End effector and minimally invasive medical device

Abstract

An end effector for a minimally invasive medical device may include a base configured to be attached to a distal end of a shaft and a disposable distal portion configured to be removably attached to the base so as to be discarded after use.

Description

[Technical field]

[0001] (CROSS REFERENCE TO RELATED APPLICATIONS) This application claims priority to and the benefit of U.S. Provisional Application No. 63 / 284,186, filed November 30, 2021, the entire contents of which are incorporated herein by reference in their entirety.

[0002] The present disclosure relates to robotic surgical systems for minimally invasive surgery, including but not limited to endoluminal and single-site surgery. [Background technology]

[0003] Minimally invasive procedures such as endoluminal and single-site robotic surgery offer significant advantages over traditional robotic surgery. For example, endoluminal robotic surgery does not require incisions to access difficult to access locations within a patient's natural lumens. This significantly reduces and / or eliminates recovery time and increases the safety of the procedure. Single-site systems reduce incisions to a minimal single site and numerous other incisions that provide access for a particular procedure.

[0004] Certain endoluminal and single-site robotic surgical systems have been proposed. Examples of such systems and associated components can be found in U.S. Patent No. 10,881,422, and U.S. Patent Application Nos. 2021 / 0322046, 2021 / 0322045, 2019 / 0117247, 2021 / 0275266, 2021 / 0267702, 2020 / 0107898, 2020 / 0397457, 2020 / 00397456, 2020 / 0315645, and 2019 / 62914226, all of which are incorporated herein by reference in their entireties. Summary of the Invention [Problem to be solved by the invention]

[0005] Conventional surgical robots and systems have generally been deemed satisfactory for their intended purposes. However, there remains a need in the art for improved robotic surgical systems, devices, methods, controls, and components, particularly those configured for endoluminal and single-site surgery. The present disclosure, for example, provides improvements in such areas. [Means for solving the problem]

[0006] In accordance with at least one aspect of the present disclosure, an end effector for a minimally invasive medical device may include a base configured to be attached to a distal end of a shaft and a disposable distal portion configured to be removably attached to the base so as to be discarded after use.

[0007] The disposable distal portion may include an electrically conductive material for electrosurgical procedures. The disposable distal portion may be electrically connected to the base, for example, when removably attached to the base.

[0008] The distal portion may be or may include a blade or jaw that includes a conductive material for providing electrosurgical energy to tissue. In certain embodiments, the disposable distal portion may include a non-conductive clevis, e.g., it may include or be made from an electrically non-conductive material. The blade or jaw may be attached to the non-conductive clevis to pivot about a pivot joint of the clevis.

[0009] The base may include a base connection assembly configured to mechanically and electrically connect the base to the blade or jaws, hi certain embodiments, the base connection assembly may include a non-conductive central post configured to mechanically connect the blade or jaws to actuate the blade or jaws between the open and closed positions.

[0010] In certain embodiments, the base may include a threaded portion proximal to the base connection assembly. The disposable distal portion may include a mating collar configured to mate with the threaded portion of the base. In certain embodiments, the mating collar may be configured to rotate relative to the clevis to install the clevis on the base. The mating collar may axially retain the clevis on the base when attached to the threaded portion. Any other suitable connection types are contemplated herein.

[0011] In certain embodiments, when the disposable distal portion is installed on the base, the electrical path through the blade or jaws is insulated by the non-conductive clevis and non-conductive central post contacting at least a portion of the disposable distal portion to form electrical energy insulation therebetween, eliminating the need to install an insulating sheath over the base and / or disposable distal portion, although in certain embodiments a sheath may still be used if desired.

[0012] The base may be configured to connect to a distal end of a steerable shaft of a robotically controlled medical device. The base may include a guide portion (e.g., pulley) configured to connect to an actuation component via an actuator wire to control the position of the blade or jaw. Any other suitable mechanical device (e.g., spool, roller) is contemplated herein.

[0013] According to at least one aspect of the present disclosure, the distal portion can include a mounting portion configured to abut the base and a clevis connected to the mounting portion, and the blade or jaw can be attached to the clevis for pivoting about a pivot joint of the clevis.

[0014] The base can be configured to removably mechanically engage the blade or jaws to actuate the blade or jaws. The base can include a drive structure configured to mechanically engage the blade or jaws to actuate the blade or jaws between the open and closed positions.

[0015] The disposable distal portion and the base portion may be configured to be selectively axially held together by a locking sleeve. The system may further include a locking sleeve configured to selectively lock the disposable distal portion to the base portion.

[0016] The base may include one or more locking channels. The disposable distal portion may include one or more alignment channels defined through a lip of the alignment channel. The locking sleeve may include a plurality of locking protrusions on its inner surface. For example, the one or more proximal locking protrusions may be configured to advance axially through the alignment channel to a position beyond the lip and rotate within the respective locking channel of the base. Also, the one or more distal inner stop protrusions may be configured to axially engage the lip to limit axial advancement of the sleeve and retain the disposable distal portion on the base when the sleeve is rotated to the locked position such that the one or more proximal locking protrusions are within the one or more locking channels.

[0017] In certain embodiments, the base can include a base clevis and an actuation assembly connected to the base clevis and the drive structure to actuate the drive structure relative to the base clevis. The actuation assembly can include an actuator housing connected to the drive structure and a pulley assembly within the actuator housing and configured to move the actuator housing relative to the base clevis.

