End effectors and minimally invasive medical devices

Abstract

This invention relates to robotic surgical systems for minimally invasive surgery, including but not limited to intraluminal and single-site surgery. [Solution] The end effector 100 includes a base 101 configured to be mounted on the distal end of a shaft, and a disposable distal portion 103 configured to be removablely mounted on the base 101 for disposal after use. The disposable distal portion 103 may include a fitting collar 115 configured to engage with the threaded portion of the base 101. The fitting collar 115 may be configured to rotate relative to the clevis 107 so as to mount the clevis 107 on the base 101. When mounted on the threaded portion, the fitting collar 115 can axially hold the clevis 107 on the base 101.

Description

Technical Field

[0001] (Cross - Reference to Related Applications) This application claims the priority and benefit of U.S. Provisional Application No. 63 / 284,186, filed on November 30, 2021, the entire content of which is incorporated herein by reference in its entirety.

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

Background Art

[0003] In minimally invasive surgeries such as endoluminal and single - site robotic surgery, significant advantages are obtained compared to conventional robotic surgery. For example, in endoluminal robotic surgery, no incision is required to access difficult - to - reach positions within the patient's natural lumen. This significantly reduces and / or eliminates the recovery time and improves the safety of the procedure. Single - site systems reduce incisions to a minimal single site and reduce a number of 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 related components can be found in U.S. Patent No. 10,881,422, as well as 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 entirety.

Summary of the Invention

Problems to be Solved by the Invention

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

[0006] According to 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 the distal end of a shaft, and a disposable distal portion configured to be detachably attached to the base for disposal after use.

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

[0008] The distal portion may be a blade or jaw containing a conductive material for delivering electrosurgical energy to tissue, or may include a blade or jaw. In certain embodiments, the disposable distal portion may include a nonconductive clevis, for example, which may contain or be made from an electrically nonconductive material. The blade or jaw may be attached to the nonconductive clevis so as to pivot around 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 jaw. In certain embodiments, the base connection assembly may include a non-conductive central column configured to mechanically connect the blade or jaw to allow the blade or jaw to move between an open and a closed position.

[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 engage with the threaded portion of the base. In certain embodiments, the mating collar may be configured to rotate relative to the clevis in order to mount the clevis to the base. The mating collar can axially hold the clevis to the base when mounted on the threaded portion. Any other suitable connection types are possible herein.

[0011] In certain embodiments, when a disposable distal portion is mounted on the base, the electrical path through the blade or jaw is insulated by the contact of a non-conductive clevis and a non-conductive central column with at least a portion of the disposable distal portion, forming electrical energy insulation between them, thus eliminating the need to install an insulating sheath over the base and / or disposable distal portion. In certain embodiments, a sheath may still be used as desired.

[0012] The base may be configured to connect to the distal end of a steerable shaft of a robotically controlled medical device. The base may include a guide portion (e.g., a pulley) configured to connect to an actuation component via actuator wires to control the position of the blade or jaw. Any other suitable mechanical devices (e.g., spools, rollers) are also possible herein.

[0013] According to at least one aspect of the present disclosure, the distal portion may include a mounting portion configured to abut against a base and a clevis connected to the mounting portion. A blade or jaw may be mounted on the clevis so as to pivot about a pivot joint of the clevis.

[0014] The base may be configured to mechanically engage with the blade or jaw in a removable manner to actuate the blade or jaw. The base may include a drive structure configured to mechanically engage with the blade or jaw to actuate the blade or jaw between an open position and a closed position.

[0015] The disposable distal portion and base portion may be configured to be selectively held together axially 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 the lip of the alignment channel. The locking sleeve may include a plurality of locking projections on its inner surface. For example, one or more proximal locking projections may be configured to advance axially through the alignment channel to a position beyond the lip and rotate within each locking channel of the base. Alternatively, one or more distal inner stop projections may be configured to engage axially with the lip to restrict the axial advance of the sleeve and to hold the disposable distal portion to the base when the sleeve rotates to a locked position such that one or more proximal locking projections are within one or more locking channels.

