used herein, references to the pivot pin include both continuous pins and cotter pins, for example, where a first pin portion and a second pin portion cooperate to define the pivot pin. The end effector assembly 70 may further include a blade (not shown) operably coupled to the trigger assembly 50 such that the blade can selectively translate between the gripper members 72, 74 to cut tissue (e.g., previously sealed tissue) gripped between the gripper members 72, 74. Alternatively, the end effector assembly 70 may include an actuable cutting element, for example disposed on either or both of the gripper members 72, 74, configured to cut tissue gripped between the gripper members 72, 74 when the actuable cutting element is activated.

[0033] The clamp 10 further includes an outer shaft 12 defining a longitudinal axis “AA”. The outer shaft 12 has a proximal portion 12a operatively engaged with the housing 20 and a distal portion 12b operatively engaged with the end effector assembly 70. The clamp 10 also includes an electrosurgical cable 14 having a plug 16 configured to connect the clamp 10 to a generator 18, for example, such that the generator 18 can communicate with the clamp 10 and control the supply of electrosurgical energy to the end effector assembly 70 of the clamp 10 to seal tissue gripped between the first gripper member 72 and the second gripper member 74.

[0034] For further reference Figure 2 and Figure 3 The handle assembly 30 includes a fixed handle 32 and a movable handle 34. The fixed handle 32 is integrally associated with the housing 20, and the movable handle 34 is movable relative to the fixed handle 32 to actuate the drive assembly 80 of the clamp 10. More specifically, the movable handle 34 has an upper portion 34a that is pivotally fixed within the housing 20 and operatively engaged with the drive assembly 80. The drive assembly 80 includes a plurality of links 82, a carriage 84, a compression spring 86, and a drive shaft 88. The upper portion 34a of the movable handle 34 is operatively coupled to the links 82, which cooperate to move the carriage 84 distally against the compression spring 86 in response to actuation of the movable handle 34 toward the fixed handle 32. The carriage 84 moves distally against the compression spring 86, thereby adjusting the translation of the drive shaft 88 through the outer shaft 12 and relative to the end effector assembly 70, so that one or both of the gripper members 72, 74 move relative to each other, thereby gripping the tissue between the gripper members 72, 74 and adjusting the closing force applied to the tissue gripped between the gripper members 72, 74.

[0035] Also refer to Figure 4The carriage 84 resists the compression spring 86 to move distally. More specifically, it initially pushes the compression spring 86 to translate distally, thereby translating the drive shaft 88 distally through the outer shaft 12 to drive the cam pin 76 (which is fixed relative to the distal portion of the drive shaft 88) to move relative to each other through the cam slots 77, 79 defined in the respective first gripper member 72 and second gripper member 74. This causes the gripper member 72 to pivot about the pivot pin 78 and, for example, depending on the thickness and / or compressibility of the tissue disposed between the gripper members 72, 74, relative to the gripper member 74 from a spaced-apart position. Figure 4 ) Towards the appropriate proximity position ( Figure 5 and Figure 6 The mechanism pivots to grasp tissue between gripper members 72, 74 and apply a closing force to the grasped tissue. As an alternative to moving the drive shaft 88 distally to bring the gripper members 72, 74 closer together, a reverse configuration is also conceivable, for example, where the drive shaft 88 moves proximally to bring the gripper members 72, 74 closer together. As used herein, references to the cam pin include both continuous pins and cotter pins, for example, where a first pin portion and a second pin portion cooperate to define the cam pin.

[0036] When the closing force applied to the tissue held between the first gripper member 72 and the second gripper member 74 reaches a threshold, the carriage 84 resists further distal movement of the compression spring 86 (e.g., in response to further actuation of the movable handle 34 toward the fixed handle 32) to compress the compression spring 86, thereby reducing or inhibiting further distal translation of the compression spring 86 (as the resistance applied by the tissue inhibits further closure of the gripper members 72, 74), thus reducing or eliminating the corresponding translation of the drive shaft 88 and the resulting pivoting of the first gripper member 72 and the second gripper member 74 to hold the tissue therebetween. In this way, the closing force applied to the tissue held between the gripper members 72, 74 is adjusted to maintain the closing force or to keep the closing force within the range of the closing force. In all respects, the compression spring 86 is fixed in a pre-compressed position within the drive assembly 80; therefore, the compression of the compression spring 86, as detailed herein, is relative to the initial state of the compression spring 86 within the drive assembly 80 (which may be a pre-compressed initial state or an uncompressed initial state).

[0037] In some respects, the closing force applied to the grasped tissue in the proximity position of the gripper members 72, 74 can be adjusted such that the closing pressure measured at the centroid of the gripper along the length of the gripper members 72, 74 can be in the range of about 70 psi to about 130 psi; in other respects, about 80 psi to about 120 psi; and in still other respects, about 90 psi to about 110 psi.

[0038] Continue to refer to Figures 1 to 4 The movable handle 34 includes a flange 36 extending proximally from its lower end portion 34b. The flange 36 is configured to extend through an aperture 31 defined within a fixed handle 32 and ultimately engage a latch 38 within the fixed handle 32, the latch being configured to selectively lock and unlock the fixed handle 32 and the movable handle 34 relative to each other when the movable handle 34 is fully actuated. Upon initial movement of the flange 36 through the aperture 31 to engage the latch 38, in response to initial actuation of the movable handle 34 toward the fixed handle 32, the fixed handle 32 and the movable handle 34 lock relative to each other, thereby latching the first gripper member 72 and the second gripper member 74 in an approach position. As flange 36 subsequently moves within orifice 31, in response to a subsequent actuation of movable handle 34 toward fixed handle 32, flange 36 disengages from latch 38, thereby unlocking fixed handle 32 and movable handle 34, allowing movable handle 34 to return to its initial position and gripper members 72, 74 to return to spaced-apart positions. In some aspects, flange 36 and latch 38 are omitted, and movable handle 34 is manually held in a proximal position relative to fixed handle 32, thereby holding first gripper member 72 and second gripper member 74 in a proximal position.

[0039] The lower portion 34b of the movable handle 34 further includes a gripping portion 37 configured for gripping and manipulating by a user. The gripping portion 37 includes a finger ring 39. The finger ring 39 can be closed (as shown) or open, for example, as defined by a shepherd's hook configuration. In either configuration, the interior of the finger ring 39 is configured to receive the user's fingers, enabling gripping and manipulating of the movable handle 34 relative to a fixed handle 32 configured for gripping by the user's palm and thumb.