[0018] In certain embodiments, the pulley assembly may include a pulley and an anchor. The pulley may be pinned to the base clevis via a pulley pin. The pulley pin may be disposed in an axial slot of the actuator housing to allow the actuator housing to slide axially relative to the pulley. The anchor may be configured to move relative to the pulley between an open position of the blade or jaw and a closed position of the blade or jaw. The anchor may be slidably connected to the actuator housing via the anchor pin in the radial slot to translate relative to the actuator housing in a radial direction perpendicular to the axial direction. In certain embodiments, the base clevis may include an angled slot configured to guide the anchor pin in the radial slot as the actuator housing moves axially relative to the base clevis.

[0019] The anchor can be configured to hold a first end of a first wire that is wrapped around the pulley, and a second end of a second wire (which may be the same wire as the first wire or a different wire) such that a pulling actuation on the first wire moves the anchor closer to the pulley, thereby actuating the actuator housing in a distal direction, and a pulling actuation on the second wire moves the pulley and the anchor apart, thereby actuating the actuator housing in a proximal direction.

[0020] In certain embodiments, the base clevis can be configured to abut the mounting portion and to rotatably orient the mounting portion relative to the base (e.g., with one or more mounting keys). In certain embodiments, the mounting portion and the base clevis can include (e.g., be made from) a non-conductive material. In certain embodiments, the actuator housing can include (e.g., be made from) a non-conductive material. The drive structure can include, e.g., be made from, a conductive material and can be configured to electrically connect to an electrical wire (e.g., attached to a wire channel. The drive structure can be attached to the actuator housing in any suitable manner (e.g., via a non-conductive core member).

[0021] In accordance with at least one aspect of the present disclosure, a medical device may include an adapter configured to be connected to and actuated by a robotic surgical system, an elongate member extending from the adapter and configured to be positioned upon actuation of the adapter, and an end effector connected to the elongate member. The end effector may be any suitable embodiment of an end effector disclosed herein, such as an end effector as described above.

[0022] According to at least one aspect of the present disclosure, a method for manipulating an end effector for a minimally invasive medical device may include using the end effector in a medical procedure, detaching a first disposable distal portion of the end effector from a base of the end effector, and attaching a second disposable distal portion to the base of the end effector to replace the first distal portion. In certain embodiments, the method may include reusing the end effector with the second disposable distal portion in another medical procedure. The method may include any other suitable methods and / or portions thereof.

[0023] These and other features of the subject disclosed embodiments will become readily apparent to those skilled in the art from the following detailed description taken in conjunction with the drawings. [Brief description of the drawings]

[0024] Embodiments thereof are described in detail hereinafter with reference to certain figures so that those skilled in the art to which the subject disclosure pertains will readily understand, without undue experimentation, how to make and use the devices and methods of the subject disclosure.