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

[0018] In certain embodiments, a pulley assembly may include a pulley and an anchor. The pulley may be pinned to a 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 and a closed position of the blade or jaw. The anchor may be slidably connected to the actuator housing via an anchor pin in a radial slot so as to translate radially relative to the actuator housing in a radial direction perpendicular to the axial direction. In certain embodiments, the base clevis may include an oblique 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 may be configured to hold a first end of a first wire that is wrapped around a pulley. The anchor may also 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), so that a tensile action on the first wire moves the anchor closer to the pulley, thereby acting the actuator housing distally, and a tensile action on the second wire separates the pulley from the anchor, thereby acting the actuator housing proximal.

[0020] In certain embodiments, the base clevis may be configured to abut against the mounting portion and to rotatably orient the mounting portion relative to the base (e.g., using one or more mounting keys). In certain embodiments, the mounting portion and the base clevis may include non-conductive materials (e.g., may be made from non-conductive materials). In certain embodiments, the actuator housing may include non-conductive materials (e.g., may be made from non-conductive materials). The drive structure may include conductive materials, for example, may be made from conductive materials, and may be configured to be electrically connected to electrical wires (e.g., mounted to a wire channel). The drive structure may be mounted to the actuator housing in any preferred manner (e.g., via a non-conductive core member).

[0021] According to at least one aspect of this disclosure, a medical device may include an adapter connected to and configured to be actuated by a robotic surgical system; an elongated member extending from the adapter, configured to be positioned in response to the operation of the adapter; and an end effector connected to the elongated member. The end effector may be any preferred embodiment of the end effectors disclosed herein, for example, an end effector as described above.

[0022] According to at least one aspect of this disclosure, a method for operating an end effector for a minimally invasive medical device may include using the end effector in a medical procedure, removing a first disposable distal portion of the end effector from its base, and attaching a second disposable distal portion to the base of the end effector for replacement of the first distal portion. In certain embodiments, the method may include reusing the end effector having the second disposable distal portion in another medical procedure. The method may include any other preferred methods and / or parts thereof.

[0023] These and other features of the embodiments of the subject matter disclosure will be readily apparent to those skilled in the art from the following detailed description, which is taken in conjunction with the drawings.

Brief Description of the Drawings

[0024] Those embodiments will be described in detail hereinafter in this specification with reference to specific drawings so that those skilled in the art related to the disclosure of the subject matter can easily understand how to practice and how to use the devices and methods of the disclosure of the subject matter without undue experimentation.