[0040] The rotating assembly 40 includes a rotating wheel 42 that engages with an outer shaft 12 within the housing 20 and extends outward from either side of the housing 20, allowing a user to manually control, for example, the orientation of the outer shaft 12 and thus the end effector assembly 70 relative to the housing 20 by manipulating the rotating wheel 42. In some respects, the rotating assembly 40 can rotate infinitely in either direction about a longitudinal axis “AA” so that the end effector assembly 70 rotates similarly relative to the housing 20. Alternatively, the rotating assembly 40 may have a defined range of motion. In various respects, the rotating assembly 40 is positioned adjacent to the trigger assembly 50 to facilitate user manipulation of the rotating wheel 42 of the rotating assembly 40 with a finger, for example, allowing the user to move their trigger finger from the trigger 52 (or the finger ring 39 of the movable handle 34) to the rotating wheel 42 to manipulate the rotating wheel 42 to rotate the rotating assembly 40.

[0041] The activation component 60 is configured to signal the generator 18 to begin supplying electrosurgical energy to the first gripper member 72 and the second gripper member 74, thereby sealing the tissue. The activation component 60 includes an activation button 62 supported by the body 22 of the housing 20. The activation button 62 is movable between an inactive position and an activated position, thereby changing the underlying electrical switch 64 between a first state and a second state. The electrical switch 64 is further adapted to be electrically connected to the generator 18, for example via one or more electrical leads extending from the electrical switch 64 through the housing 20 and the electrosurgical cable 14 to the plug 16, so that the state of the electrical switch 64 can be transmitted to the generator 18. More specifically, the generator 18 can be configured to read the output of the corresponding pin of the plug 16, such as the presence and / or value of resistance, voltage, current, etc., to detect the state of the electrical switch 64, and thus detect whether the user has activated the activation button 62. For example, the generator 18 can read the first state of the electrical switch 64 as corresponding to an inactive state and the second state of the electrical switch 64 as corresponding to an active state.

[0042] In all aspects where the blade is provided, the trigger assembly 50 mechanically drives the blade relative to the gripper members 72, 74 to cut tissue held between the gripper members 72, 74, for example, once the gripped tissue is sealed. The blade can be configured to mechanically cut tissue when deployed between the gripper members 72, 74, or to electromechanically cut tissue, wherein the blade is actuated and deployed between the gripper members 72, 74 to cut tissue held therebetween. Alternatively, a static cutting element (mechanical or actuable) can be substantially fixed relative to either or both of the gripper members 72, 74 to cut tissue held therebetween when the cutting element is actuated and / or the gripper members 72, 74 are moved. In any actuable configuration, the trigger assembly 50 may include the following electrical switch (not shown) configured to interact with generator 18 ( Figure 1 ) communicate with generator 18 ( Figure 1 The signal is sent to initiate the supply of energy to the excitable cutting element (and in various aspects, either or both of the gripper members 72, 74) in response to the actuation of the trigger assembly 50, thereby cutting the tissue.

[0043] Go to Figures 2 to 6The end effector assembly 70 is described as a single-sided assembly, for example, in which the second gripper member 74 is fixed relative to the outer shaft 12, and the first gripper member 72 is pivotable relative to the second gripper member 74 and the outer shaft 12; however, a double-sided assembly is also conceivable, for example, in which both the first gripper member 72 and the second gripper member 74 are pivotable relative to each other and to the outer shaft 12. Further, in order to drive the cam pin 76 to move relative to each other through the cam slots 77, 79, the drive shaft 88 can be translated and fixed to the cam pin 76, and the outer shaft 12 can be translated and fixed to the pivot pin 78, such that translation of the drive shaft 88 causes the cam pin 76 to move relative to the gripper members 72, 74 (and therefore the cam slots 77, 79), thereby driving the cam pin 76 to move relative to each other through the cam slots 77, 79, so that the first gripper member 72 pivots toward the second gripper member 74. Alternatively, drive shaft 88 may be translated and fixed to pivot pin 78, and outer shaft 12 may be translated and fixed to cam pin 76, such that translation of drive shaft 88 causes jaw members 72, 74 (and therefore cam slots 77, 79) to move relative to cam pin 76, thereby driving cam pin 76 to move relative to cam slots 77, 79, so that the first jaw member 72 pivots toward the second jaw member 74. In any configuration or any other suitable configuration, when jaw member 72 pivots relative to jaw member 74, the jaw angle “α” defined between the tissue contact surface 73 of jaw member 72 and the tissue contact surface 75 of jaw member 74 ( Figure 5 )change.

[0044] Each gripper member 72, 74 of the end effector assembly 70 includes a conductive tissue contact surface 73, 75, respectively. The gripper members 72, 74 are configured to grasp tissue between the conductive tissue contact surfaces 73, 75 when in their approach position. The conductive tissue contact surfaces 73, 75 are adapted to extend, for example, via through the outer shaft 12, housing 20, and electrosurgical cable 14 to the plug 16. Figure 1 Suitable electrical leads, conductive structures, or combinations thereof are connected to generator 18. Figure 1 This allows the conductive tissue contact surfaces 73 and 75 to be excited with electrosurgical energy (e.g., radio frequency (RF) energy) at different potentials, so as to conduct the electrosurgical energy between and through the tissue held therein, thereby sealing the tissue.

[0045] Any one or both of the gripper members 72, 74 may further include one or more stop members 71 disposed on or otherwise associated with any one or both of the tissue contact surfaces 73, 75 to maintain a minimum clearance distance between the tissue contact surfaces 73, 75 (or maintain the clearance distance within a range between the tissue contact surfaces 73, 75) when the gripper members 72, 74 are in the fully proximal position, thereby suppressing electrical short circuits. The stop member 71 may be insulated, partially insulated, and / or electrically isolated from any one or both of the tissue contact surfaces 73, 75. In some aspects, the minimum clearance distance or clearance distance range may be about 0.001 inches to about 0.010 inches; in others, about 0.001 inches to about 0.008 inches; and in still others, about 0.001 inches to about 0.006 inches. Other suitable clearance distances and ranges are also contemplated. The clearance distance may be determined as the maximum clearance distance between the tissue contact surfaces 73, 75.