[0025] [Figure 1] FIG. 1 is an elevation view of one embodiment of an end effector in accordance with the present disclosure. [Diagram 2] FIG. 1 is an exploded elevation view of one embodiment of an end effector in accordance with the present disclosure; [Diagram 3] 3 is an embodiment of a distal end of a steerable shaft to which the end effector embodiments of FIGS. 1 and 2 are attached. [Figure 4A] 1 illustrates a perspective view of one embodiment of a monopolar energy surgical instrument in accordance with the present disclosure; [Figure 4B] 4B shows a partial plan view of the embodiment of FIG. 4A. [Figure 4C] FIG. 4B shows a partial proximal elevation view of the embodiment of FIG. 4A. [Figure 4D] FIG. 4B illustrates a partial distal view of the embodiment of FIG. 4A showing a distal end of a shaft having one or more segments and an end effector. [Figure 5A] FIG. 13 is a perspective view of another embodiment of an end effector in accordance with the present disclosure. [Figure 5B] FIG. 5B is a perspective view of the embodiment of FIG. 5A showing the mechanical assembly with the locking sleeve removed and showing how the mechanical assembly is formed by the disposable distal portion and the base portion. [Figure 6A] FIG. 6 is a perspective view of a disposable distal portion of the embodiment of FIG. 5. [Figure 6B] FIG. 6B is a partially exploded view of the embodiment of FIG. 6A. [Figure 7A] FIG. 6 is a perspective view of an embodiment of the base of one embodiment of FIG. 5. [Figure 7B] FIG. 7B is an exploded perspective view of the embodiment of FIG. 7A. [Figure 8A]FIG. 5B is a top view of the embodiment of the locking sleeve shown in FIG. 5A, illustrating how the inner locking protrusions are symmetrical, according to the present disclosure; [Figure 8B] FIG. 8B is a cross-sectional elevation view of the embodiment of FIG. 8A showing a group of internal locking protrusions. [Figure 8C] FIG. 8B is a cross-sectional perspective view of the embodiment of FIG. 8A. [Figure 9A] The locking sleeve of FIG. 8A (shown in phantom for clarity) is shown advanced axially in the proximal direction over the mechanical assembly of FIG. 5B, such that the proximal inner locking protrusions of the locking sleeve are shown aligned with respective alignment channels defined by the disposable distal portion. [Figure 9B] The locking sleeve is shown advanced axially proximally over the disposable distal portion such that the proximal inner locking projections are in their respective alignment channels. [Figure 9C] The locking sleeve is shown advancing further axially, with the proximal inner locking projections advancing proximally of the respective alignment channels of the disposable distal portion and the distal inner stop projections of the locking sleeve abutting the surface of the disposable distal portion to provide axial retention to the base of the disposable distal portion. [Figure 9D] 13A-B show how the locking sleeve rotates relative to the mechanical assembly causing the proximal inner locking projections to rotate towards their respective locking channels defined by the base of the mechanical assembly. [Figure 9E] The locking sleeve is shown rotating relative to the mechanical assembly, thereby moving the proximal inner locking projections to a locked position where they are further rotated into their respective locking channels defined by the base of the mechanical assembly and are retained by interaction with the locking structure of the base. [Figure 9F] The locking sleeve is shown rotating relative to the mechanical assembly, thereby rotating the proximal inner locking projection to a locked position where the proximal inner locking projection is rotatably held and the distal inner stop projection also axially holds the disposable distal portion to the base. [Figure 10A] FIG. 5C is an elevational view of the mechanical assembly of FIG. 5B, shown in the open position. [Figure 10B] FIG. 10B is an elevational view of the mechanical assembly of FIG. 10A, shown in an intermediate position. [Figure 10C] FIG. 10B is an elevational view of the mechanical assembly of FIG. 10A, shown in a closed position. [Figure 11A] FIG. 10B is an elevational view of the mechanical assembly of FIG. 10A shown in the open position with the base clevis removed to show the actuator housing. [Figure 11B] FIG. 11B is an elevational view of the mechanical assembly of FIG. 11A, shown in an intermediate position. [Figure 11C] FIG. 11B is an elevational view of the mechanical assembly of FIG. 11A, shown in a closed position. [Figure 12A] FIG. 11B is an elevation view of the mechanical assembly of FIG. 11A, further showing an actuator housing in phantom to illustrate one embodiment of a pulley arrangement, shown in an open position. [Figure 12B] FIG. 12B is an elevational view of the mechanical assembly of FIG. 12A, shown in an intermediate position. [Figure 12C] FIG. 12B is an elevational view of the mechanical assembly of FIG. 12A, shown in a closed position. [Figure 13A] FIG. 12B is an elevation view of the mechanical assembly of FIG. 12A, shown orthogonal to the view of FIG. 12A, further showing the blade in phantom lines to illustrate actuation of the blade via the actuator post, and showing the assembly in an open position. [Figure 13B] FIG. 13B is an elevational view of the mechanical assembly of FIG. 13A, shown in an intermediate position. [Figure 13C] FIG. 13B is an elevational view of the mechanical assembly of FIG. 13A, shown in a closed position. [Figure 14] 1 is one embodiment of an electrosurgical unit in accordance with the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0026] Reference is now made to the drawings, in which like reference numerals identify like structural features or aspects of the subject disclosure. For purposes of explanation and illustration, and not limitation, an exemplary diagram of one embodiment of an end effector according to the present disclosure is shown in FIG. 1 and generally designated by reference character 100. Other embodiments and / or aspects of the present disclosure are shown in FIG. 2-14.

[0027] In accordance with at least one aspect of the present disclosure, and with reference to Figures 1, 2, and 3, an end effector 100 for a minimally invasive medical device (e.g., a robotically controlled steerable device 300 as shown in Figure 3) is shown that includes a base 101 configured to be attached to a distal end 303 of a shaft 301 and a disposable distal portion 103 configured to be removably attached to the base 101 for disposal after use (e.g., a single use). The base 101 may be configured to be reused (e.g., a limited number of times) and / or autoclaved for cleaning. The embodiment of Figures 1, 2, and 3 may be an end effector of an energy surgical instrument of a robotic surgical system.

[0028] The disposable distal portion 103 may be or include a pair of scissor-like blades 105a, 105b, or jaws for cooperatively shearing tissue. The disposable distal portion 103 may include an insulated conductor 305 extending longitudinally from the proximal end 402 of the shaft 301 to its distal end 303 for electrical communication with at least a portion of the base connection assembly 109 (e.g., sliding post (or pin) 111a, described in more detail below). In certain embodiments, the base 101, the disposable distal portion 103, and at least a portion of the blades 105a, 105b, or jaws may include a conductive material, such as stainless steel, to provide a conductive path when the disposable distal portion 103 is electrically connected to the base 101. In certain embodiments, the disposable distal portion 103 may include a non-conductive clevis 107, which may be made of, for example, an electrically non-conductive material (e.g., plastic, ceramic). The blades 105a, b or jaws may be attached to a non-conductive clevis 107 for pivoting about a pivot joint 107a of the clevis 107.

[0029] As shown in FIG. 2, the base 101 may include a base connection assembly 109 configured to mechanically and electrically connect the base 101 to the scissors 105a, 105b, or jaws. In certain embodiments, the base connection assembly 109 may include a non-conductive central post 111 configured to mechanically connect the blades 105a, 105b, or jaws to an actuation component (e.g., a sliding post 111a connected to an actuation mechanism 111b (e.g., a movable frame connected to the sliding post 111a) slidably housed within the base 101) to actuate the blades 105a, 105b, or jaws between an open position (e.g., as shown in FIG. 3) and a closed position (e.g., as shown in FIGS. 1 and 2). For example, when the actuation mechanism 111b and the sliding post 111a slide proximally toward the proximal end of the shaft 301, the blades 105a, 105b close together with a shearing action. When the actuation mechanism 111b and sliding post 111a slide distally toward the disposable distal portion 103, the blades 105a, 105b spread apart from one another, as shown in FIG. 3. Any other suitable actuation tools / mechanisms are contemplated herein. The conductive distal end 112 of the insulated conductor 305 may be attached to the non-conductive central post 111 to provide electrosurgical energy to the scissors 105a, 105b, or jaws.