[0025] [Figure 1] FIG. 11 is an elevation view of one embodiment of an end effector according to the present disclosure. [Figure 2] FIG. 12 is an exploded elevation view of one embodiment of an end effector according to the present disclosure. [Figure 3] FIG. 17 is an embodiment of the distal end of a steerable shaft to which the embodiments of the end effector of FIGS. 1 and 2 are attached. [Figure 4A] FIG. 20 shows a perspective view of one embodiment of a monopolar energy surgical instrument according to the present disclosure. [Figure 4B] FIG. 23 shows a partial plan view of the embodiment of FIG. 4A. [Figure 4C] FIG. 26 shows a partial proximal elevation view of the embodiment of FIG. 4A. [Figure 4D] FIG. 29 shows a partial distal view of the embodiment of FIG. 4A, showing the distal end of a shaft having one or more segments and an end effector. [Figure 5A] FIG. 32 is a perspective view of another embodiment of an end effector according to the present disclosure. [Figure 5B] FIG. 35 is a perspective view of the embodiment of FIG. 5A, showing a mechanical assembly with the locking sleeve removed, showing how the mechanical assembly is formed by a disposable distal portion and a base. [Figure 6A] FIG. 38 is a perspective view of the disposable distal portion of the embodiment of FIG. 5. [Figure 6B] FIG. 41 is a partial exploded view of the embodiment of FIG. 6A. [Figure 7A] FIG. 44 is a perspective view of the embodiment of the base of one embodiment of FIG. 5. [Figure 7B] FIG. 47 is an exploded perspective view of the embodiment of FIG. 7A. [Figure 8A]Figure 5A is a plan view of an embodiment of the locking sleeve shown in this disclosure, illustrating the symmetrical nature of the inner locking projection. [Figure 8B] Figure 8A is a cross-sectional elevation view of the embodiment, showing a group of inner lock protrusions. [Figure 8C] This is a cross-sectional perspective view of the embodiment shown in Figure 8A. [Figure 9A] Figure 8A shows the locking sleeve (shown by dashed lines for clarity) advancing axially in the proximal direction on the mechanical assembly in Figure 5B, and the proximal inner locking projection of the locking sleeve aligns with the respective alignment channels defined by the disposable distal portion. [Figure 9B] The locking sleeve advances axially in the proximal direction on the disposable distal portion, with the proximal medial locking projection located within each alignment channel. [Figure 9C] The locking sleeve advances further axially, the proximal inner locking projection advances proximal to each alignment channel of the disposable distal portion, and the distal inner stop projection of the locking sleeve contacts the surface of the disposable distal portion to provide axial retention of the disposable distal portion relative to its base. [Figure 9D] This shows how the locking sleeve rotates relative to the mechanical assembly so that the proximal inner locking projection rotates toward each locking channel defined by the base of the mechanical assembly. [Figure 9E] The locking sleeve rotates relative to the mechanical assembly, thereby causing the proximal inner locking projection to rotate further into each locking channel defined by the base of the mechanical assembly, moving the proximal inner locking projection to a locked position where it is held in a locking position by interaction with the locking structure of the base. [Figure 9F] The locking sleeve rotates relative to the mechanical assembly, thereby rotating the proximal inner locking projection to a locked position in which the proximal inner locking projection is rotatably held, and the distal inner stop projection also axially holds the disposable distal portion to its base. [Figure 10A] Figure 5B is an elevation view of the mechanical assembly, shown in the open position. [Figure 10B] Figure 10A is an elevation view of the mechanical assembly, shown at an intermediate position. [Figure 10C] Figure 10A is an elevation view of the mechanical assembly, shown in the closed position. [Figure 11A] Figure 10A is an elevation view of the mechanical assembly, shown in the open position, with the base clevis removed to show the actuator housing. [Figure 11B] Figure 11A is an elevation view of the mechanical assembly, shown at an intermediate position. [Figure 11C] Figure 11A is an elevation view of the mechanical assembly, shown in the closed position. [Figure 12A] Figure 11A is an elevation view of the mechanical assembly, with the actuator housing further shown by dashed lines in the open position to illustrate one embodiment of the pulley device. [Figure 12B] Figure 12A is an elevation view of the mechanical assembly, shown at an intermediate position. [Figure 12C] Figure 12A is an elevation view of the mechanical assembly, shown in the closed position. [Figure 13A] Figure 12A is an elevation view of the mechanical assembly, shown perpendicular to the diagram in Figure 12A, with the blades further indicated by dashed lines to show the operation of the blades via the actuator columns, and the assembly is shown in the open position. [Figure 13B] Figure 13A is an elevation view of the mechanical assembly, shown at an intermediate position. [Figure 13C] Figure 13A is an elevation view of the mechanical assembly, shown in the closed position. [Figure 14] This disclosure provides an embodiment of an electrosurgical unit. [Modes for carrying out the invention]

[0026] Herein, we refer to the drawings, where the same reference numerals identify similar structural features or embodiments of the subject disclosure. For illustrative and illustrative purposes, rather than limiting, an exemplary diagram of one embodiment of the end effector according to the present disclosure is shown in Figure 1, which is collectively designated by reference numeral 100. Other embodiments and / or aspects of the present disclosure are shown in Figures 2 to 14.