[0046] Continue to refer to Figures 4 to 6The gripper member 72 may include a single gripper flag 92 defining a cam slot 77 configured to receive a cam pin 76, or the gripper member may include a pair of spaced-apart gripper flags 92 defining aligned cam slots 77 configured to receive cam pins 76. Similarly, the gripper member 74 may include a single gripper flag 94 defining a cam slot 79 configured to receive a cam pin 76, or the gripper member may include a pair of spaced-apart gripper flags 94 defining aligned cam slots 79 configured to receive cam pins 76. When both gripper members 72 and 74 include a pair of spaced-apart gripper flags 92 and 94, these gripper flags 92 and 94 can be positioned in an overlapping offset relationship, for example, where one gripper flag 92 or 94 in each pair is disposed between the gripper flags 92 and 94 in the other pair, or the gripper flags can be arranged in a nested configuration, for example, where both gripper flags 92 and 94 in one pair are disposed between the gripper flags 92 and 94 in the other pair. When one gripper member 72 or 74 includes a pair of spaced-apart gripper flags 92 and 94 and the other gripper member 72 or 74 includes a single gripper flag 92 or 94, the single gripper flag 92 or 94 can be disposed between the pair of gripper flags 92 and 94 of the other gripper member 72 or 74, or can be disposed outside the two gripper flags 92 and 94 of the other gripper member 72 or 74. In cases where both gripper members 72, 74 include a single gripper flag 92, 94, the gripper flags 92, 94 are arranged side-by-side relative to each other (with or without an intermediate structure). For simplicity and without limitation, this document refers to the single gripper flag 92, 94 of each gripper member 72, 74. Please remember that the aspects and features detailed herein are equally applicable to a double-flag configuration of either or both of the gripper members 72, 74.

[0047] In unilateral configurations (e.g.) Figures 4 to 6 In the configuration shown, the cam slot 79 of the fixed second gripper member 74 is relative to the longitudinal axis "AA" ( Figure 1 The cam pin 76 extends linearly in a substantially parallel or coaxial orientation and serves to guide the translation of the cam pin 76. That is, since the fixed second gripper member 74 is stationary, the cam pin 76 does not need to apply force to achieve the movement of the fixed second gripper member 74. Therefore, the cam slot 79 can be provided for guiding purposes, or in other one-sided configurations, the cam slot 79 of the fixed second gripper member 74 can be omitted (and in various respects, part or all of its gripper flag 94 is omitted).

[0048] However, as stated above, a two-sided configuration is also conceivable in this disclosure. Therefore, although aspects and features of this disclosure are described in detail below with respect to the cam slot 77 of the movable first gripper member 72 in a one-sided configuration, the same aspects and features apply to a two-sided configuration, in which the second gripper member 74 is also movable, and the cam slot 79 of the second gripper member 74 is constructed in the same manner as the cam slot 77 of the first gripper member 72, except that the cam slot 79 of the second gripper member 74 is inverted relative to the cam slot 77 of the first gripper member 72. Thus, the two gripper members 72, 74 move equally (in terms of stroke and applied force) and oppositely between spaced-apart and approaching positions.

[0049] Whether provided in a single-sided or double-sided configuration, the cam pin 76 is constrained, for example, along axis “AA” ( Figure 1 Essentially, it translates longitudinally. This constraint on the cam pin 76 can be provided by the drive shaft 88. Figure 2 and Figure 3 For example, engagement of the cam pin 76 with the drive shaft 88 can be provided by the cam slot 79 (as described above), and / or can be provided by any other suitable structure associated with the shaft 12 and / or the end effector assembly 70 (see [link to documentation]). Figure 1 ).

[0050] The orientation and / or positioning of the cam slot 77 within the gripper flag 92 of the gripper member 72 may vary depending on, for example, the movable parts that bring the gripper members 72, 74 closer together; the relative direction of movement of the movable parts that bring the gripper members 72, 74 closer together; and / or the position of the cam slot 77 relative to the pivot pin 78. More specifically, as described above, and temporarily additionally referred to... Figure 2 and Figure 3 Translation of the drive shaft 88 can move the cam pin 76 through the cam slot 77, or alternatively, translation of the drive shaft 88 can move the cam slot 77 about the cam pin 76. Similarly, the gripper member 72 can be configured to move toward an approaching position in response to distal movement of the cam pin 76 relative to the cam slot 77. Figure 5 and Figure 6 Pivoting, or alternatively, the gripper member 72 may be configured to move toward an approaching position in response to the proximal movement of the cam pin 76 relative to the cam slot 77. Figure 5 and Figure 6 Pivoting. Additionally, the cam slot 77 may be positioned proximal to the pivot pin 78, or alternatively, distal to the pivot pin 78. As will be understood, the orientation and / or position of the cam slot 77 may vary depending on one or more of the above configurations. Therefore, although detailed below and in Figure 7 and Figure 8The diagram illustrates two exemplary positions and orientations of the cam slot, but this disclosure is not limited thereto; in fact, any suitable orientation and / or position of the cam slot may be provided.

[0051] Still referencing Figures 4 to 6 The configuration of the cam slot 77 affects the gripper force applied to the assembly disposed between the gripper members 72 and 74 at any given position of the cam pin 76 along the actuation travel path of the cam pin 76 through the cam slot 77. Similarly, the gripper force distribution depends at least in part on the configuration of the cam slot 77, and this gripper force distribution is defined as the angular position of the gripper member 72 relative to the gripper member 74 (e.g., the gripper angle "α"). Figure 5 The change in gripping force applied to the tissue disposed between the gripper members 72 and 74 in response to the movement of the cam pin 76 along the actuation travel path of the cam pin 76 through the cam slot 77. This is described in detail below and... Figure 7 and Figure 8 An exemplary cam slot configuration for use with gripper member 72 and / or any other suitable gripper member is shown in the figure.

[0052] Go to Figure 7 The diagram shows a cam slot 770 defined by a gripper flag 92 passing through the gripper member 72. The cam slot 770 is positioned proximally in a pivot position (e.g., defined by a pivot orifice 780) and is configured such that a cam pin 76 moves proximally through the cam slot 770, causing the gripper member 72 to move from a spaced-out position (e.g., position “L1” corresponding to the cam pin 76) to an approach position (e.g., position “L2” corresponding to the cam pin 76). However, as described above, other orientations and / or positions are also contemplated. Further, although regarding the electrosurgical clamp 10 ( Figure 1 The gripper component 72 is described in detail, but the cam slot 770 can be used additionally or alternatively in any other suitable surgical instrument.