[0030] In certain embodiments, the base 101 may include a threaded portion 113 proximal to the base connection assembly 109. The disposable distal portion 103 may include a mating collar 115 configured to mate with the threaded portion 113 of the base 101. In certain embodiments, the mating collar 115 may be configured to rotate relative to the clevis 107 to seat the clevis 107 on the base 101. The mating collar 115 may axially retain the clevis 107 to the base 101 when seated on the threaded portion 113. Any other suitable connection types are contemplated herein.

[0031] In certain embodiments, when the disposable distal portion 103 is installed on the base 101, the non-conductive clevis 107 and the non-conductive central post 111 may contact at least a portion of the disposable distal portion 103 to form electrical energy insulation therebetween, such that the electrical path (or conductive path) through the blades 105a, 105b, or jaws is insulated, eliminating the need to install an additional insulating sheath over the base 101 and / or disposable distal portion 103. In certain embodiments, a sheath may still be used, if desired.

[0032] The base 101 may be configured to connect to a distal end of a steerable shaft 301 of a robotically controlled medical device, for example, as shown in Figure 3. The base 101 may include a guide portion (e.g., pulley 117) configured to connect to an actuation component via actuator wires (not shown) to control the position of the sliding post 111a, actuation mechanism 111b, blades 105a, 105b, or jaws. Any other suitable mechanical device (e.g., but not limited to, spools, rollers, etc.) is contemplated herein.

[0033] Embodiments may include monopolar curved scissors or other suitable jaw devices designed for electrical energy isolation. Also, embodiments may include distal scissors blades designed to be disposable, for example to maximize cutting performance. Any other suitable disposable components / end effectors are contemplated herein.

[0034] Conventional monopolar curved scissors are designed with an instrument sheath and are insulated, which may lead to the risk of energy leakage during operation. The embodiments provide a solution to this problem and may provide reusability of the medical device assembly except for the distal end portion.

[0035] 4A-4D, one embodiment of a medical device, for example, a monopolar energy surgical instrument 400, is provided. The monopolar energy surgical instrument 400 may include an instrument adapter 401, a flexible elongate shaft 403 (e.g., similar to that described above with respect to shaft 301) having a proximal end 402 extending from the instrument adapter 401, one or more (e.g., a plurality) bent segments 405 provided at a distal end of the flexible elongate shaft 403, and an end effector 407 (e.g., which may be the same or similar to that described above or below herein with respect to end effectors 100, 500) adjacent the distal segment of the bent segment 405. The instrument adapter 401 may include one or more flush ports (used for reprocessing the instrument) and a monopolar cable plug that allows a monopolar cable (not shown) to be plugged into this connection interface, thereby electrically connecting to the monopolar energy surgical instrument 400.

[0036] 5A-13C, another embodiment of an end effector 500 is shown. FIG. 5A shows a perspective view of another embodiment of an end effector according to the present disclosure. FIG. 5B is a perspective view of the embodiment of FIG. 5A, showing mechanical assembly 501 with locking sleeve 503 removed. Mechanical assembly 501 can be formed, for example, by disposable distal portion 501a (e.g., distal assembly as shown), and base portion 501b (e.g., proximal assembly as shown).

[0037] 6A and 6B show an embodiment of the disposable distal portion 501a of FIG. 5 separated from the base portion 501b. As shown, the disposable distal portion 501a can include a mounting portion 605 configured to abut the base portion 501b and a clevis 607 connected to the mounting portion 605. The mounting portion 605 can be a clip having one or more arrowheads or other types of clip arms that interface with the clevis 607. The blades or jaws 105a, 105b can be attached to the clevis 607 to pivot about a pivot joint 609 of the clevis 607.

[0038] 7A and 7B show an embodiment of the base of FIG. 5 separated from the disposable distal portion 501a. The base 501b can be configured to removably mechanically engage the blades or jaws 105a, 105b to actuate the blades or jaws 105a, 105b. For example, the base 501b can include a drive structure 711 configured to mechanically engage the blades or jaws 105a, 105b to actuate the blades or jaws 105a, 105b between an open position and a closed position. The drive structure 711 can include posts 713a, 713b (which can be formed, for example, from portions 715a, 715b) extending from either side.

[0039] 8A-8C illustrate an embodiment of the locking sleeve 503 shown in FIG. 5A. The disposable distal portion 501a and the base portion 501b can be configured to be selectively axially held together by the locking sleeve 503. As shown, the locking sleeve 503 can include multiple locking protrusions 817a, 817b on its inner surface. The locking sleeve 503 is shown, for example, to have symmetrical inner locking protrusions 817a, 817b. The end effector 500 can further include a locking sleeve 503 configured to selectively lock the disposable distal portion 501a to the base portion 501b. The locking sleeve 503 can be made of a flexible or semi-rigid material (e.g., a non-conductive material such as silicone). The locking protrusions 817a, 817b can include a trapezoidal shape (e.g., having a top surface and angled or curved sides) as shown. Any other suitable shapes that allow for locking as disclosed herein are contemplated herein.