[0027] Referring to Figures 1, 2, and 3 according to at least one aspect of this disclosure, an end effector 100 for a minimally invasive medical device (e.g., a robot-controlled maneuverable device 300 as shown in Figure 3) is shown, which includes a base 101 configured to be mounted on the distal end 303 of a shaft 301, and a disposable distal portion 103 configured to be detachably mounted on the base 101 for disposal after use (e.g., single use). The base 101 may be configured to be reusable (e.g., a limited number of times) and / or pressurized for cleaning. Embodiments in Figures 1, 2, and 3 may be end effectors for energy surgical instruments in 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 insulating conductor 305 extending longitudinally from the proximal end 402 to the distal end 303 of the shaft 301 for electrical communication with at least a portion of the base connection assembly 109 (e.g., a sliding column (or pin) 111a detailed 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 conduction 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 nonconductive clevis 107 which may be made of an electrically nonconductive material (e.g., plastic, ceramic). The blades 105a, b, or jaws can be attached to the non-conductive clevis 107 so as to pivot around the pivot joint 107a of the clevis 107.

[0029] As shown in Figure 2, the base 101 may include a base connection assembly 109 configured to mechanically and electrically connect the base 101 to the clamps 105a, 105b, or jaws. In certain embodiments, the base connection assembly 109 may include a non-conductive central column 111 configured to mechanically connect the blades 105a, 105b, or jaws to an operating component (e.g., a sliding column 111a connected to an operating mechanism 111b (e.g., a movable frame connected to a sliding column 111a) slidably housed within the base 101) to operate the blades 105a, 105b, or jaws between an open position (e.g., as shown in Figure 3) and a closed position (e.g., as shown in Figures 1 and 2). For example, when the operating mechanism 111b and the sliding column 111a slide proximal toward the proximal end of the shaft 301, the blades 105a, 105b close to each other by shear action. As the actuation mechanism 111b and the sliding column 111a slide distally toward the disposable distal portion 103, the blades 105a and 105b open apart from each other, as shown in Figure 3. Any other suitable actuation tools / mechanisms are conceivable herein. The conductive distal end 112 of the insulating conductor 305 may be attached to the non-conductive central column 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 engage 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 position the clevis 107 on the base 101. The mating collar 115 can axially hold the clevis 107 on the base 101 when mounted on the threaded portion 113. Any other suitable connection types are possible herein.

[0031] In certain embodiments, when the disposable distal portion 103 is installed on the base 101, the nonconductive clevis 107 and the nonconductive central column 111 may come into contact with at least a portion of the disposable distal portion 103 to form electrical energy insulation between them, thereby insulating the electrical path (or conduction path) through the blades 105a, 105b, or jaws, eliminating the need to install an additional insulating sheath on the base 101 and / or the disposable distal portion 103. In certain embodiments, a sheath may still be used as desired.

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

[0033] Embodiments may include a unipolar curved scissors or other suitable jaw device designed for electrical energy isolation. Embodiments may also include, for example, a distal scissor blade designed to be disposable to maximize cutting performance. Any other suitable disposable components / end effectors are conceivable herein.

[0034] Conventional unipolar curved scissors are designed with an instrument sheath and are insulated, which poses a risk of energy leakage during operation. This embodiment provides a solution to this problem and can also provide reusability of the medical device assembly, excluding the distal end portion.

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

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

[0037] Figures 6A and 6B show embodiments of the disposable distal portion 501a of Figure 5, separated from the base 501b. As shown, the disposable distal portion 501a may include a mounting portion 605 configured to abut against the base 501b and a clevis 607 connected to the mounting portion 605. The mounting portion 605 may be a clip having one or more arrowheads or other types of clip arms interface with the clevis 607. The blade or jaws 105a, 105b may be attached to the clevis 607 so as to pivot around a pivot joint 609 of the clevis 607.

[0038] Figures 7A and 7B show embodiments of the base of Figure 5 separated from the disposable distal portion 501a. The base 501b may be configured to mechanically engage with the blades or jaws 105a, 105b in a removable manner to actuate the blades or jaws 105a, 105b. For example, the base 501b may include a drive structure 711 configured to mechanically engage with 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 may include columns 713a, 713b extending from both sides (which may be formed from, for example, portions 715a, 715b).