[0053] In all aspects, the driver component is limited to 80 ( Figure 2 The stopping features of the range of motion (e.g., with movable handle 34 and / or drive assembly 80 (see...) Figure 2 The associated mechanical and / or software stops (e.g., in a powered or robotic implementation) limit the actuation travel path of the cam pin 76 through the cam slot 770 to less than the entire range of the cam slot 770. That is, instead of the cam pin 76 descending to its lowest point at the distal end 772 and / or proximal end 774 of the cam slot 770, the stop features establish the farthest position of the cam pin 76 spaced proximally from the distal end 772 of the cam slot 770 (corresponding to position "L1" and the position completely spaced apart from the gripper members 72, 74). Figure 4The nearest position of the cam pin 76, spaced distally from the proximal end 774 of the cam slot 770 (corresponding to position "L2" and the fully approaching position of the gripper members 72, 74). Figure 6 Therefore, in all respects, the operating portion "O" of the cam slot 770 can be smaller than the entire range of the cam slot 770, which is defined as a portion of the cam slot 770 through which the cam pin 76 is configured to travel between fully spaced positions and fully approximate positions. Thus, since the cam pin 76 is confined to the operating portion "O" of the cam slot 770, the configuration of any portion of the cam slot 770 outside the operating portion "O" (e.g., the portion of the cam slot 770 between position "L1" and the distal end 772 of the cam slot 770 and / or between position "L2" and the proximal end 774 of the cam slot 770) does not affect the gripping force applied to the tissue disposed between the gripper members 72, 74, and therefore, does not need to be configured to achieve a desired gripping force or gripping force distribution. For example, the portion of the cam slot 770 outside the operating portion "O" can be configured for another purpose, such as to facilitate manufacturing or assembly, and / or can be provided to maintain clearance and / or achieve overtravel. In various respects, the portion of the cam slot 770 outside the operating portion "O" can define different configurations, such as circular arcs, other curvatures, linear configurations, etc.

[0054] Continue to refer to Figure 7 And refer to other sources. Figure 2 and Figure 4In all respects, the operating portion “O” of the cam slot 770 can be divided into two distinct sections: a first travel section “S1” that is essentially independent of the spring and a second travel section “S2” that is influenced by the spring. In the first travel section that is essentially independent of the spring, the compression spring 86 is essentially maintained in its initial state while being translated to translate the drive shaft 88, thereby causing the cam pin 76 to move through the spring-independent travel section “S1” of the cam slot 770. In the second travel section that is influenced by the spring, the compression spring 86 is compressed from its initial state while being translated (or further translation is inhibited), thereby adjusting the translation of the drive shaft 88 and thus adjusting the movement of the cam pin 76 through the spring-influenced travel section “S2” of the cam slot 770. It should be noted that the transition between segments "S1" and "S2" is not necessarily defined by a physical change in the cam slot 770 or by a fixed position along the cam slot 770, but is defined by the position of the cam pin 76 along the cam slot 770, where the compression spring 86 is compressed from its initial state. Since the position of the cam pin 76 along the cam slot 770 (in which the compression spring 86 is compressed from its initial state) varies depending on the size and / or position of the structure between the gripper members 72 and 74, the proportion of the operating portion "O" defined by segments "S1" and "S2" is not fixed or predetermined. That is, although segments "S1" and "S2" together define the operating portion "O" of the cam slot 770, the proportion of the operating portion "O" defined by segments "S1" and "S2" varies depending on the size and / or position of the structure between the gripper members 72 and 74. More specifically, as the size of the tissue disposed between the gripper members 72, 74 decreases and / or as the tissue is positioned further away from the gripper members 72, 74, the proportion of the operating portion "O" of the cam slot 770 defined by segment "S1" increases (and therefore, the proportion of the operating portion "O" of the cam slot 770 defined by segment "S2" decreases) in aspects where the tissue is very small and / or positioned distally. On the other hand, as the size of the tissue disposed between the gripper members 72, 74 increases and / or as the tissue is positioned closer to the gripper members 72, 74, the proportion of the operating portion "O" of the cam slot 770 defined by segment "S1" decreases (and therefore, the proportion of the operating portion "O" of the cam slot 770 defined by segment "S2" increases) in all aspects where the tissue is very large and / or positioned proximally.

[0055] At least a portion of the operating portion "O" of the cam slot 770 defines an elliptical arc. More specifically, the operating portion "O" of the cam slot 770 may define a continuous elliptical arc; may define different elliptical arcs (with different eccentricities, different centers, different vertices, different common vertices, and / or different foci); or may include a first portion defining an elliptical arc while another portion defines a different configuration, such as a circular arc, another arc curvature, a linear configuration, etc.

[0056] The elliptical arc of the operating portion "O" of the cam slot 770 is defined by the center 776, a pair of focal points 777, a pair of vertices 778, and a pair of common vertices 779 according to the following equation: Equation (1) Where c is the absolute value of the distance between the center 776 and the focus 777 (the distance between the center 776 and each focus 777 is the same), a is the absolute value of the distance between the center 776 and the vertex 778 along the major axis (the distance between the center 776 and each vertex 778 is the same), and b is the absolute value of the distance between the center 776 and the common vertex 779 along the minor axis (the distance between the center 776 and each common vertex 779 is the same). The eccentricity E of the ellipse is defined by the following equation: Equation (2)

[0057] In some respects, the eccentricity E of the ellipse is about 0.65 to about 0.95; in others, about 0.68 to about 0.92; or in still others, about 0.70 to about 0.90. Figure 7 The eccentricity E of the cam slot 770 shown in the figure is, for example, but not limited to, about 0.895.