[0040] Base 501b may include one or more locking channels 719 (e.g., two symmetrically positioned on either side, 180 degrees apart). Locking channels 719 may include one or more raised protrusions (e.g., smooth axially aligned pins) that create a barrier that is overcome by proximal locking protrusion 817a when rotating within and / or out of locking channel 719.

[0041] The disposable distal portion 501a can include one or more alignment channels 621 (e.g., two symmetrically positioned on either side, 180 degrees apart) defined through its lip 623 (e.g., and through an outer portion of the mounting portion 605. In addition, with reference to FIGS. 9A-9F, for example, one or more proximal locking projections 817a can be configured to advance axially through the alignment channels 621 to a position beyond the lip 623 and rotate within respective locking channels 719 of the base 501b. Also, one or more distal inner stop projections 817b can be configured to axially engage the lip 623 to rotate the sleeve 501b. 9C-9D) and may be configured to retain the disposable distal portion 501 a on the base 510 b when the sleeve 503 is rotated to the locked position such that the one or more proximal locking projections 817a are within the one or more locking channels 719 (e.g., as shown in FIGS. 9D-9F). The distal inner stop projections 817b may include a pair for each proximal locking projection 817a that is at the same axial location but circumferentially spaced apart as shown (e.g., forming a T-shaped profile with the proximal locking projections 817a as shown).

[0042] FIG 9A shows the locking sleeve 503 of FIG 8A (shown in phantom for clarity) advancing axially in the proximal direction over the mechanical assembly 501 of FIG 5B. FIG 9B shows the locking sleeve 503 advancing axially in the proximal direction over the disposable distal portion 501a such that the proximal inner locking projections 817a are within the respective alignment channels 621. FIG 9C shows the locking sleeve 503 advancing further axially such that the proximal inner locking projections 817a advance proximally out of the respective alignment channels 621 of the disposable distal portion 501a and the distal inner stop projections 817b of the locking sleeve 503 abut a surface (e.g., lip 623) of the disposable distal portion 501a to provide axial retention to the base 501b of the disposable distal portion 501a. FIG 9D shows that the locking sleeve 503 rotates relative to the mechanical assembly 501, causing the proximal inner locking projections 817a to rotate towards their respective locking channels 719 defined by the base 501b of the mechanical assembly 501. FIG 9E shows that the locking sleeve 503 rotates relative to the mechanical assembly 501, causing the proximal inner locking projections 817a to rotate further into their respective locking channels 719 defined by the base 501b of the mechanical assembly 501, moving the proximal inner locking projections 817a to a locked position where they are retained by interaction with locking structures (e.g., ridges 720) of the base 501b. FIG. 9F shows the locking sleeve 503 rotating relative to the mechanical assembly 501, thereby rotating the proximal inner locking projection 817a to a locked position where the proximal inner locking projection 817a is rotatably held, and the distal inner stop projection 817b also axially holds the disposable distal portion 501a to the base portion 501b.

[0043] In certain embodiments, the base 501b may include a base clevis 725 and an actuation assembly 727 connected to the base clevis 725 and the drive structure 715 to actuate the drive structure 715 relative to the base clevis 725. The actuation assembly 727 may include an actuator housing 729 (e.g., comprising portions 729a, 729b, and 729c) connected to the drive structure 715. The actuation assembly 729 may also include a pulley assembly 731 within the actuator housing 729 and configured to move the actuator housing 729 relative to the base clevis 725.

[0044] In certain embodiments, the pulley assembly 731 may include a pulley 733 and an anchor 735. The pulley 733 may be pinned to the base clevis 725 via a pulley pin 733a (e.g., disposed within a pin hole in the base clevis 725 and rotating only relative to the base clevis 725). The pulley pin 733a may be disposed within axial slots 737a, 737b of the actuator housing 729 to allow the actuator housing 729 to slide axially relative to the pulley 733. The anchor 735 may be configured to move relative to the pulley 733 between an open position of the blades or jaws 105a, 105b and a closed position of the blades or jaws 105a, 105b. The anchor 735 may be slidably connected to the actuator housing 729 via the anchor pin 735a at radial slots 739a, 739b to translate relative to the actuator housing 729 in a radial direction perpendicular to the axial direction. In certain embodiments, the base clevis 725 may include angled slots 741a, 741b configured to guide the anchor pin 735a within the radial slots 739a, 739b as the actuator housing 729 moves axially relative to the base clevis 725.

[0045] Anchor 735 may be configured to hold a first end of a first wire (not shown) that is wrapped around pulley 733. Anchor 735 may be configured to hold a second end of a second wire (which may be the same wire as the first wire or a different wire, not shown) such that a pulling actuation on the first wire brings anchor 735 closer to pulley 733, thereby actuating actuator housing 729 in a distal direction, and a pulling actuation on the second wire moves pulley 733 and anchor 735 apart, thereby actuating actuator housing 729 in a proximal direction.