[0039] Figures 8A to 8C show embodiments of the locking sleeve 503 shown in Figure 5A. The disposable distal portion 501a and the base portion 501b may be configured to be selectively held together axially by the locking sleeve 503. As shown, the locking sleeve 503 may include a plurality of locking projections 817a, 817b on its inner surface. The locking sleeve 503 is shown, for example, having symmetrical inner locking projections 817a, 817b. The end effector 500 may further include a locking sleeve 503 configured to selectively lock the disposable distal portion 501a to the base portion 501b. The locking sleeve 503 may be made of a flexible or semi-rigid material (e.g., a non-conductive material such as silicone). The locking projections 817a, 817b may include a trapezoidal shape (e.g., having an upper surface and inclined or curved sides) as shown. Any other preferred configurations that enable locking as disclosed herein are possible.

[0040] The base 501b may include one or more locking channels 719 (e.g., two symmetrically arranged on either side, 180 degrees apart). The locking channels 719 may include one or more raised projections (e.g., smooth axially aligned pins) which, when rotating within and / or out of the locking channels 719, create a barrier that is overcome by the proximal locking projection 817a.

[0041] The disposable distal portion 501a may 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 the outer portion of the mounting portion 605). In addition, referring to Figures 9A to 9F, for example, one or more proximal locking projections 817a may be configured to advance axially through the alignment channels 621 to a position beyond the lip 623 and rotate within their respective locking channels 719 of the base portion 501b. Also, one or more distal inner stop projections 817b may engage axially with the lip 623, three The sleeve 503 may be configured to restrict the axial advance of the 503 (for example, as shown in Figures 9C and 9D) and to hold the disposable distal portion 501a to the base 510b when the sleeve 503 rotates to the locked position such that one or more proximal locking projections 817a are located within one or more locking channels 719 (for example, as shown in Figures 9D to 9F). The distal inner stop projection 817b may include a pair for each proximal locking projection 817a, which are in the same axial position but spaced apart circumferentially as shown (for example, forming a T-shaped outline with the proximal locking projections 817a as shown).

[0042] Figure 9A shows the locking sleeve 503 (shown by dashed lines for clarity) of Figure 8A advancing axially proximal beyond the mechanical assembly 501 of Figure 5B. Figure 9B shows the locking sleeve 503 advancing axially proximal over the disposable distal portion 501a so that the proximal inner locking projection 817a is within each alignment channel 621. Figure 9C shows the locking sleeve 503 advancing further axially, thereby causing the proximal inner locking projection 817a to advance proximal to each alignment channel 621 of the disposable distal portion 501a, and the distal inner stop projection 817b of the locking sleeve 503 to contact the surface of the disposable distal portion 501a (e.g., lip 623) to provide axial retention of the disposable distal portion 501a relative to the base 501b. Figure 9D shows how the locking sleeve 503 rotates relative to the mechanical assembly 501, thereby rotating the proximal inner locking projection 817a toward each lock channel 719 defined by the base 501b of the mechanical assembly 501. Figure 9E shows how the locking sleeve 503 rotates relative to the mechanical assembly 501, thereby rotating the proximal inner locking projection 817a further into each lock channel 719 defined by the base 501b of the mechanical assembly 501, moving the proximal inner locking projection 817a to a locked position where it is held in a locking position by interaction with the locking structure (e.g., the ridge 720) of the base 501b. Figure 9F shows how the locking sleeve 503 rotates relative to the mechanical assembly 501, thereby rotating the proximal inner locking projection 817a to a locking position in which the proximal inner locking projection 817a is rotatably held, and how the distal inner stop projection 817b also axially holds the disposable distal portion 501a to the base 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 (for example, comprising parts 729a, 729b, and 729c) connected to the drive structure 715. The actuation assembly 729 may also include a pulley assembly 731 located 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 (for example, disposed in a pin hole of the base clevis 725 and rotating only relative to the base clevis 725). The pulley pin 733a may be disposed in axial slots 737a, 737b of the actuator housing 729 so as 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 the open position of the blade or jaw 105a, 105b and the closed position of the blade or jaw 105a, 105b. The anchor 735 may be slidably connected to the actuator housing 729 via an anchor pin 735a in radial slots 739a, 739b so as to translate to the actuator housing 729 in a radial direction perpendicular to the axial direction. In certain embodiments, the base clevis 725 may include oblique slots 741a, 741b configured to guide the anchor pin 735a within radial slots 739a, 739b as the actuator housing 729 moves axially relative to the base clevis 725.