[0058] In various aspects, the elliptical arc of the operating portion "O" of the cam slot 770 can be defined between vertex 778 and common vertex 779 without intersecting, such that the elliptical arc is contained within one quadrant of an ellipse. In other aspects, the elliptical arc of the operating portion "O" of the cam slot 770 can intersect with vertex 778 or common vertex 779, such that the elliptical arc extends at least partially within two adjacent quadrants of an ellipse. In various aspects, the elliptical arc of the operating portion "O" can be defined relative to the electrosurgical clamp 10 ( Figure 1 The longitudinal axis “AA” is substantially parallel to the major axis (between vertices 778), and thus defines the position relative to the electrosurgical clamp 10. Figure 1 The longitudinal axis “AA” of the cam slot 770 is substantially perpendicular to the minor axis (between the common vertices 779). Alternatively, the elliptical arc of the operating portion “O” of the cam slot 770 can be oriented such that the major axis is perpendicular to the electrosurgical clamp 10 compared to the minor axis. Figure 1The longitudinal axis “AA” defines a smaller (non-zero absolute value) angle. Other orientations are also conceivable.

[0059] Due to manufacturing considerations, design considerations, tolerances, and / or other reasons, the elliptical arc of the operating portion "O" of the cam slot 770 may not be perfectly elliptical. More precisely, the elliptical arc may approximate a perfectly elliptical configuration such that the distance at any point along the elliptical arc (in any direction perpendicular to the ellipse) deviates from the ellipse by approximately ±0.006 inches in each respect; less than or equal to approximately ±0.004 inches in other respects; or less than or equal to approximately ±0.002 inches in yet another respect.

[0060] In various aspects, the elliptical arc of the operating portion "O" of the cam slot 770 can be defined as passing through the center of the cam slot 770, along the upper edge 96 of the cam slot 770 defined by the gripper flag 92, and / or along the lower edge 98 of the cam slot 770 defined by the gripper flag 92. In various aspects, at least the upper edge 96 or the lower edge 98 can define an elliptical arc when the edges 96, 98 act as bearing edges during the movement of the gripper member 72 toward the approach position. For example, in Figure 7 In the configuration shown, the upper edge 96 is a bearing edge, which pushes the cam pin 76 against during its movement from position "L1" to position "L2" to move the gripper member 72 toward the approach position (e.g., thus, when the cam pin 76 moves from position "L1" to position "L2", the cam pin 76 pushes the gripper member 72 to...). Figure 7 The orientation shown is rotated clockwise. However, other configurations are also conceivable.

[0061] Still referencing Figure 7 At the location of cam pin 76 (e.g., in response to pushing cam pin 76 through cam slot 770), the angle (referred to herein as the “force vector angle”) between the force vector applied by cam pin 76 to gripper flag 92 and the bearing edges 96, 98 of cam slot 770 determines the force applied from cam pin 76 at each location of cam pin 76 to pivot gripper flag 92. This force is further related to the gripping force applied by gripper member 72 to tissue disposed between gripper members 72, 74 (see [link to relevant documentation]). Figure 5 and Figure 6 Therefore, at least a portion of the cam slot 770 can be configured such that an appropriate force vector angle is established at each position of the cam pin 76 along at least a portion of the cam slot 770, thereby achieving a substantially constant force applied from the gripper member 72 to the tissue at each position of the cam pin 76, and thus regardless of the gripper angle "α" (see...). Figure 5Therefore, larger and / or smaller compressible tissues (requiring a relatively large gripper angle "α" (see...) Figure 5 This can effectively seal smaller and / or more compressible tissues (requiring a relatively small gripper angle "α" (see [link]). Figure 5 It can also be effectively sealed.

[0062] It has been found that the elliptical arc provided according to this disclosure (e.g., the elliptical arc of the operating portion "O" of the cam slot 770) provides an appropriate force vector angle at each position of the cam pin 76 to achieve a substantially constant force applied from the gripper member 72 to the tissue, regardless of the position of the cam pin 76 along at least one segment of it (e.g., at least one segment of the operating portion "O" of the cam slot 770), and therefore regardless of the corresponding gripper angle "α" (see [link]). Figure 5 In all respects, a substantially constant force is applied along the entire operating portion "O" of the cam slot 770. In all respects, a substantially constant force is applied along the spring-independent travel section "S1" of the operating portion "O" of the cam slot 770. In addition or alternatively, a substantially constant force is applied along the spring-affected travel section "S2" of the operating portion "O" of the cam slot 770. It should be noted that although the compression spring 86 ( Figure 2 The force applied to the spring-affected travel section "S2" is adjusted, but the compression spring 86, drive assembly 80, and end effector assembly 70 (see also...) Figure 2 and Figure 4 The force applied by the compression spring 86 can be configured such that the force is substantially linear with respect to its compression (e.g., according to F = kx), thus helping to provide a substantially constant force within the spring-affected travel section "S2" of the operating portion "O" of the cam slot 770.

[0063] In addition to the configuration of the cam slot 770 (e.g., where at least a portion of the operating portion "O" of the cam slot 770 defines an elliptical arc) enabling a substantially constant gripper force, a given translational distance in response to the actuation travel path of the cam pin 76 along the cam pin 76 through the cam slot 770 depends at least in part on the configuration of the cam slot 770, which also affects the angular rate at which the gripper member 72 pivots relative to the gripper member 74 (e.g., the change in the gripper angle "α"). Figure 5More specifically, the elliptical arc of the operating portion "O" of the cam slot 770, as detailed above, can provide a variable closing rate, wherein, in response to the same translation distance of the cam pin 76 through different first and second portions of the cam slot 770, when the cam pin 76 translates through the first portion of the cam slot 770, the gripper member 72 approaches a different amount (e.g., resulting in different variations in the gripper angle "α") compared to the second portion of the cam slot 770. Figure 5 )).

[0064] Go to Figure 8 This illustrates another cam slot 870 defined by a gripper flag 920 passing through another gripper member 820. Gripper member 820 may be similar to and include gripper member 72 ( Figures 4 to 6 Any feature of ) and can be configured to work with electrosurgical clamp 10 ( Figure 1 (or any other suitable instrument). The cam slot 870 is positioned distal to the pivot position (e.g., defined by the pivot orifice 880) and is configured such that the cam pin 860 moves distally through the cam slot 870 to move the gripper member 820 from a spaced-out position to an approach position. Although with cam slot 770 ( Figure 7 Compared to configurations with different orientations and positions, the cam slot 870 may additionally include the cam slot 770 detailed above. Figure 7 Any aspect and characteristic of ). Figure 8 The eccentricity E of the cam slot 870 shown in the figure is, for example, but not limited to, about 0.706.