[0046] In certain embodiments, the base clevis 735 may be configured to abut the mounting portion 605 and to rotatably orient the mounting portion 605 relative to the base 501b (e.g., with one or more mounting keys 743). In certain embodiments, the mounting portion 605 and the base clevis 725 may include or be made of a non-conductive material (e.g., hard plastic). However, in certain embodiments, the base clevis 725 may include (e.g., be made of) a metal or alloy. In certain embodiments, the actuator housing 729 may include (e.g., be made of) a non-conductive material (e.g., hard plastic). The drive structure 711 may include (e.g., be made of) a conductive material and may be configured to electrically connect to (e.g., be mounted within) the wire channel 745 with an electrical wire. The drive structure 711 may be attached to the actuator housing 729 in any suitable manner (e.g., it may be pinned and / or otherwise secured to the non-conductive core member 729c, which may also form the wire guide channel 747).

[0047] Figures 10A-13C show various views of the embodiment of Figure 5A shown in open, intermediate and closed positions. Figure 10A is an elevation view of the mechanical assembly 501 of Figure 5B shown in an open position. Figure 10B is an elevation view of the mechanical assembly of Figure 10A shown in an intermediate position. Figure 10C is an elevation view of the mechanical assembly of Figure 10A shown in a closed position.

[0048] Figure 11A is an elevational view of the mechanical assembly 501 of Figure 10A with the base clevis 725 removed to reveal the actuator housing 729, shown in an open position. Figure 11B is an elevational view of the mechanical assembly of Figure 11A, shown in an intermediate position. Figure 11C is an elevational view of the mechanical assembly of Figure 11A, shown in a closed position.

[0049] Figure 12A is an elevational view of the mechanical assembly 501 of Figure 11A, further showing actuator housing 729 in phantom to show one embodiment of pulley arrangement 731, shown in an open position, Figure 12B is an elevational view of the mechanical assembly of Figure 12A, shown in an intermediate position, and Figure 12C is an elevational view of the mechanical assembly of Figure 12A, shown in a closed position.

[0050] Figure 13A is an elevational view of the mechanical assembly 501 of Figure 12A, shown orthogonally to the view of Figure 12A, further showing blades 105a, 105b in phantom to illustrate actuation of the blades via actuator posts 713a, 713b, and showing the assembly in an open position. Figure 13B is an elevational view of the mechanical assembly of Figure 13A, shown in an intermediate position. Figure 13C is an elevational view of the mechanical assembly of Figure 13A, shown in a closed position.

[0051] In certain embodiments, and with additional reference to FIGURE 14, the monopolar energy surgical instrument 400 is configured for use with an electrosurgical unit (ESU) 1400 (e.g., as shown in FIGURE 14) for delivering energy to a surgical subject. The ESU 1400 is connected to a patient cart of a robotic surgical system (not shown) by an energy activation cable 1401. Any suitable ESU model and corresponding ESU cable are contemplated herein.

[0052] According to at least one aspect of the present disclosure, a medical device (e.g., a surgical instrument 400 for a robotic medical system) may include an adapter (e.g., adapter 401) configured to connect to and be actuated by a robotic surgical system. The medical device (e.g., surgical instrument 400) may include an elongate member (e.g., shaft 403) extending from the adapter (e.g., adapter 401). The elongate member (e.g., shaft 403) may be configured to be positioned upon actuation of the adapter (e.g., adapter 401). For example, the elongate member (e.g., shaft 403) may include one or more wires therein and a flexible body that allows steering of the elongate member and / or its distal end. The medical device (e.g., instrument 400) may include an end effector (e.g., end effector 407, such as end effectors 100, 500) connected to the elongate member (e.g., shaft 403). In certain embodiments, an elongate member (e.g., shaft 403) may include or be connected to one or more bending segments (e.g., segment 405). An end effector (e.g., end effector 407) may be attached to a distal end of one or more bending segments (e.g., segment 405).

[0053] The end effector (e.g., end effector 407) can be any suitable embodiment of an end effector as disclosed herein, e.g., as described above. For example, the end effector (e.g., end effector 407) can include a base portion and a disposable distal portion removably connected to the base.

[0054] According to at least one aspect of the present disclosure, a method for manipulating an end effector for a minimally invasive medical device may include using the end effector in a medical procedure, detaching a first disposable distal portion of the end effector from a base of the end effector, and attaching a second disposable distal portion to the base of the end effector to replace the first distal portion. In certain embodiments, the method may include reusing the end effector with the second disposable distal portion in another medical procedure. The method may include any other suitable methods and / or portions thereof.

[0055] As will be appreciated by those skilled in the art, aspects of the present disclosure may be embodied as a system, method, or computer program product. Thus, aspects of the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment (including firmware, resident software, microcode, etc.), or an embodiment combining software and hardware aspects, all of which may be referred to herein as a "circuit," "module," or "system." A "circuit," "module," or "system" may include one or more portions of one or more separate physical hardware and / or software components that together may perform the disclosed functions of the "circuit," "module," or "system," or a "circuit," "module," or "system" may be a single, self-contained unit (e.g., of hardware and / or software). Additionally, aspects of the present disclosure may take the form of a computer program product embodied in one or more computer-readable medium(s) having computer-readable program code embodied therein.

[0056] Any combination of one or more computer readable media may be utilized. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (non-exhaustive list) of computer readable storage media include an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device.

[0057] A computer-readable signal medium may include a propagated data signal having computer-readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated signal may take any of a variety of forms, including but not limited to, electrical-magnetic, optical, or any suitable combination thereof. A computer-readable signal medium may not be a computer-readable storage medium but may be any computer-readable medium that can communicate, propagate, or carry a program for use by or in connection with an instruction execution system, apparatus, or device.