[0045] The anchor 735 may be configured to hold a first end of a first wire (not shown) that is wrapped around the pulley 733. The anchor 735 may also hold a second end of a second wire (which may be the same wire as the first wire or a different wire, not shown), so that a tensile action on the first wire moves the anchor 735 closer to the pulley 733, thereby acting the actuator housing 729 distally, and a tensile action on the second wire moves the pulley 733 and the anchor 735 apart, thereby acting the actuator housing 729 proximal.

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

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

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

[0049] Figure 12A is an elevation view of the mechanical assembly 501 of Figure 11A, with the actuator housing 729 further indicated by dashed lines to show one embodiment of the pulley device 731, and is shown in the open position. Figure 12B is an elevation view of the mechanical assembly of Figure 12A, shown in the intermediate position. Figure 12C is an elevation view of the mechanical assembly of Figure 12A, shown in the closed position.

[0050] Figure 13A is an elevation view of the mechanical assembly 501 of Figure 12A, shown perpendicular to the drawing of Figure 12A, with blades 105a and 105b further indicated by dashed lines to show the operation of the blades via actuator columns 713a and 713b, and the assembly is shown in the open position. Figure 13B is an elevation view of the mechanical assembly of Figure 13A, shown in the intermediate position. Figure 13C is an elevation view of the mechanical assembly of Figure 13A, shown in the closed position.

[0051] In certain embodiments, and with further reference to Figure 14, the unipolar energy surgical instrument 400 is configured to be used in conjunction with an electrosurgical unit (ESU) 1400 (e.g., as shown in Figure 14) for transmitting energy to the surgical target. 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 considered herein.

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

[0053] The end effector (e.g., end effector 407) may be any preferred embodiment of the end effector as disclosed herein, for example, the one described above. For example, the end effector (e.g., end effector 407) may include a base portion and a disposable distal portion detachably connected to the base.

[0054] According to at least one aspect of this disclosure, a method for operating an end effector for a minimally invasive medical device may include using the end effector in a medical procedure, removing a first disposable distal portion of the end effector from its base, and attaching a second disposable distal portion to the base of the end effector for replacement of the first distal portion. In certain embodiments, the method may include reusing the end effector having the second disposable distal portion in another medical procedure. The method may include any other preferred methods and / or parts thereof.

[0055] As will be understood by those skilled in the art, aspects of this disclosure may be embodied as systems, methods, or computer program products. Accordingly, aspects of this disclosure may take the form of overall hardware embodiments, overall software embodiments (including firmware, resident software, microcode, etc.), or embodiments combining software and hardware embodiments, all of which are conceivable and may be referred to herein as “circuits,” “modules,” or “systems.” A “circuit,” “module,” or “system” may include one or more parts of one or more separate physical hardware and / or software components that can together perform the disclosed functions of a “circuit,” “module,” or “system,” or a “circuit,” “module,” or “system” may be a single standalone unit (e.g., hardware and / or software). Furthermore, aspects of this disclosure may take the form of computer program products embodied in one or more computer-readable media having computer-readable program code embodied internally.

[0056] Any combination of one or more computer-readable media may be used. The computer-readable media may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of those described above. Further specific examples (non-exclusive list) of computer-readable storage media include electrical connections with one or more wires, portable computer diskettes, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of those described above. In the context of this document, the computer-readable storage medium may be any tangible medium that contains or can store programs for use by or associated with instruction execution systems, apparatus, or devices.

[0057] A computer-readable signal medium may include, for example, propagated data signals having computer-readable program code embodied internally, either in the baseband or as part of a carrier wave. Such propagated signals may take any of various forms, including but not limited to electro-magnetic, optical, or a preferred combination thereof. The computer-readable signal medium may not be a computer-readable storage medium, but any computer-readable medium capable of communicating, propagating, or carrying programs for use by or associated with instruction execution systems, apparatus, or devices.

[0058] Program code embodied on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, fiber optic cable, RF, or any preferred combination thereof.

[0059] Computer program code for performing the actions of the embodiments of this disclosure may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, Smalltalk, and 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 it may be connected to an external computer (for example, via the Internet using an Internet service provider).