[0065] While the aspects and features of this disclosure have been shown and described above for use with handheld electrosurgical clamps (whether motorized or manual), the same aspects and features apply equally to surgical instruments in robotic surgical systems. Such systems employ various robotic elements to assist the user and allow for remote (or partially remote) operation of surgical instruments. Various robotic arms, gears, cams, pulleys, electric motors, and mechanical motors can be used for this purpose and can be designed in conjunction with the robotic surgical system to assist the user during operation or treatment. Such robotic systems can include remotely operable systems, automated flexible surgical systems, remote flexible surgical systems, remote articulation surgical systems, wireless surgical systems, modular or selectively configurable remotely operated surgical systems, etc.

[0066] Robotic surgical systems can be used with one or more consoles located adjacent to the operating room or at a remote location. In this configuration, a group of users can prepare a patient for surgery and construct the robotic surgical system using one or more of the instruments disclosed herein, while another user (or a group of users) remotely controls the instruments via the robotic surgical system. It is understood that a skilled user can perform multiple procedures at multiple locations without leaving their remote console, which can be both cost-effective and efficient for a single patient or a group of patients.

[0067] The robotic arm of a surgical system is typically coupled to a pair of master handles via a controller. The user can move the handles to produce corresponding movements at the working end of any type of surgical instrument (e.g., end effector, gripper, scalpel, scissors, etc.), complementing the uses of one or more of the aspects described herein. The movement of the master handles can be scaled so that the corresponding movement at the working end differs from, is less than, or is greater than the movement performed by the user's operating hand. The scaling factor or transmission ratio can be adjustable, allowing the operator to control the resolution of the working end of the surgical instrument.

[0068] The main handle may include various sensors to provide the user with feedback related to various tissue parameters or conditions, such as tissue resistance caused by manipulation, cutting, or other treatments, pressure of the instrument on the tissue, tissue temperature, tissue impedance, etc. These sensors provide the user with enhanced tactile feedback that simulates actual operating conditions. The main handle may also include various actuators for fine tissue manipulation or treatment, further enhancing the user's ability to mimic actual operating conditions.

[0069] refer to Figure 9 For example, the medical workstation of the robotic surgical system detailed above is generally shown as workstation 1000, and generally includes multiple robotic arms 1002, 1003; a control device 1004; and an operation console 1005 connected to the control device 1004. The operation console 1005 may include: a display device 1006, which can be configured to specifically display three-dimensional images; and manual input devices 1007, 1008, which allow the user to remotely operate the robotic arms 1002, 1003 in a first operating mode.

[0070] Each of the robotic arms 1002 and 1003 may include attachment devices 1009 and 1011 and multiple components connected via joints. These attachment devices may, for example, be attached to a surgical tool "ST" supporting the end effector 1100. The surgical tool "ST" may include, for example, a robotic electrosurgical clamp 110. Figure 10 (as detailed below).

[0071] Robotic arms 1002 and 1003 can be driven by an electric drive (not shown) connected to a control unit 1004. The control unit 1004 (e.g., a computer) can be configured to activate the drive, particularly by means of a computer program, such that the robotic arms 1002 and 1003, the attachments 1009 and 1011 of the robotic arms, and therefore the surgical instruments "ST" (e.g., robotic electrosurgical clamps 110) Figure 10 The desired movement is performed according to the movement defined by means of manual input devices 1007 and 1008. The control device 1004 may also be configured to adjust the movement of the robotic arms 1002 and 1003 and / or the drive unit.

[0072] The medical workstation 1000 can be configured for a patient 1013 lying on a patient table 1012 to receive minimally invasive treatment via an end effector 1100. The medical workstation 1000 may also include more than two robotic arms 1002, 1003, which are also connected to a control unit 1004 and can be remotely operated via an operating console 1005. Medical instruments or surgical tools (including the end effector 1100) may also be attached to the additional robotic arms. The medical workstation 1000 may include a database 1014, particularly connected to the control unit 1004, where, for example, preoperative data and / or anatomical atlases of the patient / biology 1013 are stored.

[0073] Go to Figure 10 The robotic electrosurgical clamp 110 provided in this disclosure is configured, for example, with... Figure 9 Used in conjunction with a robotic surgical system, the robotic electrosurgical clamp typically includes a housing 120, a shaft 130 extending distally from the housing 120, an end effector assembly 140 extending distally from the shaft 130, and an actuation assembly (not shown) disposed within the housing 120 and operatively associated with the end effector assembly 140.

[0074] The housing 120 of the device 110 encloses the actuation assembly therein and includes through-holes through which the input connector of the actuation assembly extends, allowing the robotic arm to engage with the actuation assembly and selectively actuate its various features. A pair of latching rods 126 ( Figure 10 Only one of the latching levers is shown in the image. It extends outward from opposite sides of the housing 120, allowing the housing 120 to be releasably engaged with the robotic arm. A window 128 defined through the housing 120 allows a thumbwheel 1440 to extend through, enabling manual operation of the thumbwheel 1440 from outside the housing 120, thereby allowing manual opening and closing of the end effector assembly 140.

[0075] The shaft 130 of the device 110 accordingly includes a distal U-shaped clamp section 132, a proximal section 134, and an articulated section 136 disposed between the distal U-shaped clamp section 132 and the proximal section 134. The articulated section 136 includes one or more articulated components 137, such as links, joints, etc. Multiple articulated motion cables 138 (e.g., four (4) articulated motion cables) or other suitable actuators extend through the articulated section 136. More specifically, the articulated motion cable 138 is operatively coupled at its distal end to the distal U-shaped clamp 132 of the shaft 130 and extends proximally from the distal U-shaped clamp 132 of the shaft 130, through the articulated section 136 and the proximal section 134 of the shaft 130, and into the housing 120, wherein the articulated motion cable 138 is operatively coupled to the articulated motion sub-assembly of the actuation assembly to enable the distal U-shaped clamp 132 (and thus the end effector assembly 140) to selectively articulate with respect to the proximal section 134 and the housing 120, for example, with respect to at least two axes of articulated motion (e.g., yaw and pitch articulated motion).

[0076] The end effector assembly 140 includes a first gripper member 142 and a second gripper member 144 pivotally connected around a pivot pin 150. Gripper members 142 and 144 can be configured similarly to gripper members 72 and 74 as detailed above. Figures 4 to 6 Any feature of ) and the combination of these features.