[0058] The program code embodied on the computer readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, fiber optic cable, RF, etc., or any suitable combination of the foregoing.

[0059] Computer program code for carrying out operations for aspects of the present disclosure may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as the "C" programming language or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or partially on a remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or a connection to an external computer may be made (e.g., through the Internet using an Internet Service Provider).

[0060] Aspects of the present disclosure may be described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present disclosure. Each block of any flowchart illustration and / or block diagram, and combinations of blocks in any flowchart illustration and / or block diagram, may be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing apparatus create means for implementing the function / act specified in any flowchart and / or block diagram block or blocks.

[0061] These computer program instructions may also be stored on a computer-readable medium, which may direct a computer, other programmable data processing apparatus, or other device to function in a particular manner to generate an article of manufacture including instructions that implement the functions / acts specified in the flowchart and / or block diagram blocks or blocks.

[0062] Computer program instructions may also be loaded into a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus, or other device to generate computer-implemented processes, such that the instructions, which execute on the computer or other programmable apparatus, result in processes to implement the functions / operations specified herein.

[0063] Those skilled in the art will understand that any numerical value disclosed herein may be an exact value or may be a value within a range. Furthermore, any term of approximation used in this disclosure (e.g., "about," "approximately," "approximately") may mean a stated value within a range. For example, in certain embodiments, the range may be within 20% (plus or minus), or within 10%, or within 5%, or within 2%, or within any other suitable percentage or number as understood by those skilled in the art (e.g., relative to known tolerance limits or margins of error).

[0064] As used herein and in the appended claims, the articles "a," "an," and "the" are used herein to refer to one or to more than one (i.e., to at least one) of the grammatical object of the article, unless the context clearly indicates otherwise. By way of example, "an element" means one element or more than one element.

[0065] The phrase "and / or" as used in the specification and claims should be understood to mean "either or both" of the elements so conjoined, i.e., elements that are conjointly present in some cases and disjointly present in other cases. Multiple elements marked with "and / or" should be interpreted in the same manner, i.e., "one or more" of the elements so conjoined. Other elements other than the elements specifically identified by the "and / or" clause may optionally be present, whether related or unrelated to those elements specifically identified. Thus, as a non-limiting example, a reference to "A and / or B," when used with open-ended language such as "comprising," may refer in one embodiment to only A (optionally including elements other than B), in another embodiment to only B (optionally including elements other than A), in yet another embodiment to both A and B (optionally including other elements), etc.

[0066] As used in the specification and claims, "or" should be understood to have the same meaning as "and / or" as defined above. For example, when separating items in a list, "or" or "and / or" should be understood as inclusive, i.e., including at least one, but also including more than one number or list element, and optionally including additional unlisted items. Only terms clearly indicated to the contrary, such as "only one of" or "exactly one of," or, when used in the claims, "consisting of," refer to the inclusion of exactly one element of a number or list of elements. In general, the term "or" as used herein should only be interpreted as an exclusive alternative (i.e., "one or the other, but not both") when preceded by an exclusive term, such as "either," "only one of," or "exactly one of."

[0067] Any suitable combination of any of the disclosed embodiments and / or any suitable portions thereof is contemplated herein as would be recognized by one of ordinary skill in the art upon reference to this disclosure.

[0068] The embodiments of the present disclosure described above and illustrated in the drawings represent improvements in the art to which they pertain. While the subject disclosure includes reference to specific embodiments, those skilled in the art will readily appreciate that changes and / or modifications thereto may be made without departing from the spirit and scope of the subject disclosure.

Claims

1. 1. An end effector for a minimally invasive medical device, comprising: a base configured to be attached to the distal end of the shaft; a disposable distal portion configured to be removably attached to the base so as to be discarded after use; Equipped with the disposable distal portion includes an electrically conductive material for electrosurgical procedures and is electrically connected to the base when the disposable distal portion is removably attached to the base; the disposable distal portion is or includes a blade or jaws including a conductive material for providing electrosurgical energy to tissue; the disposable distal portion a mounting portion configured to abut the base; a clevis connected to the mounting portion; Including, the blade or jaw is attached to the clevis so as to pivot about a pivot joint in the clevis; the base is configured to removably mechanically engage the blade or jaws to actuate the blade or jaws; the base includes a drive structure configured to mechanically engage the blade or jaws to actuate the blade or jaws between an open position and a closed position; the clevis further comprises a non-conductive material, and the mounting portion further comprises a non-conductive central post configured to mechanically connect the blade or jaw to the drive structure to actuate the blade or jaw between an open position and a closed position; the disposable distal portion and the base portion are configured to be selectively axially held together by a locking sleeve, the locking sleeve configured to selectively lock the disposable distal portion to the base portion; the base includes one or more locking channels, the disposable distal portion includes one or more alignment channels defined through a lip, the locking sleeve includes a plurality of locking protrusions on an inner surface thereof, one or more proximal locking protrusions configured to advance axially through the alignment channels past the lip and rotate within a respective locking channel, and one or more distal inner stop protrusions configured to axially engage the lip to limit axial advancement of the locking sleeve and retain the disposable distal portion on the base when the locking sleeve is rotated to a locked position such that the one or more proximal locking protrusions are within the one or more locking channels. End effector.