[0060] Aspects of the present disclosure may be described above with reference to illustrative flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present disclosure. Any block in any illustrative flowchart and / or block diagram, and any combination of blocks within any illustrative flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions may be provided to the processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to generate a machine, and as a result, instructions executed through the processor of the computer or other programmable data processing device create means for implementing a function / operation specified in any block or block of any flowchart and / or block diagram.

[0061] Computer program instructions, which are stored on a computer-readable medium, can also be used to instruct a computer, other programmable data processing device, or other device to function in a particular manner, such as to generate a product that includes instructions for implementing a function / operation specified in a block or block of a flowchart and / or block diagram.

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

[0063] Those skilled in the art will understand that any numerical values ​​disclosed herein may be exact values ​​or values ​​within a range. Furthermore, any approximation terms used herein (e.g., “about,” “approximately,” “about”) may mean stated values ​​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 preferred percentage or number as understood by those skilled in the art (e.g., within a known tolerance or margin of error).

[0064] The articles “a,” “an,” and “the” as used herein and in the appended claims refer to one or more of the grammatical objects of an item (i.e., at least one), unless the context clearly indicates otherwise. For example, “element” means one or more elements.

[0065] The phrase "and / or" as used in the specification and claims should be understood to mean "either or both" of the elements thus combined, that is, elements that exist together in one case and separately in another. Multiple elements expressed by "and / or" should be interpreted in the same manner, that is, "one or more" of the elements should be interpreted as being combined in this way. Other elements other than those specifically identified by the "and / or" section may be present at their discretion, whether related to or unrelated to those specifically identified elements. Thus, as a non-restrictive example, when used with unrestrictive language such as "equipped with", a reference to "A and / or B" may refer to A only (optionally including elements other than B) in one embodiment, B only (optionally including elements other than A) in another embodiment, and both A and B (optionally including other elements) in yet another embodiment, and so on.

[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 to be inclusive, that is, including at least one but more than one number or elements of the list, and optionally including additional unlisted items. Only terms explicitly indicated as the opposite, such as “only one of” or “exactly one of” or, when used in the claims, “consisting of,” refer to including a number of elements or exactly one element of the list. In general, as used herein, the term “or” should be interpreted only as an exclusive choice (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 disclosed embodiments and / or any preferred combination of any preferred parts thereof are conceivable herein as will be recognized by those skilled in the art who have referenced this disclosure.

[0068] The embodiments of the present disclosure described above and shown in the drawings represent improvements in the relevant art. As the subject disclosure includes references to specific embodiments, those skilled in the art will readily understand that changes and / or modifications to them may be made without departing from the spirit and scope of the subject disclosure.

Claims

1. An end effector for minimally invasive medical devices, A base configured to be attached to the distal end of the shaft, A disposable distal portion is configured to be removablely attached to the base so as to be discarded after use, Equipped with, The disposable distal portion and the base portion are configured to be selectively held together axially by a locking sleeve, and the locking sleeve is 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 the lip, the locking sleeve includes a plurality of locking projections on its inner surface, one or more proximal locking projections configured to advance axially through the alignment channels beyond the lip and rotate within each locking channel, one or more distal inner stop projections configured to engage axially with the lip to restrict the axial advance of the locking sleeve and to hold the disposable distal portion to the base when the locking sleeve rotates to a locked position such that the one or more proximal locking projections are within the one or more locking channels. End effector.

2. The disposable distal portion comprises 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 end effector according to claim 1.

3. The disposable distal portion is a blade or jaw containing a conductive material for delivering electrosurgical energy to tissue, or includes a blade or jaw. The end effector according to claim 2.

4. The distal portion is A mounting portion configured to abut against the base, A clevis connected to the aforementioned mounting portion, Includes, The blade or jaw is attached to the clevis such that it pivots around the pivot joint of the clevis. The end effector according to claim 3.

5. The base is configured to mechanically engage with the blade or jaw in a removable manner so as to actuate the blade or jaw. The end effector according to claim 4.