[0077] A drive shaft (also referred to as drive rod 1484) is operatively coupled to a cam slot assembly 152 of the end effector assembly 140, for example, engaging with its cam pin, such that longitudinal actuation of drive rod 1484 causes gripper member 142 to pivot relative to gripper member 144 between a spaced-out position and a close position. More specifically, pushing drive rod 1484 proximally causes gripper member 142 to pivot relative to gripper member 144 toward the close position, while pushing drive rod 1484 distally causes gripper member 142 to pivot relative to gripper member 144 toward the spaced-out position. However, other suitable mechanisms and / or configurations are also contemplated for pivoting gripper member 142 relative to gripper member 144 between a spaced-out position and a close position in response to selective actuation of drive rod 1484. A drive rod 1484 extends proximally from the end effector assembly 140 through the shaft 130 and into the housing 120, wherein the drive rod 1484 is operatively coupled to a gripper drive sub-assembly of the actuation assembly to selectively actuate the end effector assembly 140 to grip tissue therein and apply a gripper force within an appropriate gripper force range. The gripper drive sub-assembly may be configured similarly to the drive assembly 80 detailed above. Figure 2 The difference lies in using appropriate gear mechanisms, pulleys, linkages, and / or other components to respond to rotational input from a robotic arm instead of manually actuating the movable handle 34. Figure 1 ) to compress the spring 86 ( Figure 2 The cam slot assembly 152 may include one or more cam slots defined within one or both of the gripper members 72, 74, which are configured to receive the cam pin of the cam slot assembly 152. The cam slots may be constructed according to any aspect and feature of the cam slots detailed herein.

[0078] As described above, the actuation assembly of instrument 110 is configured to operatively engage with the surgical robot system when instrument 110 is mounted on the robotic arm of the surgical robot system, such that the robotic operation of the actuation assembly can provide the functions detailed above. That is, the surgical robot system selectively provides input (e.g., rotational input) to the input connector of the actuation assembly to cause the end effector assembly 140 to articulate, grasp tissue between gripper members 142, 144, and / or cut tissue grasped between gripper members 142, 144.

[0079] The following numbered paragraphs can be used to further describe various aspects of this disclosure:

[0080] 1. A surgical instrument comprising: a pivot pin; a cam pin; and a first gripper member and a second gripper member, the first gripper member and the second gripper member being pivotally connected to each other about the pivot pin, the first gripper member defining a cam slot receiving the cam pin such that movement of the cam pin through the cam slot causes the first gripper member to pivot relative to the second gripper member from a spaced-apart position toward an approach position to grip tissue between the first gripper member and the second gripper member, wherein at least a portion of the cam slot defines an elliptical arc to facilitate the application of a substantially constant gripping force from the first gripper member to the tissue gripped between the first gripper member and the second gripper member when the cam pin is positioned at any position within the portion of the cam slot.

[0081] 2. The surgical instrument according to paragraph 1, wherein the elliptical arc defines an eccentricity of about 0.70 to about 0.90.

[0082] 3. The surgical instrument according to paragraph 1, wherein the elliptical arc deviates from the normal ellipse by an amount less than or equal to about 0.006 inches at any point along the elliptical arc in any direction perpendicular to the normal ellipse.

[0083] 4. The surgical instrument according to paragraph 1, wherein the elliptical arc is disposed between the vertex and a common vertex of the ellipse defining the elliptical arc.

[0084] 5. The surgical instrument according to paragraph 1, wherein the portion of the cam slot is the operating portion of the cam slot, the operating portion being defined between the nearest position of the cam pin within the cam slot and the farthest position of the cam pin within the cam slot.

[0085] 6. The surgical instrument according to paragraph 5, wherein at least one of the following exists: the proximal position is spaced distally from the proximal end of the cam slot, or the distal position is spaced proximally from the distal end of the cam slot, such that the portion of the cam slot is smaller than the entire extent of the cam slot.

[0086] 7. The surgical instrument according to paragraph 1 further includes a drive assembly comprising: a compression spring; and a drive shaft connecting the compression spring to the cam pin such that translation of the compression spring causes translation of the drive shaft, thereby moving the cam pin through the cam slot.

[0087] 8. The surgical instrument according to paragraph 7, wherein the cam slot defines a first section and a second section, wherein the movement of the cam pin through the first section of the cam slot is substantially independent of the spring force associated with the compression spring, and wherein the movement of the cam pin through the second section of the cam slot depends on the spring force associated with the compression spring.

[0088] 9. The surgical instrument according to paragraph 8, wherein the portion of the cam slot includes at least one of the first segment or the second segment.

[0089] 10. The surgical instrument according to paragraph 1, wherein the cam slot is configured such that the cam pin moves a distance through a first section of the cam slot to pivot the first gripper member relative to the second gripper member by a first angular amount, and wherein the cam pin moves the distance through a second section of the cam slot to pivot the first gripper member relative to the second gripper member by a different second angular amount.

[0090] 11. A surgical instrument comprising: a drive assembly including a compression spring and a drive shaft, wherein translation of the compression spring causes translation of the drive shaft; a cam pin, wherein the drive shaft engages the cam pin such that translation of the drive shaft causes movement of the cam pin; and a first gripper member and a second gripper member, the first gripper member and the second gripper member being pivotally connected to each other, the first gripper member defining a cam slot receiving the cam pin such that movement of the cam pin through the cam slot causes the first gripper member to pivot relative to the second gripper member from a spaced-apart position toward an approach position to grip tissue between the first gripper member and the second gripper member, wherein at least a portion of the cam slot defines an elliptical arc to facilitate the application of a substantially constant gripping force from the first gripper member to the tissue gripped between the first gripper member and the second gripper member when the cam pin is positioned at any position within the portion of the cam slot.

[0091] 12. The surgical instrument according to paragraph 11, wherein the elliptical arc defines an eccentricity of about 0.70 to about 0.90.

[0092] 13. The surgical instrument according to paragraph 11, wherein the elliptical arc deviates from the normal ellipse by an amount less than or equal to about 0.006 inches at any point along the elliptical arc in any direction perpendicular to the normal ellipse.

[0093] 14. The surgical instrument according to paragraph 11, wherein the elliptical arc is disposed between the vertex and a common vertex of the ellipse defining the elliptical arc.