2. The base portion is a base clevis; an actuation assembly connected to the base clevis and the drive structure for actuating the drive structure relative to the base clevis; Including, The end effector of claim 1 .

3. the actuation assembly an actuator housing connected to the drive structure; a pulley assembly within the actuator housing and configured to move the actuator housing relative to the base clevis; Including, The end effector of claim 2 .

4. the pulley assembly includes a pulley and an anchor, the pulley being pinned to the base clevis via a pulley pin, the pulley pin being disposed in an axial slot of the actuator housing to allow the actuator housing to slide axially relative to the pulley, and the anchor being configured to move relative to the pulley between an open position of the blade or jaw and a closed position of the blade or jaw. The end effector of claim 3 .

5. the anchor is slidably connected to the actuator housing via an anchor pin in a radial slot so as to translate relative to the actuator housing in a radial direction perpendicular to the axial direction; The end effector of claim 4 .

6. the base clevis includes an angled slot configured to guide the anchor pin within the radial slot when the actuator housing moves axially relative to the base clevis. The end effector of claim 5 .

7. The anchor is configured to hold a first end of a first wire wound around the pulley, and the anchor holds a second end of a second wire, such that pulling on the first wire moves the anchor closer to the pulley, thereby actuating the actuator housing in a distal direction, and pulling on the second wire moves the pulley and the anchor apart, thereby actuating the actuator housing in a proximal direction. The end effector of claim 6 .

8. the base clevis is configured to abut the mounting portion and rotationally orient the mounting portion relative to the base. The end effector of claim 7 .

9. the mounting portion, the base clevis, and the actuator housing each comprise a non-conductive material, and the drive structure comprises a conductive material and is configured to electrically connect to an electrical wire; The end effector of claim 8 .

10. A minimally invasive medical device, comprising: an adapter configured to connect to and operate with a robotic surgical system; an elongated member extending from the adapter, the elongated member configured to be positioned in response to actuation of the adapter; an end effector connected to the elongate member, the end effector comprising: a base configured to be attached to the distal end of the shaft; and an end effector comprising a disposable distal portion configured to be removably attached to the base so as to be discarded after use; Equipped with the disposable distal portion includes an electrically conductive material for electrosurgical procedures and is electrically connected to the base when the disposable distal portion is removably attached to the base; the disposable distal portion is or includes a blade or jaws including a conductive material for providing electrosurgical energy to tissue; the disposable distal portion a mounting portion configured to abut the base; a clevis connected to the mounting portion; Including, the blade or jaw is attached to the clevis so as to pivot about a pivot joint in the clevis; the base is configured to removably mechanically engage the blade or jaws to actuate the blade or jaws; the base includes a drive structure configured to mechanically engage the blade or jaws to actuate the blade or jaws between an open position and a closed position; the clevis further comprises a non-conductive material, and the mounting portion further comprises a non-conductive central post configured to mechanically connect the blade or jaw to the drive structure to actuate the blade or jaw between an open position and a closed position; the disposable distal portion and the base portion are configured to be selectively axially held together by a locking sleeve, the locking sleeve configured to selectively lock the disposable distal portion to the base portion; the base includes one or more locking channels, the disposable distal portion includes one or more alignment channels defined through a lip, the locking sleeve includes a plurality of locking protrusions on an inner surface thereof, one or more proximal locking protrusions configured to advance axially through the alignment channels past the lip and rotate within a respective locking channel, and one or more distal inner stop protrusions configured to axially engage the lip to limit axial advancement of the locking sleeve and retain the disposable distal portion on the base when the locking sleeve is rotated to a locked position such that the one or more proximal locking protrusions are within the one or more locking channels. Minimally invasive medical devices.

11. The base portion a base clevis; an actuation assembly connected to the base clevis and the drive structure for actuating the drive structure relative to the base clevis; Including, The medical device of claim 10.

12. The actuation assembly: an actuator housing connected to the drive structure; a pulley assembly within the actuator housing and configured to move the actuator housing relative to the base clevis; Including, The medical device of claim 11.

13. The pulley assembly includes a pulley and an anchor, the pulley pinned to the base clevis via a pulley pin, the pulley pin disposed in an axial slot in the actuator housing to allow the actuator housing to slide axially relative to the pulley, and the anchor configured to move relative to the pulley between an open position of the blade or jaw and a closed position of the blade or jaw. The medical device of claim 12.

14. The anchor is slidably connected to the actuator housing via an anchor pin in a radial slot so as to translate relative to the actuator housing in a radial direction perpendicular to the axial direction. The medical device of claim 13.

15. The base clevis includes an angled slot configured to guide the anchor pin within the radial slot as the actuator housing moves axially relative to the base clevis. The medical device of claim 14.

16. The anchor is configured to hold a first end of a first wire wound around the pulley, and the anchor holds a second end of a second wire, whereby a pulling action on the first wire brings the anchor closer to the pulley, thereby actuating the actuator housing in a distal direction, and a pulling action on the second wire separates the pulley and the anchor, thereby actuating the actuator housing in a proximal direction.

16. The medical device of claim 15.

17. The base clevis is configured to abut the mounting portion and rotationally orient the mounting portion relative to the base.

17. The medical device of claim 16.

18. The mounting portion, the base clevis, and the actuator housing each comprise a non-conductive material, and the drive structure comprises a conductive material and is configured to electrically connect to an electrical wire.

18. The medical device of claim 17.

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