6. The base includes a drive structure configured to mechanically engage with the blade or jaw so as to operate the blade or jaw between an open position and a closed position. The end effector according to claim 5.

7. The clevis further comprises a nonconductive material, and the mounting portion further comprises a nonconductive central column configured to mechanically connect the blade or jaw to the drive structure so as to operate the blade or jaw between an open position and a closed position. The end effector according to claim 6.

8. The base is, Base clevis and An operating assembly connected to the base clevis and the drive structure is provided to operate the drive structure relative to the base clevis, including, The end effector according to claim 1.

9. The aforementioned operating assembly An actuator housing connected to the aforementioned drive structure, A pulley assembly located within the actuator housing and configured to move the actuator housing relative to the base clevis, including, The end effector according to claim 8.

10. 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 so as 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 according to claim 9.

11. The anchor is slidably connected to the actuator housing via an anchor pin in a radial slot so as to translate to the actuator housing in a radial direction perpendicular to the axial direction. The end effector according to claim 10.

12. The base clevis includes an oblique 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 according to claim 11.

13. The anchor is configured to hold a first end of a first wire wound around the pulley, and the anchor is configured to hold a second end of a second wire, so that a pulling action on the first wire moves the anchor closer to the pulley, thereby moving the actuator housing distally, and a pulling action on the second wire separates the pulley from the anchor, thereby moving the actuator housing proximal. The end effector according to claim 12.

14. The base clevis is configured to contact the mounting portion and to orient the mounting portion in the rotational direction relative to the base. The end effector according to claim 13.

15. The mounting portion, the base clevis, and the actuator housing each contain a non-conductive material, while the drive structure contains a conductive material and is configured to be electrically connected to an electrical wire. The end effector according to claim 14.

16. It is a minimally invasive medical device, An adapter configured to connect to and be operated by a robotic surgical system, An elongated member extending from the adapter, configured to be positioned according to the operation of the adapter, An end effector connected to the elongated member, A base configured to be attached to the distal end of the shaft, and The end effector comprises a disposable distal portion configured to be removablely attached to the base so as to be discarded after use, Equipped with, The disposable distal portion and the base portion are configured to be selectively held together axially by a locking sleeve, and the locking sleeve is 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 the lip, the locking sleeve includes a plurality of locking projections on its inner surface, one or more proximal locking projections configured to advance axially through the alignment channels beyond the lip and rotate within each locking channel, one or more distal inner stop projections configured to engage axially with the lip to restrict the axial advance of the locking sleeve and to hold the disposable distal portion to the base when the locking sleeve rotates to a locked position such that the one or more proximal locking projections are within the one or more locking channels. Minimally invasive medical devices.

17. The disposable distal portion is a blade or a jaw, or includes a blade or a jaw. The end effector according to claim 1.

18. An end effector for minimally invasive medical devices, A base configured to be attached to the distal end of the shaft, A disposable distal portion is configured to be removablely attached to the base so as to be discarded after use, Equipped with, The base is configured to mechanically engage with the blade or jaw in a removable manner so as to actuate the blade or jaw. End effector.

19. An end effector for minimally invasive medical devices, A base configured to be attached to the distal end of the shaft, A disposable distal portion is configured to be removablely attached to the base so as to be discarded after use, Equipped with, The disposable distal portion is A mounting portion configured to abut against the base, The clevis connected to the mounting part, Includes, The blade or jaw is attached to the clevis such that it pivots around the pivot joint of the clevis. The clevis further comprises a nonconductive material, and the mounting portion further comprises a nonconductive central column configured to mechanically connect the blade or jaw to a drive structure so as to operate the blade or jaw between an open position and a closed position. End effector.

20. An end effector for minimally invasive medical devices, A base configured to be attached to the distal end of the shaft, A disposable distal portion is configured to be removablely attached to the base so as to be discarded after use, Equipped with, The base is, Base clevis and An operating assembly connected to the base clevis and the drive structure is provided to operate the drive structure relative to the base clevis, The aforementioned operating assembly An actuator housing connected to the aforementioned drive structure, A pulley assembly located within the actuator housing and configured to move the actuator housing relative to the base clevis, including, End effector.

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