[0094] 15. The surgical instrument according to paragraph 11, wherein the portion of the cam slot is an operating portion of the cam slot, the operating portion being defined between the proximal position of the cam pin within the cam slot and the distal position of the cam pin within the cam slot.

[0095] 16. The surgical instrument according to paragraph 15, wherein at least one of the following exists: the proximal position is spaced distally from the proximal end of the cam slot, or the distal position is spaced proximally from the distal end of the cam slot, such that the portion of the cam slot is smaller than the entire extent of the cam slot.

[0096] 17. The surgical instrument according to paragraph 11, wherein the cam slot defines a first section and a second section, wherein the movement of the cam pin through the first section of the cam slot is substantially independent of the spring force associated with the compression spring, and wherein the movement of the cam pin through the second section of the cam slot depends on the spring force associated with the compression spring.

[0097] 18. The surgical instrument according to paragraph 17, wherein the portion of the cam slot includes at least one of the first segment or the second segment.

[0098] 19. The surgical instrument according to paragraph 11, wherein the cam slot is configured such that the cam pin moves a distance through a first section of the cam slot to pivot the first gripper member relative to the second gripper member by a first angular amount, and wherein the cam pin moves the distance through a second section of the cam slot to pivot the first gripper member relative to the second gripper member by a different second angular amount.

[0099] 20. The surgical instrument according to paragraph 11, wherein the drive assembly is driven by one of: a manually actuated handle or a robotic arm.

[0100] While several aspects of this disclosure have been shown 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 permitted by the art, and is intended to be read in the same manner. Therefore, the above description should not be construed as restrictive, but merely as illustrative of particular configurations. Other modifications within the scope and spirit of the appended claims will be contemplated by those skilled in the art.

Claims

1. A surgical instrument (10, 110), comprising: Pivot pin (78, 150); Cam pin (76); as well as First gripper component and second gripper component (72, 74); 142, 144), the first gripper member and the second gripper member are pivotally connected to each other about the pivot pin (78, 150), the first gripper member (72, 142) defining a cam slot (770, 870) in which the cam pin (76, 860) is received, such that movement of the cam pin (76, 860) through the cam slot (770, 870) causes the first gripper member (72, 142) to pivot relative to the second gripper member (74, 144) from a spaced-apart position toward an approach position to grip the tissue between the first gripper member and the second gripper member (72, 74; 142, 144). At least a portion of the cam slot (770, 870) defines an elliptical arc to facilitate the application of a substantially constant gripping force from the first gripper member (72, 142) to the tissue gripped between the first gripper member and the second gripper member (72, 74; 142, 144) when the cam pin (76, 860) is positioned at any position within the portion of the cam slot (770, 870).

2. The surgical instrument (10, 110) according to claim 1, wherein The elliptical arc defines an eccentricity of approximately 0.70 to approximately 0.

90.

3. The surgical instrument (10, 110) according to claim 1 or 2, wherein The elliptical arc deviates from the regular ellipse by an amount less than or equal to about 0.006 inches at any point along the elliptical arc in any direction perpendicular to the regular ellipse.

4. The surgical instrument (10, 110) according to claim 1 or 2, wherein The elliptical arc deviates from the regular ellipse by an amount less than or equal to about 0.004 inches at any point along the elliptical arc in any direction perpendicular to the regular ellipse.

5. The surgical instrument (10, 110) according to any one of claims 1 to 4, wherein, The elliptical arc is positioned between the vertex (778) and the common vertex (779) of the ellipse that defines the elliptical arc.

6. The surgical instrument (10, 110) according to any one of claims 1 to 4, wherein The elliptical arc intersects with the vertex (778) or common vertex (779) of the ellipse that defines the elliptical arc.

7. The surgical instrument (10, 110) according to any preceding claim, wherein, The portion of the cam slot (770, 870) is the operating portion "O" of the cam slot (770, 870), the operating portion being defined between the nearest position of the cam pin (76, 860) within the cam slot (770, 870) and the farthest position of the cam pin (76, 860) within the cam slot (770, 870).

8. The surgical instrument (10, 110) according to claim 7, wherein There exists at least one of the following: the nearest position is spaced distally from the proximal end (774) of the cam slot (770, 870), or the farthest position is spaced proximally from the distal end (772) of the cam slot (770, 870), such that the portion of the cam slot (770, 870) is smaller than the entire range of the cam slot (770, 870).

9. The surgical instrument (10, 110) of any preceding claim, further comprising a drive assembly (80) comprising: Compression spring (86); And a drive shaft (88, 1484) that connects the compression spring (86) to the cam pin (76, 860) such that translation of the compression spring (86) causes translation of the drive shaft (88, 1484), thereby causing the cam pin (76, 860) to move through the cam slot (770, 870).

10. The surgical instrument (10, 110) according to claim 9, wherein The cam slots (770, 870) define a first section ("S1") and a second section ("S2"), wherein the movement of the cam pin (76, 860) through the first section ("S1") of the cam slots (770, 870) is substantially independent of the spring force associated with the compression spring (86), and wherein the movement of the cam pin (76, 860) through the second section ("S2") of the cam slots (770, 870) depends on the spring force associated with the compression spring (86).

11. The surgical instrument (10, 110) according to claim 10, wherein The portion of the cam slot (770, 870) includes at least one of the first section ("S1") or the second section ("S2").

12. The surgical instrument (10) according to any one of claims 9 to 11, wherein, The drive assembly (80) is driven by a manually actuated handle (34).

13. The surgical instrument (110) according to any one of claims 9 to 11, wherein, The drive assembly (80) is driven by robotic arms (102, 103).

14. The surgical instrument (10, 110) according to any preceding claim, wherein, The cam slots (770, 870) are configured such that the cam pins (76, 860) move a distance through a first section of the cam slots (770, 870) to pivot the first gripper member (72, 142) relative to the second gripper member (74, 144) by a first angular amount, and wherein the cam pins (76, 860) move the distance through a second section of the cam slots (770, 870) to pivot the first gripper member (72, 142) relative to the second gripper member (74, 144) by a different second angular amount.

15. The surgical instrument (10, 110) according to any preceding claim, wherein, Both the first gripper member and the second gripper member (72, 74; 142, 144) are pivotable relative to each other from the spaced-apart position toward the approach position to grasp the tissue between the first gripper member and the second gripper member (72, 74; 142, 144).

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